JP2019113507A - Measurement apparatus, measurement control device, measurement control method and measurement control processing program - Google Patents

Abstract

To provide a measurement apparatus capable of acquiring point group data in the vicinity of an optical reflector which may have been failed in a conventional method in measurement of point group data using a laser scanner.SOLUTION: A TS (Total Station) 100 with a laser scanner includes: a calculation control unit 113 including a positioning unit for measuring three-dimensional coordinates of a reflector placed on the measurement target by laser light; and a laser scanner unit 101 for performing a laser scanning on a measurement target. The TS 100 is configured to calculate a masking angle that is an angle range where laser scan data of the reflector is not acquired on the basis of three-dimensional coordinates of the reflector by the positioning unit.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a technique of surveying using a reflecting prism.

  As a surveying apparatus, an automatic collimation tracking (motor drive) TS (total station) which precisely measures the position of a specific point using distance measuring light is known (see, for example, Patent Document 1). In addition, a laser scanner is known as an apparatus for obtaining point cloud data of a survey target (target) (see, for example, Patent Document 2). Also, a reflection prism is known that reflects distance measurement light from a total station (see, for example, Patent Document 3).

JP, 2009-229192, A Unexamined-Japanese-Patent No. 2010-151682 Japanese Patent Application Laid-Open No. 2000-221032

  In an apparatus such as a TS having automatic collimation and tracking, an optical reflector is essential because automatic collimation and tracking are performed by supplementing an optical reflector such as a reflecting prism. However, in a surveying instrument in which an automatic collimation tracking TS (MDTS) and a laser scanner are integrated, when an optical reflector is measured at the time of scanning for acquiring point cloud data to be measured, the scanning The light receiving sensor may be saturated, and scan data (point cloud data) to be measured immediately after that may be missing. Then, this invention aims at provision of the technique which does not receive the reflected light from an optical reflector by pinpointing the position of an optical reflector.

  The invention according to claim 1 is a three-dimensional coordinate measuring means for measuring three-dimensional coordinates of a reflector placed on a measuring object by laser light, a laser scanner means for performing a laser scan on the measuring object, and the three-dimensional coordinate system. It is a surveying instrument provided with the mask angle calculation means which computes the mask angle used as the angle range which does not acquire the laser scan data of the reflector based on the three-dimensional coordinates of the reflector by a coordinate measurement means.

  The invention according to claim 2 is the operation according to the invention according to claim 1, wherein the operation of not irradiating the laser scan light in the range of the mask angle and the operation of not receiving the laser scan light in the range of the mask angle The surveying apparatus according to claim 1, wherein at least one of the operations is performed.

  The invention according to claim 3 is characterized in that, in the invention according to claim 1 or claim 2, the mask angle is calculated based on the dimension of the reflector in addition to the three-dimensional coordinates of the reflector. I assume.

  The invention according to a fourth aspect is the invention according to any one of the first to third aspects, wherein the mask angle calculation unit is a reflector in a range where the laser scanner means irradiates laser scanning light. In the case where there are plural, it is characterized in that the mask angle is calculated for each reflector.

  The invention according to claim 5 is a surveying control device for controlling three-dimensional coordinate measuring means for measuring three-dimensional coordinates of a reflector disposed on a measurement object, and laser scanner means for performing laser scanning on the measurement object. Control for surveying including mask angle calculation means for calculating a mask angle which is an angle range in which acquisition of laser scan data of the reflector is not performed based on three-dimensional coordinates of the reflector by the three-dimensional coordinate measurement means It is an apparatus.

  The invention according to claim 6 is a method of controlling a surveying means, comprising: three-dimensional coordinate measurement step of measuring three-dimensional coordinates of a reflector disposed on a measurement object by laser light; and laser scanning on the measurement object Scanning step of performing the mask angle calculation step of calculating a mask angle which is an angle range in which acquisition of laser scan data of the reflector is not performed based on three-dimensional coordinates of the reflector by the three-dimensional coordinate measuring device; Control method.

  The invention according to claim 7 is a surveying control processing program to be read and executed by a computer, which is a three-dimensional coordinate measuring means for measuring the three-dimensional coordinates of a reflector placed on a measurement object by a computer using a computer. And laser scanner means for performing laser scanning on the measurement target, and a mask angle which is an angle range in which acquisition of laser scan data of the reflector is not performed based on three-dimensional coordinates of the reflector by the three-dimensional coordinate measurement means. It is a program for surveying control processing which is made to function as a surveying instrument provided with a mask angle calculation means to calculate.

  According to the present invention, when a measurement target including an optical reflector is scanned, it is possible to avoid reception of reflected light from the reflector. Since the reflected light from the optical reflector causes the missing point group data immediately after, it becomes possible to obtain the data that was conventionally missing. For example, when the reflecting prism is scanned in a straight line in a direction coincident with the direction of gravity, there may occur a portion where point cloud data is missing in the lower side of the reflecting prism without using the technique of the present invention. By using the technology of the invention, missing parts can be reduced.

It is a conceptual diagram of an embodiment. It is a perspective view of TS. It is a front view of TS. It is a block diagram of TS. It is a block diagram of the reflector mask control part with which TS is equipped. It is a flowchart which shows an example of a process.

(Overview)
The present invention uses position data obtained by positioning (ranging and angle measurement) an optical reflector when performing laser scanning of a measurement target (target) including the reflector. In the present embodiment, an optical reflector is described as a reflection prism.

  FIG. 1 is a conceptual view of the present embodiment. FIG. 1 shows a measurement target 200 which is positioned and scanned by a TS 100 having a laser scanner function and a TS 100. Here, the measurement target 200 is a stationary object and is a measurement target by the TS 100.

(Configuration of TS)
FIG. 2 shows a perspective view of the TS 100 shown in FIG. 1, and FIG. 3 shows a front view. The TS 100 includes a search laser scan function for searching for a target (or a reflection prism provided for the target), and a mechanism for automatically collimating the searched target (reflection prism provided for the target).

  The mechanism for this automatic collimation includes a tracking light receiving unit 104 that constitutes a transmission and reception unit of tracking light, a tracking light receiving unit 105, and a horizontal rotation drive that constitutes a motor drive mechanism for performing collimation using tracking light. The unit 108 and the vertical rotation drive unit 109, and an automatic collimation control unit 301 (in this embodiment, included in the reflector mask control unit 300 included in the calculation control unit 113 of the TS 100) that performs control of automatic tracking. In addition, since TS100 has an automatic collimation function, the operation | work which an operator collimates a target can be reduced significantly.

  In addition, the TS100 has a laser ranging function that measures the distance to the target using laser light for ranging, and measurement that measures the direction (horizontal angle and vertical angle (elevation angle or depression angle)) of the laser ranged target. It has a corner function, a function (positioning function) that calculates the three-dimensional position (coordinates) of the target from the distance and direction to the target, and a laser scan function to obtain point cloud data. The above-mentioned positioning function is a function (TS function) which measures the position of the original target of TS precisely.

  As shown in FIG. 2, the TS 100 has a structure in which the TS main body 20 and the laser scanner unit 101 are combined (combined). The TS 100 has a main body 11. The main body 11 is held by the pedestal 12 in a horizontally rotatable state. The pedestal 12 is fixed to the top of a tripod (not shown). The main body portion 11 has a substantially U-shape having two extending portions extending upward as viewed from the direction of the Y axis, and the movable portion 13 has a vertical angle between the two extending portions. Control of (elevation angle and depression angle) is possible.

  The main body 11 rotates electrically with respect to the pedestal 12. That is, in the main body portion 11, angle control of the horizontal rotation angle with respect to the pedestal 12 is performed by the motor. Further, the movable portion 13 is subjected to angle control of the vertical angle by the motor. The drive for the angle control of the horizontal rotation angle and the vertical angle is performed by the horizontal rotation drive unit 108 and the vertical rotation drive unit 109 (see the block diagram of FIG. 4) incorporated in the main body unit 11. The description of the horizontal rotation drive unit 108 and the vertical rotation drive unit 109 will be described later.

  In the main body 11, a horizontal rotation angle control dial 14a and a vertical angle control dial 14b are disposed. The horizontal rotation angle of the main body 11 (the movable portion 13) is adjusted by operating the horizontal rotation angle control dial 14a, and the vertical angle of the movable portion 13 is adjusted by operating the vertical angle control dial 14b. It takes place.

  At the upper part of the movable part 13, a square tube-like sight 15a for roughly aiming is disposed. Further, in the movable portion 13, an optical sight 15b having a narrower field of view than the sight 15a and a telescope 16 capable of more accurate collimation are disposed.

  The image captured by the sighting device 15 b and the telescope 16 can be viewed by looking through the eyepiece 17. The telescope 16 doubles as an optical system of distance measurement laser light and tracking light for tracking and capturing a distance measurement target (for example, a dedicated reflection prism serving as a target). The optical system is designed such that the optical axes of the distance measurement light and the tracking light coincide with the optical axis of the telescope 16. The structure of this part is the same as commercially available TS.

  Displays 18 and 19 are attached to the main body 11. The display 18 is integrated with an operation unit 111 described later. The displays 18 and 19 display various information, survey data, etc. necessary for the operation of the TS 100. The two front and back displays are provided so that the display can be viewed from either the front or back side without rotating the main body unit 11. In addition, about the detailed structure of TS demonstrated, it describes in Unexamined-Japanese-Patent No. 2009-229192, Unexamined-Japanese-Patent No. 2012-202821, for example.

  A laser scanner unit 101 is fixed to an upper portion of the main body unit 11. The laser scanner unit 101 has a first tower 21 and a second tower 22. The first tower portion 21 and the second tower portion 22 are joined by the joining portion 23, and the space above the joining portion (the space between the first tower portion 21 and the second tower portion 22) is scanned It is covered with a protective case 24 made of a member that transmits laser light. Inside the protective case 24, a rotating portion 25 protruding in the X-axis direction from the first tower portion 21 is disposed. The tip of the rotating portion 25 has a shape that is cut off at an angle, and the tilt mirror 26 is fixed to the tip.

  The rotation unit 25 is driven by a motor housed in the first tower unit 21 and rotates around the X axis as a rotation axis. In addition to the above-described motor, the first tower portion 21 contains a drive circuit for driving the motor and a control circuit thereof. In addition, if it is set as the structure which makes the rotation part 25 project from the 1st tower | column part 21 in the Y-axis direction, it can also be made to rotate by setting a Y-axis as a rotating shaft.

  Inside the second tower 22, a light emitting unit for emitting laser scanning light (pulsed laser light for laser scanning), a light receiving unit receiving the scanning light reflected from the object to be measured, a light emitting unit and a light receiving unit The optical system related to The laser scan light is emitted from the inside of the second tower 22 toward the oblique mirror 26, is reflected there, and is emitted to the outside through the transparent case 24. Further, the scanning light reflected from the measurement target follows a path reverse to the irradiation light, and is received by the light receiving unit inside the first tower 22.

  Positioning of the scan point (reflection point of the scan light) is performed based on the light emission timing and light reception timing of the scan light, and the angular position of the rotation unit 25 and the horizontal rotation angle of the main unit 11 at that time.

  The pulsed laser light for laser scanning is emitted in the extending direction of the rotation axis of the rotating unit 25 and is reflected at a right angle by the oblique mirror 26. The pulse laser light reflected by the oblique mirror 26 is intermittently emitted outward from the transparent protective case 24. At this time, laser scanning is performed with the vertical plane along the YZ plane as a scan plane by rotating (rotation around the X axis) the rotary unit 25 around the X axis in FIG. In addition, the entire structure is determined such that the optical axis of the distance measurement light (the distance measurement light of the TS main body 20) emitted from the telescope 16 is included in the above-described scan plane. Here, by emitting the above-described pulse laser beam while rotating the main body 11 horizontally (rotation around the Z axis in FIG. 2), laser scanning of the entire periphery (or a necessary range) is performed. In addition, the form which radiates | emits several pulse laser beams simultaneously is also possible.

  The horizontal rotation of the main body 11 (rotation about the Z axis in FIG. 2) is performed using a mechanism for electrically rotating the main body 11 with respect to the pedestal 12. If the purpose is only laser scanning, a dedicated mechanism for rotating only the laser scanner unit 101 may be provided separately from the rotating mechanism of the main body unit 11.

  In addition, about the technique which concerns on a laser scanner, it describes in Unexamined-Japanese-Patent No. 2010-151682, Unexamined-Japanese-Patent No. 2008-268004, US Patent No. 8767190 grade | etc.,. In addition, as a laser scanner, an embodiment in which a scan is electronically performed as described in US Patent Publication No. US 2015/0293224 can be adopted.

  FIG. 4 is a block diagram of the TS 100. The TS 100 includes a laser scanner unit 101, a storage unit 102, a distance measurement unit 103, a tracking light emission unit 104, a tracking light reception unit 105, a horizontal angle detection unit 106, a vertical angle detection unit 107, a horizontal rotation drive unit 108, and a vertical rotation drive. A unit 109, a display unit 110, an operation unit 111, a communication unit 112, and an arithmetic control unit 113 are provided.

  The laser scanner unit 101 scans (scans) a pulse laser beam on a measurement target, and detects the reflected light to obtain a rough shape of the measurement target as point group data having three-dimensional coordinates. That is, the laser scanner unit 101 has the same function as a commercially available three-dimensional laser scanner. The coordinate system of the three-dimensional coordinates given to the point cloud data is the same as the coordinate system that handles the coordinates obtained by the distance measuring unit 103, the horizontal angle detection unit 106 and the vertical angle detection unit 107 described later. The storage unit 102 stores control programs necessary for the operation of the TS 100, various data, survey results, and the like.

  The distance measuring unit 103 measures the distance to the target using the distance measuring laser light. The distance measuring unit 103 includes a light emitting element of laser light for distance measurement, an irradiation optical system, a light receiving optical system, a light receiving element, a distance measuring operation unit, and an optical path of distance measuring reference light. The distance to the measurement object is calculated from the phase difference between the distance measurement light reflected from the measurement object and the reference light. The calculation method of the distance is the same as that of normal laser ranging.

  The tracking light emitting unit 104 and the tracking light receiving unit 105 search for a reflecting prism using a searching laser beam having a triangular pyramid shape or a fan-shaped beam. The reflection prism is provided for a search target (collimation target), and the reflection prism becomes a search and laser irradiation target, whereby automatic collimation of the search target (collimation target) is performed. That is, the collimated target is tracked by irradiating the reflecting prism with the search laser light emitted by the tracking light emitting unit 104 and controlling the reflected light to be positioned at the center of the light receiving element of the tracking light receiving unit 105. . This control is performed by the automatic collimation control unit 301 included in the reflector mask control unit 300.

  The horizontal angle detection unit 106 and the vertical angle detection unit 107 measure the horizontal direction angle and the vertical direction angle (elevation angle and depression angle) of the target measured by the distance measurement unit 103. A horizontal rotation and elevation angle (depression angle) control is possible for the housing portion including the optical system of the distance measuring unit 103, the tracking light emitting unit 104, and the tracking light receiving unit 105, and the horizontal direction angle and the vertical direction angle are encoders Is measured by The output of the encoder is detected by the horizontal angle detection unit 106 and the vertical angle detection unit 107, and measurement of the horizontal direction angle and the vertical direction angle (elevation angle and depression angle) is performed.

  The horizontal rotation drive unit 108 and the vertical rotation drive unit 109 control the horizontal rotation and elevation angle (and the depression angle control) of the housing portion provided with the optical system of the distance measurement unit 103, the tracking light emitting unit 104 and the tracking light receiving unit 105. And a control circuit of the drive circuit. The laser scanner unit 101 is also configured to rotate horizontally with the housing portion.

  The display unit 110 provides or displays information to an operator or the like who handles the TS 100 in a state where the processing result and the like can be visually recognized, for example, a technique such as GUI (Graphical User Interface). The above-mentioned displays 18 and 19 correspond to this. The operation unit 111 is provided with a numeric keypad, a cross operation button, and the like, and various operations and data input related to the TS 100 are performed. In addition, the display unit 110 and the operation unit 111 can be integrated by adopting a touch panel method that operates when the operator touches the information display screen.

  The communication unit 112 is a functional unit that transmits and receives various information and data to and from devices other than the device in which the communication unit 112 is provided, and is at least one of a wireless communication function, a wired communication function, and an optical communication function. Equipped with For example, information on point cloud data obtained by the laser scanner unit 101 or data created from the point cloud data using any of the communication functions described above is stored in another device (for example, a computer separate from the TS 100) Exchange information with an external information processing apparatus).

  In addition to including the reflector mask control unit 300 described later, the operation control unit 113 performs control of calculation processing related to various operation control of the TS 100 and management of data stored in the storage unit 102. The arithmetic control unit 113 is configured by an electronic circuit such as a central processing unit (CPU), an application specific integrated circuit (ASIC), or a programmable logic device (PLD) represented by an FPGA (field programmable gate array). In addition, it is also possible to configure some functions with dedicated hardware and configure some other functions with general-purpose microcomputers.

  Whether each functional unit of the arithmetic control unit 113 is configured by dedicated hardware or configured as software by execution of a program in the CPU is determined in consideration of required operation speed, cost, power consumption, etc. . Note that configuring the functional unit with dedicated hardware and configuring as software are equivalent from the viewpoint of realizing a specific function. Of course, it is also equivalent to implement | achieve each function part as an apparatus.

  In the use of the present invention, the TS 100 is not limited to a surveying apparatus such as the TS as long as it has a positioning function and a laser scanner function, and can be substituted for other apparatuses. For example, substitution with a camera or a portable terminal having the above two functions is possible.

(Composition of measurement object)
The measurement target 200 is provided with a reflecting prism 201 to be automatically collimated and tracked by the TS 100. The shape of the measuring object 200 is not particularly limited as long as it has an optical reflector such as a reflecting prism.

(Configuration of reflector mask control unit)
FIG. 5 is a block diagram of the reflector mask control unit 300. As shown in FIG. The three-dimensional information processing unit 300 is a part in charge of processing in the present invention, and includes an automatic collimation control unit 301, a positioning unit 302, a mask angle calculation unit 303, and a scan control unit 304.

  The automatic collimation control unit 301 performs collimation and tracking of the measurement target by causing each function unit or each device to function or operate. For example, the tracking light emitting unit 104 and the tracking light receiving unit 105 of the TS 100 are functioned to collimate the measurement target 200.

  The positioning unit 302 obtains three-dimensional coordinates of a measurement target by causing each functional unit or each device to function or operate. For example, the function of the distance measuring unit 103, the horizontal angle detection unit 106, and the vertical angle detection unit 107 of the TS 100 with respect to the reflection prism 201 provided on the measurement target 200 collimated by the control of the automatic collimation control unit 301 To obtain three-dimensional coordinates of the reflecting prism 201 based on the TS100.

  The mask angle calculation unit 303 sets an angle at which the pulsed laser light emitted from the laser scanner or the laser scanner function unit is not emitted (irradiated) based on the three-dimensional coordinates of the optical reflector and the size (size) of the reflector. A certain mask angle V is calculated. That is, the mask angle V is an angle at which the optical reflector is not laser scanned, and is variable according to the three-dimensional coordinates of the reflector and the dimensions of the reflector determined from the distance measurement and angle measurement results. The mask angle V tends to increase as the distance to the reflector obtained by distance measurement decreases, and decreases as the distance increases.

  The mask angle V is an angle corresponding to the pulse laser beam irradiation direction of the laser scanner unit 101. For example, if the rotating unit 25 rotates around the X axis direction in FIG. 2 as the rotation axis and the pulse laser beam is irradiated on the YZ plane, the mask angle V becomes an angle corresponding to the YZ plane direction. The calculation of the mask angle is not only the angle corresponding to the above-mentioned pulse laser beam irradiation direction, but also the angle corresponding to the horizontal rotation (rotation around Z axis in FIG. 2) performed by the main unit 11 of TS100. May be

  In addition, since the dimensions of the optical reflector need to be known, the dimension information is previously input or registered. Therefore, the mask angle calculation unit 303 includes a reflector size receiving unit (not shown) that is a functional unit that receives the dimension information of the reflector. The reflector size reception unit is not limited to being provided in the mask angle calculation unit 303 as long as it can pass dimension information of the reflector to the mask angle calculation unit 303. Moreover, when irradiating multiple lines of pulsed laser light from a laser scanner or a laser scanner function part, the mask angle V is calculated for each pulsed laser light.

  The mask angle calculation unit 303 calculates the mask angle V for each of the reflectors when there are a plurality of optical reflectors in the irradiation range of the pulse laser beam emitted from the laser scanner or the laser scanner function unit.

  The scan control unit 304 operates the laser scanner or the laser scanner function unit to obtain point cloud data of the target. Note that three-dimensional coordinate data obtained by the positioning unit 302 is added to the obtained point group data. For example, the laser scanner unit 101 of the TS 100 is functioned to obtain point cloud data having three-dimensional coordinate information on the measurement object 200.

The scan control unit 304 also performs control to set the range excluding the angle at which the pulsed laser light is not calculated, which is calculated by the mask angle calculation unit 303, as the laser scan range. For example, the irradiation range of pulse laser light corresponding to the measurement of the measurement object 200 from the laser scanner unit 101 of the TS 100 is 155 ° to 185 °, and the mask angle V _m calculated by the mask angle calculation unit 303 is 170 °. If it is approximately 175 degrees, the scan control unit 304 causes the light emitting unit of the laser scanner unit 101 to emit pulsed laser light in the range of 155 degrees to 170 degrees and 175 degrees to 185 degrees.

  The reflector mask control unit 300 transmits a signal with information on the mask angle calculated by the mask angle calculation unit 303 to the laser scanner or the laser scanner function unit by providing a signal generation unit (not shown). Control may be performed directly, or the user of the present invention may be made to recognize visually or aurally by transmitting a signal to the notification device, and indirectly through the user of the present invention. Control may be performed.

  The point cloud data obtained in the scan control unit 303 and the size (size) data of the optical reflector used in the mask angle calculation unit 303 are stored in the storage unit (not shown) provided in the reflector mask control unit 300. Storage unit of the device provided with the reflector mask control unit 300 (in the present embodiment, the storage unit 102 of the TS 100) or the storage unit of the device capable of communicating with the reflector mask control unit 300. It may be stored.

(Example of processing)
An example of processing in this embodiment is shown in FIG. In the process shown here, the laser scanner unit 101 of the TS 100 scans the measurement object 200 in the vertical direction (scan in the Y-Z plane in FIG. 2), and obtains dimensional information of the reflecting prism 201 in advance. It is assumed that the

  First, automatic collimation is performed by the TS 100 on the reflecting prism 201 provided on the measurement object 200 (step S101). Next, positioning is performed on the automatically collimated reflecting prism 201 to obtain three-dimensional coordinate data of the reflecting prism 201 (step S102).

  Then, the three-dimensional coordinate data of the reflecting prism 201 obtained in step S102, the dimensions of the reflecting prism 201 which are known, and the reflection when the object to be measured 200 is irradiated with the pulse laser light from the pulse laser light irradiation range of the laser scanner unit 101 A mask angle to be masked as a part corresponding to the prism is calculated (step S103).

  A scan is performed on the range not corresponding to the mask angle obtained in the process of step S103 and the range corresponding to the measurement of the measurement target 200 (step S104). When the point cloud data of the measuring object 200 excluding the portion corresponding to the reflecting prism 201 is obtained by the above processing, the processing is ended.

  In the above-described processing (steps S101 to S104), the measurement target object 200 which does not move is the point cloud data acquisition target, but the technology of the present invention can be used even if the measurement target object 200 is a mobile object. Although the flow in that case is the same as that of FIG. 6, the processing contents of step S101 and step S102 are changed.

  In step S101 in the case where the measurement object 200 is a moving object, automatic collimation is performed by the TS 100 on the reflecting prism 201 provided on the measurement object 200, and the TS 100 automatically tracks the movement of the measurement object 200. To be able to This is because, since the TS 100 can automatically track the measurement target 200 which is a moving object, it is possible to perform positioning in the next step.

  Then, in step S102, positioning of the collimated and automatically tracked reflecting prism 201 is performed to obtain three-dimensional coordinate data of the reflecting prism 201. Thereafter, the same processing as step S103 and step S104 described above is sequentially performed, and the processing ends.

(Modification 1)
In the practice of the present invention, an embodiment may be provided in which an optical path blocker such as an optical shutter is provided in the light receiving optical path so that the reflected light from the optical reflector is not introduced into the light receiving element. In this case, the light path is blocked at the timing when the pulse laser light to be emitted is reflected by the reflector and returned to the light receiving element.

  The timing at which the reflected light returns can be calculated from the velocity of the pulse laser light and the distance that can be calculated from the three-dimensional coordinates of the reflector acquired by the positioning unit 302. Here, the calculation of the velocity of the pulse laser light can be calculated by measuring the time from the irradiation (emission) of the pulse laser light to the reception of light to an arbitrary point whose distance can be calculated by the positioning unit 302. It is.

  In the case of this modification, instead of the mask angle calculation unit 303 described above, the reflector time control unit (not shown) can be provided in the reflector mask control unit 300. Note that the scan control unit 304 in this case performs irradiation of the pulsed laser light to the measurement object 200 without limitation of the mask angle V or the like.

  In addition, the aspect which turns off a light receiving element in the range of a mask angle is also possible. In this case, the light receiving element of the scanning light is turned off at the timing when the optical axis directs the range of the mask angle, and the light receiving element does not detect the reflected light with high intensity.

  In this modification, the light blocking function by the light path blocker and the light blocking function by turning off the light receiving element are sufficient as long as one of the functions is provided, but two functions may be used in combination. By combining the two functions, reflected light can be blocked more reliably. Furthermore, it may be made to function together with the operation of the light emitting unit of the laser scanner described above.

(Modification 2)
When performing horizontal angle rotation of the TS main body provided with the laser scanner while performing single-axis rotational scanning by the laser scanner (for example, the rotation unit 25 rotates with the X axis direction in FIG. 2 as the rotation axis and the main unit 11 is horizontal In the case of rotation (rotation about the Z axis in FIG. 2), the measurement range of the laser scanner expands from a two-dimensional plane to a three-dimensional space. In this case, if the present invention is used, the measurement object can be measured not only from the front but also from the side, so it becomes possible to cope with optical reflectors of various shapes.

  Also, if there are multiple optical reflectors in a space of any size for which you want to obtain point cloud data, measure or acquire the three-dimensional coordinates of each optical reflector. It is also possible to calculate the mask angles V corresponding to the positions of the respective reflectors and to emit pulsed laser light so as to avoid the calculated mask angles V. When there are a plurality of optical reflectors moving in the space, the three-dimensional coordinates of each reflector are measured by a device having a plurality of positioning functions, and the three-dimensional coordinate data is acquired by communication or the like It may be in the form.

(Generality)
The processing performed by the reflector mask control unit 300 (steps S101 to S104 in one example of the above-described processing) may be performed by operating each function of the TS 100 via the calculation control unit 113 of the TS 100. As long as signals can be transmitted and received between the reflector mask control units 300, the present invention is not limited to being included in the surveying instrument of the reflector mask control units 300. That is, the reflector mask control unit 300 may be a separate device. For example, it is conceivable to implement the present invention by combining the reflector mask control unit 300 as a separate device with a commercially available three-dimensional laser scanner device and TS.

(Superiority)
The advantage of the present invention is that saturation of the light receiving element makes it possible to obtain point cloud data in the vicinity of an optical reflector, which can not be obtained conventionally. Furthermore, the technique of the present invention is advantageous in that it can be used even if there are a plurality of optical reflectors.

  The present invention is applicable to surveying technology using an optical reflector.

  11: Body part 12, 12: pedestal, 13: movable part, 14a: horizontal rotation angle control dial, 14b: vertical rotation angle control dial, 15a: aiming device, 15b: aiming device, 16: telescope, 17: eyepiece, 18 display 19 display 20 main body 21 tower portion 22 tower portion 23 coupling portion 24 protective case 25 rotating portion 26 oblique mirror 100 (with laser scanner) TS, 101: laser scanner unit, 102: storage unit, 103: ranging unit, 104: tracking light emitting unit, 105: tracking light receiving unit, 106: horizontal angle detecting unit, 107: vertical angle detecting unit, 108: horizontal unit Rotational drive unit 109 Vertical rotation drive unit 110 Display unit 111 Operation unit 112 Communication unit 113 Calculation control unit 200 Measurement object 201 Reflective prism 300 Reflector mask Control part, 301 ... automatic collimation control part, 302 ... positioning part, 303 ... mask angle calculation part, 304 ... scan control part.

Claims (7)

Three-dimensional coordinate measuring means for measuring three-dimensional coordinates of a reflector placed on a measurement object by laser light;
Laser scanner means for performing laser scanning on the measurement object;
And a mask angle calculation unit that calculates a mask angle that is an angle range in which acquisition of laser scan data of the reflector is not performed based on three-dimensional coordinates of the reflector by the three-dimensional coordinate measurement unit.   The surveying device according to claim 1, wherein at least one of the operation of not irradiating the laser scan light in the range of the mask angle and the operation of not receiving the laser scan light in the range of the mask angle is performed.   The surveying instrument according to claim 1 or 2, wherein the mask angle is calculated based on the dimensions of the reflector in addition to the three-dimensional coordinates of the reflector.   The mask angle calculation unit according to any one of claims 1 to 3, wherein the mask angle is calculated for each of the reflectors when there are a plurality of reflectors in a range where the laser scanner means emits the laser scan light. Surveying equipment. Three-dimensional coordinate measuring means for measuring three-dimensional coordinates of a reflector disposed on a measurement target;
Laser scanner means for performing a laser scan on the object to be measured;
The survey control device includes a mask angle calculation unit that calculates a mask angle that is an angle range in which acquisition of laser scan data of the reflector is not performed based on three-dimensional coordinates of the reflector by the three-dimensional coordinate measurement unit. A method of controlling the surveying means,
A three-dimensional coordinate measurement step of measuring three-dimensional coordinates of a reflector placed on a measurement target by laser light;
A laser scan step of performing a laser scan on the measurement object;
A mask angle calculating step of calculating a mask angle which is an angle range in which acquisition of laser scan data of the reflector is not performed based on three-dimensional coordinates of the reflector by the three-dimensional coordinate measuring device. A program for survey control processing that is read and executed by a computer.
A three-dimensional coordinate measuring means for measuring three-dimensional coordinates of a reflector placed on a measurement target by means of a laser beam from a computer;
Laser scanner means for performing laser scanning on the measurement object;
A survey angle measuring unit having a mask angle calculating unit that calculates an angle range in which acquisition of laser scan data of the reflector is not performed based on three-dimensional coordinates of the reflector by the three-dimensional coordinate measuring unit; Control processing program.

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