JP2019113491A - Target device, measuring method, measuring device, and program for measurement - Google Patents

Abstract

To provide a technology that can measure the attitude of an object to be measured by using a laser beam.SOLUTION: A target device 130 comprises a spiral display target 120 including a surface having spiral patterns, wherein a rotation position around a spiral shaft of the spiral display target 130 is detected on the basis of the distance L between the position B of the boundary between the spiral patterns and the position Bof a lower end.SELECTED DRAWING: Figure 4

Description

  The present invention relates to surveying technology for detecting the orientation of a target.

  In the survey using TS (total station), a target device provided with a rod-like member provided with a reflection prism is used (see, for example, Patent Document 1). In the survey using this target device, with the tip of the vertical bar-shaped member being in contact with the ground, the positioning by TS is performed on the reflecting prism to thereby make the position of the tip of the bar-shaped member contact. Get coordinates. Then, by performing this work at each place of the land to be surveyed, the land is surveyed.

  In the above operation, the worker holds the target device in hand, and while walking and moving, surveying is performed at a plurality of positions. At this time, guidance from the TS side to the next surveying position is performed using a terminal or the like obtained by the worker. At this time, it is convenient to know the horizontal angle (direction in the horizontal plane) of the target device with respect to TS. Usually, the above horizontal angle detection is performed using a magnetic sensor or a gyro sensor. Also known is a technique for detecting an azimuth using GPS.

JP, 2009-229192, A

  The detection of the horizontal angle by the magnetic sensor is affected by the metal structure. For example, near a bridge, it is affected by rebar and steel in concrete. In addition, there is a technology in which a corrugated steel material is driven into the ground to reinforce the ground, but the accuracy of the magnetic sensor may decrease due to the influence of the steel material in the ground. In addition, the gyro sensor has a problem of output drift. Although there is also a gyro sensor which improves this point, it becomes expensive and large. GPS can not be used (or loses accuracy if it can be used) in places where navigation satellites are not visible (in valleys, under bridges, in tunnels, indoors, underground, forests, etc.).

  The above problems also occur when it is desired to know the orientation of a UAV (Unmanned aerial vehicle) with respect to TS. For example, a technique for tracking a UAV by TS is known (US2014 / 0210663). In this technology, it is important to know the attitude of the UAV with respect to the TS, but the above-mentioned attitude detection using the orientation sensor, the gyro sensor, and the GPS causes the same problem as described above.

  In such a background, the present invention aims to provide a technique capable of measuring the posture of a measurement object using a laser beam.

  The present invention is a target device provided with a spiral pattern display on a surface, and when measured from a specific direction, the spiral pattern display on a spiral axis of a specific portion of the spiral pattern display. It is a target device in which detection of the rotational position of the target device about the helical axis is performed based on the position.

  In the present invention, the position of the specific portion is defined by the distance between the position and another portion which is distinguishable from the spiral pattern display and which is at a position separated in the extension direction of the helical axis. It can be mentioned.

  In the above aspect, when the distance between the specific part and the other part is L, and the angle of the rotational position with respect to the reference rotational position is θ, there is a specific relationship between L and θ There is an aspect in which the θ can be obtained by measuring the L. Furthermore, in this aspect, an aspect in which the L and the θ are in direct proportion to each other may be mentioned.

  In the present invention, the helical pattern display may be a mode in which the coded content is displayed by a helical interval.

  Another aspect of the present invention is a method of measuring an angular position of the target device about the spiral axis according to the above, comprising the steps of: photographing the spiral pattern display; and based on the photographing result, the specific part It is a surveying method comprising the steps of: calculating a position on a helical axis; and determining an angular position around the helical axis of the target device based on the position of the specific part on the helical axis.

  Another invention of the present invention is a surveying instrument for surveying an angular position about a helical axis of the target apparatus described above, which is a camera for capturing the display of the helical pattern, and the helical pattern displayed by the camera. Position calculation means for calculating the position of the specific part on the helical axis, and the angular position of the target device about the helical axis based on the position of the specific part on the helical axis It is a surveying instrument provided with an angular position calculation means.

  Another present invention is a surveying program for causing a computer to calculate the angular position of the target device about the helical axis of the target device, wherein the identification is performed based on an image obtained by capturing the helical pattern display on the computer. A surveying program for executing the steps of calculating the position of the part of the part on the spiral axis, and determining the angular position around the spiral axis of the target device based on the position of the specific part on the spiral axis is there.

  According to the present invention, it is possible to obtain a technology capable of measuring the attitude of a measurement object using a laser beam.

It is a conceptual diagram of an embodiment. It is a perspective view of a surveying instrument of an embodiment. It is a front view of a surveying instrument of an embodiment. It is a principle view showing the mechanism which measures the horizontal angle of a spiral display target. It is a graph which shows the relationship between the horizontal angle (horizontal axis) and the distance L (vertical axis) of the position of the boundary of a helical display, and the position of the reflective center of a total circumference reflective prism. It is a figure explaining the method to obtain | require the horizontal angle of the target apparatus in an absolute coordinate system. It is a block diagram of a survey instrument. It is a flowchart which shows an example of the procedure of a process. It is a figure which shows an example of the display screen of a terminal. It is a figure which shows an example of the display screen of a terminal. It is a conceptual diagram which shows the outline | summary of other embodiment. It is a conceptual diagram which shows the outline | summary of other embodiment. It is a principle view showing the mechanism which measures the horizontal angle of a spiral display target.

1. First embodiment (outline)
An overview of the embodiment is shown in FIG. A target device 130 is shown in FIG. The target device 130 is a helical display target having a tubular or cylindrical structure on which the positional relationship between the omnidirectional reflecting prism 110 subjected to laser positioning and the omnidirectional reflecting prism 110 is specified, and a helical pattern display is provided. And 120 are provided.

  In FIG. 1, the position and horizontal angle (orientation in the horizontal direction) of the target device 130 are measured by the surveying instrument 400. Here, the surveying instrument 400 is horizontally installed at a position where coordinates are known in the absolute coordinate system, and the horizontal direction in the absolute coordinate system is determined. This is the same as in the case of a normal TS or other surveying instrument.

  An absolute coordinate system is a coordinate system used in GNSS. In an absolute coordinate system, coordinates are specified by longitude, latitude, and altitude from the mean sea level. In addition, a local coordinate system defined on the spot can also be used as a coordinate system.

  The position of the all-round reflecting prism 110 is determined by laser positioning. On the other hand, the surveying instrument 400 captures an image of the target device 130. The position of the specific part of the spiral display of the spiral display target 120 is detected based on the captured image. Then, based on the position of the specific part of the spiral display, the rotational angle position around the spiral axis of the target device 130 is determined. In addition, a helical axis is an axis of a spiral which constitutes a helical pattern. For example, when a spiral pattern is formed on the outer peripheral surface of a cylinder, the axis (cylinder axis) of the cylinder coincides with the spiral axis.

(Surveying instrument)
The surveying instrument 400 will be described below. The surveying instrument 400 is a TS (total station) that includes a camera and can measure the rotational angle position of the spiral pattern target 120. The surveying instrument 400 has a precise positioning function using laser ranging light. This is a function that a normal total station has. About TS, it describes, for example in JP, 2009-229192, A, JP, 2012-202821.

  The surveying instrument 400 will be described below with reference to FIGS. 2 and 3. The surveying instrument 400 has a horizontal rotation unit 11. The horizontal rotation unit 11 is held on the pedestal 12 so as to be horizontally rotatable. The pedestal 12 is fixed to the top of a tripod (not shown). The horizontal rotation portion 11 has a substantially U-shape having two extension portions extending upward, and the vertical rotation portion 13 has an elevation angle (elevation angle and depression angle) between the two extension portions. Is held in a state in which control of

  The horizontal rotation unit 11 electrically rotates horizontally with respect to the pedestal 12. The vertical rotation unit 13 is rotated in a vertical plane by a motor. The angle control in the horizontal plane of the horizontal rotation unit 11 is performed by the horizontal rotation drive unit 207 (see FIG. 8) built in the horizontal rotation unit 11. The angle control in the vertical plane of the vertical rotation unit 13 is performed by the vertical rotation drive unit 208 (see FIG. 7) built in the horizontal rotation unit 11.

  In the horizontal rotation unit 11, a horizontal rotation angle control dial 14a and an elevation control dial 14b are disposed. By operating the horizontal rotation angle control dial 14a, the horizontal rotation angle of the horizontal rotation portion 11 is adjusted, and by operating the elevation angle control dial 14b, the elevation angle in the vertical plane of the vertical rotation portion 13 ( Adjustment of elevation angle and depression angle is performed.

  At the upper part of the vertical rotation unit 13, a sighting device 15a for aiming roughly is disposed. Further, in the vertical rotation unit 13, an optical sight 15b (see FIG. 3) having a narrower field of view than the sight 15a (see FIG. 3) and a telescope 16 capable of more precise collimation are disposed.

  An optical system for guiding an image captured by the sighting device 15 b and the telescope 16 to the eyepiece unit 17 is accommodated in the vertical rotation unit 13. The image captured by the sighting device 15 b and the telescope 16 can be viewed by looking through the eyepiece 17. The image captured by the telescope 16 can be taken by a camera 211 (see FIG. 7) disposed inside the vertical rotation unit 13.

  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 horizontal rotation unit 11. The display 18 is integrated with the operation unit 210. A numeric keypad, a cross control button, and the like are arranged in the operation unit 210, and various operations and data related to the surveying instrument 400 are input. The displays 18 and 19 display various information, survey data, etc. necessary for the operation of the survey instrument 400. 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 horizontal rotation unit 11.

(Target device)
The target device 130 shown in FIG. 1 is used for positioning work at a civil engineering work site or the like. At the time of this work, positioning is performed by the surveying instrument 400 targeting the all-round reflection prism 110. The target device 130 includes a rod-like member 131 serving as a support member, an all-round reflecting prism 110 fixed to an upper portion of the bar-shaped member 131, a spiral display target 120 fixed to an upper portion of the all-round reflecting prism 110, and a spiral display target 120 And a terminal 132 fixed via a support at the top of the.

  The all-round reflecting prism 110 changes the direction of the incident light by 180 ° and reflects it. The all-round reflection prism 110 may be a conventional product used for measurement using TS. Here, the reflection center P of the total circumferential reflection prism 110 is adjusted to be on the spiral axis of the spiral display target 120. Although it is also possible to use a reflection prism that is not of the all around reflection type, there is a limit to the range of angles that can be supported. The spiral display target 120 will be described later.

  The terminal 132 includes an image display device such as a liquid crystal display. In this image display device, guide display for guiding the position of the positioning operation using the all-round reflecting prism 110 to the operator who handles the target device 130 is performed. The guide display will be described later. As the terminal 132, a tablet or a smartphone is used. A dedicated terminal may be prepared as the terminal 132.

  For example, the case of stake driving will be described. In piling work, in construction work site or civil engineering work site, the position which was determined beforehand in drawing is specified in the actual site, and it is the work of putting the pile of the mark on it (or giving some mark) It is. In this work, the work of searching for a piling point → specification → pile driving to that position is performed for a plurality of piling candidate positions. At this time, the target device 130 is used to identify the stakeout point.

  For example, in a state where the worker holds the rod-like member 131 by hand, the worker moves on foot and moves to the planned stake position. At this time, the operator moves to the target position using the guide display of the terminal 132. At this time, the guide display is created using the information of the direction (posture) in the horizontal direction of the target device 130 obtained using the spiral display target 120. The technology relating to this guide display will be described later.

  The pinpointing point is specified by bringing the tip end of the rod-like member 131 into contact with the ground, standing the target device 100 vertically, and positioning the total collecting reflection prism 110 by the TS function unit 200. This work is the same as a normal surveying work using TS.

(Helix display target)
FIG. 4 shows the target device 130 configured by the all-round reflecting prism 110 and the spiral display target 120 fixed to the top, as viewed from the side (the direction perpendicular to the spiral axis). The target device 130 includes a level not shown, and is installed using the level so that the helical axis (Z axis in FIG. 4) of the helical display target 120 is in the vertical direction.

  The target device 130 is fixed to an upper portion of a rod-like member serving as a support member, but the rod-like member is not shown in FIG. Also, the terminal 132 and its supporting structure are not shown.

  The helical display target 120 is cylindrical or cylindrical and even has a helical pattern on its outer peripheral surface. In this example, two types of spiral patterns that can be identified as images are provided adjacent to each other in the spiral axis direction. The helical axis coincides with the extending direction of the rod-like member 131 and the axial direction of the cylindrical or cylindrical member constituting the helical display target 120. The spiral display is set such that the phase advances by one cycle (phase difference 2π) in one rotation around the axis. That is, when the spiral is rotated around the helical axis by one rotation, the same display (pattern) portion viewed from the side is moved by a phase difference of 2π in the helical axis direction. The spiral display is not limited to this, but this display form is the simplest. In addition, the number of bands of a spiral pattern is not limited to two, One or three or more may be sufficient.

  On the surface of the spiral display target 120, a color that is easy to identify as an image when picked up by a camera is selected.

  Now, consider the state of (A) as the reference state. Here, it is assumed that the spiral axis of the spiral display is vertical. At the bottom of (A), the direction of the viewpoint as viewed from above is shown conceptually.

  Here, it is assumed that the target device 130 (helical display target 120) is rotated by 1⁄4 right rotation (clockwise by 90 °) as viewed from above vertically from the state of (A). In this case, the appearance of the spiral display changes as it advances in the phase difference π / 2 upward (Z-axis positive direction). That is, the appearance state shifts from (A) to (B).

  In this case, the position B of the boundary of the spiral pattern seen on the spiral axis viewed from the observer moves from the position of (A) to the position of (B). That is, when the target device 130 is rotated, the position B of the boundary of the spiral pattern visible on the spiral axis goes up and down. Here, the vertical direction is determined by the direction of rotation. In the case of FIG. 4, the boundary B moves upward when the target device 130 is rotated to the right as viewed from above in the vertical direction. The amount of movement is a phase corresponding to a 1/4 cycle in 1/4 rotation.

Here, the distance L between the lower end B _{0 of the} spiral pattern target 120 (the boundary portion of the spiral pattern target 120 and the total circumferential reflection prism 110) and the portion B of the boundary of the spiral pattern L (L 1 in FIG. In B), consider L2). As is apparent from the above description associated with FIG. 4, when the target device 120 is rotated about the helical axis (vertical axis), the value of L changes. For example, when the target device 130 (helical display target 120) is rotated by 1⁄4 clockwise as viewed from vertically above from the state of FIG. 4A, the value of L changes from L1 to L2.

  There is a proportional relationship between the rotation angle and L. An example of the relationship between the rotation angle Dm and L is shown in FIG. Dm is a horizontal angle of the target device 130 with respect to the observer (in this case, the surveying instrument 400). In this case, Dm is a horizontal angle based on the case where the target device 130 is observed from the front as a reference (Dm = 0 °). The front of the target device 130 is determined in advance, and a mark is attached to an easily viewable portion of the target device 130 so that the user can recognize it.

  For example, when the state of FIG. 4A is the state where the front of the spiral display target 120 (target device 130) is viewed from the surveying instrument 400, and the horizontal rotation angle Dm of the spiral display target 120 with respect to the surveying instrument 400 is 0 °. It is assumed that Then, from the state of FIG. 4A, assuming that the clockwise direction is + rotation when viewed from the vertically upper direction, and the reverse rotation direction is −rotation, between the distance L and the horizontal rotation angle Dm, as shown in FIG. Relationship.

The horizontal rotation angle Dm of the target device 130 with respect to the surveying instrument 400 can be obtained by acquiring L from the image and further using the relationship shown in FIG. That is, first, shooting target device 130 in the camera 211 of the surveying instrument 400 (see FIG. 7), the position B of the boundary of the spiral pattern of the position B ₀ and the spiral display target 120 at the lower end of the helical display target 120 from the captured image To detect. Next, the distance L between the positions B ₀ and B is determined from image analysis. And Dm is obtained from the relationship of FIG.

(How to find the distance L)
Hereinafter, how to obtain the distance L (L1, L2) between the positions _B0 and B in FIG. 4 using the photographed image will be described. Here, as a premise, it is assumed that the target device 130 is vertically erected. Further, it is assumed that an actual dimension C1 in the spiral axis direction of the total circumferential reflecting prism 110, which is a dimension serving as a reference in calculation of L, is obtained and known in advance.

  First, the target device 130 is photographed using the camera 211 (see FIG. 7). At this time, the optical magnification of the telescope 16 (see FIG. 3) is adjusted so that the entire circumferential reflection prism 110 and the entire spiral display target 120 fall within the field of view of the photographed image.

  Here, consider the case where the state of FIG. 4A is photographed. In this case, the actual value of L1 is calculated from the dimensions of C1 and L1 in the image. For example, it is assumed that the dimension of C1 acquired in advance is 5 cm.

In this case, analyzing the image data, detects the upper and lower ends of the entire circumference reflection prism 110, and also detects the position of the B ₀ and B (the position in the vertical direction) from an image. This process is performed by the detection unit 218 in the specific part of FIG. This process is performed using general image recognition software.

Then, by counting the number of pixels in the image, the dimension C1 _image in the C1 _image and the dimension L1 _image in the L1 _image are acquired. Then calculate L1 = 5 cm × (L2 _image / C1 _image ) to obtain the actual dimension of L2. This process is performed by the distance calculation unit 219 shown in FIG.

(How to determine the horizontal angle Ht in the absolute coordinate system)
As shown in FIG. 6, the horizontal angle Hm of the surveying instrument 400 with respect to the reference azimuth (for example, the north direction) is acquired at the time of installation of the surveying instrument 400 and is known. Therefore, the horizontal angle Ht in the absolute coordinate system of the target device 130 can be obtained from the relationship shown in FIG.

  The method of calculating Ht will be described below. First, it is assumed that the horizontal angle Hm of the surveying instrument 400 is measured as an angle in the clockwise direction with respect to north. Since the surveying instrument 400 is calibrated at the time of installation to set the reference of the horizontal angle, the horizontal angle Hm is obtained from the output of the horizontal angle detection unit 205 (see FIG. 7).

Dm is an angle formed by the reference direction (in this case, the front direction) of the horizontal angle of the target device 130 and the optical axis of the survey instrument 400. Dm is determined using the relationship of FIG. 5 from the distance L in the vertical direction of the B ₀ and B in FIG. 4.

  Here, Ht is calculated from the horizontal angles Hm and Dm according to the formula shown in FIG. 6 as an angle measured in the clockwise direction with respect to north. Thus, the horizontal angle Ht (direction in the horizontal direction) in the absolute coordinate system of the target device 130 is calculated.

(TS device)
The internal configuration of the surveying instrument 400 of FIG. 1 will be described. A block diagram (configuration diagram) of the surveying instrument 400 is shown in FIG.

  The surveying instrument 400 includes a storage unit 201, a distance measurement unit 202, a tracking light transmission unit 203, a tracking light reception unit 204, a horizontal angle detection unit 205, an elevation angle detection unit 206, a horizontal rotation drive unit 207, and a vertical rotation drive unit 208. , Displays 18, 19, an operation unit 210, a camera 211, an arithmetic control unit 212, and a communication unit 216.

  The storage unit 201 is configured by a data storage device such as a semiconductor memory circuit. The storage unit 209 stores data necessary for the operation of the surveying instrument 400, an operation program, and data obtained by the operation.

  The distance measuring unit 202 measures the distance between the surveying instrument 400 and the distance measuring object (all-round reflecting prism 110). As the origin of distance measurement, a predetermined position such as the position of the light emitting unit of the distance measurement unit 202 or the imaging position in the telescope 16 is adopted.

  The distance measuring unit 202 includes a light emitting element (laser diode or the like) for emitting distance measuring light, a peripheral circuit of the light emitting element, and a light receiving element for receiving distance measuring light reflected from a distance measuring object And a peripheral circuit of the light receiving element, and an arithmetic circuit which calculates the distance to the object based on the output of the light receiving element.

  The processing relating to the distance measurement in the distance measuring unit 202 is performed as follows. The distance measurement light from the light emitting element is divided into two by an optical system such as a half mirror, one is irradiated to the positioning target, and the other is guided to a reference light path (not shown). The reference optical path has a known optical path length, and the distance measuring light transmitted through the reference optical path is guided to the light receiving element as the reference distance measuring light. The light receiving element receives the distance measuring light reflected from the positioning object and the reference distance measuring light transmitted through the reference light path.

  Since the distance measurement light reflected by the positioning object and the reference distance measurement light from the reference light path have different timings of reaching the light receiving element, a phase difference occurs in the output signal (detection signal) of both light receiving elements. . The distance to the positioning object is calculated from this phase difference. The calculation of the distance is performed by an arithmetic circuit in the distance measuring unit 202.

  The tracking light transmission unit 203 emits tracking light for tracking a target (all-round reflecting prism 110) which is a positioning target. The tracking light receiving unit 204 receives the tracking light reflected from the target. The tracking light receiving unit 204 is configured of a CCD or a CMOS image sensor. Control of the horizontal angle and the elevation angle of the optical axis of the distance measuring unit 202 is performed such that the reflected light from the target of the tracking light is at the center of the field of view. The control of the horizontal angle and the elevation angle of the optical axis is performed by the horizontal rotation drive unit 207 and the vertical rotation drive unit 208 based on the control signal generated by the calculation control unit 212.

  The horizontal angle detection unit 205 detects the horizontal angle of the horizontal rotation unit 11 (see FIG. 1). The detection of the horizontal angle is performed by a rotary encoder. The elevation angle detection unit 206 detects the elevation angle (elevation angle and depression angle) of the vertical rotation unit 13. The detection of the vertical angle is performed by a rotary encoder.

  The horizontal rotation drive unit 207 drives the horizontal rotation of the horizontal rotation unit 11. Driving is performed by a motor. The vertical rotation drive unit 208 drives vertical rotation (elevation and depression) of the vertical rotation unit 13. Driving is performed by a motor.

  The displays 18 and 19 display various types of image information necessary for the operation of the surveying instrument 400 and image information of survey results. As the displays 18 and 19, a liquid crystal display or an organic EL display is adopted. The operation unit 210 is an operation interface provided with various buttons and the like for operating the surveying instrument 400. The camera 211 captures an image captured by the telescope 16.

  The arithmetic control unit 212 has a function as a computer provided with a CPU, a memory, and various interfaces, and controls the overall operation of the surveying instrument 400. A mode is also possible in which part of the operation in the operation control unit 212 is performed by a dedicated IC such as an FPGA. Further, the calculation control unit 212 includes a positioning calculation unit 213, a horizontal angle calculation unit 215 of the target device, an operation control unit 217, a specific part detection unit 218, a distance calculation unit 219, and an image correction unit 220. Here, at least one of the functional units included in the control calculation unit 212 may be configured separately from the calculation control unit 212.

  The positioning operation unit 213 performs an operation relating to the positioning of the object (for example, the all-round reflecting prism 110) measured by the distance measuring unit 202 (positioning of the object relative to the surveying instrument 400). The calculation relating to the positioning of the object in the positioning calculation unit 213 is performed as follows. In this process, based on the distance measurement data of the object obtained by the distance measurement unit 202 and the direction of the optical axis of the distance measurement light obtained by the horizontal angle detection unit 205 and the elevation angle detection unit 206, the distance measurement unit 202 measures The position of the measured object (all-round reflection target 110) is calculated. That is, the position (three-dimensional coordinates) of the object relative to the surveying instrument 400 is calculated from the distance and the direction.

  The horizontal angle calculation unit 215 of the target device calculates Dm (see FIG. 6) based on L (L1, L2) in FIG. 4 and further calculates Ht based on the principle in FIG.

The communication unit 216 communicates with an external device such as the terminal 132 shown in FIG. Position calculating unit 218 of the particular portion, the detection of the position on the Z axis in FIG. 4 B ₀ and B by the image analysis, further detects the position on the Z axis of the upper and lower ends of the entire periphery reflection prism 110. This process is performed using known image recognition technology. The operation control unit 217 centrally controls the operation of the surveying instrument 400. For example, control related to the procedure of the process of FIG. 8 is performed by the operation control unit 217.

The distance calculation unit 219 calculates the distance L between B ₀ and B in FIG. 4. In this process, L1 = C1 using a known distance C1, a dimension C1 _{image in} the image of C1 obtained by counting the number of pixels in the Z-axis direction in the image, and a dimension L1 _{image in the image} of L1. Calculation of × (L2 _image / C1 _image ) is performed.

  The image correction unit 220 performs projective conversion on the image captured by the camera 211 based on the elevation angle of the optical axis of the telescope 16 and corrects the captured image into an image viewed from the horizontal direction.

(An example of processing at the terminal 132)
The terminal 132 acquires data on the position of the target device 130 and data on Dm and Ht in FIG. Then, the terminal 132 creates, for example, the image of FIG. 9 or 10 and displays it on its own display. With reference to this image, the worker moves the target device 130 to the position for stakeout and the position for surveying. Hereinafter, a method of creating the image of FIG. 9 will be described.

  FIG. 9 shows an example of a screen display in which the upper direction is the front of the target device 130. First, the current position of the target device 130 in the absolute coordinate system is precisely measured by the surveying instrument 400, and the data is transmitted from the surveying instrument 400 to the terminal 132. Further, the target position (the position where the stake is hit) is specified in advance in the drawing, and the data is also acquired by the terminal 132. Further, the front direction Ht (see FIG. 6) in the absolute coordinate system of the target device 130 is calculated on the side of the surveying instrument 400 by the method of FIG.

  Therefore, the current position of the target device 130, the target position, and the direction of the front of the target device 130 in the absolute coordinate system are dropped on the map software, and the display screen is rotated based on Ht so that the upper side becomes the front. By displaying the direction of the surveying instrument 400, the screen of FIG. 9 is obtained.

  Since Dm in FIG. 9 is not obtained from a magnetic sensor, a gyro sensor, or a GPS sensor, the problem of the accuracy reduction mentioned in the section of the problem is avoided.

  FIGS. 10A and 10B show another example of the guide display on the display of the terminal 132 at the time of pile driving operation.

(Example of processing)
Hereinafter, an example of a surveying process using the surveying instrument 400 will be described. FIG. 8 is a flowchart showing the procedure of the process. The operation program according to the process of FIG. 8 is stored in the storage unit 201 of FIG. 7 and executed by the operation control unit 212. It is also possible to store the operation program in an appropriate storage area or storage medium. It is also possible to store the operation program in an external server or the like and provide it from there.

  Here, with reference to FIG. 1, an example of the procedure of the process in the case of performing a piling work at a civil engineering construction site will be described. First, a worker installs the target device 130 vertically at a certain place (initial position) (step S101). Here, a level is disposed in the target device 130, and the worker uses it to bring the tip of the rod-like member 131 into contact with the ground with the target device 130 in a vertical state.

  Next, the all around reflecting prism 110 is tracked using the target automatic tracking function of the surveying instrument 400, and the positioning of the all around reflecting prism 110 is performed using the positioning function of the surveying instrument 400 (step S102). Next, imaging of the target device 130 is performed using the camera 211 of the surveying instrument 400 (step S130). At this time, the magnification of the telescope 16 (see FIG. 3) is adjusted so that the entire circumferential reflection prism 110 and the entire helical display target 120 are photographed.

Then, based on the image captured in step S103, it detects the position on the vertical axis of the _{B 0} and B in FIG. 4 (position in the helical axis direction) (step S104). This process is performed by the specific part detection unit 218.

Next, the distance L in the vertical direction between B ₀ and B detected in step S104 is calculated (step S105). This process is performed by the distance calculation unit 219. Next, calculation of Dm based on L is performed using the relationship shown in FIG. 5 (step S106), and calculation of Ht based on Dm is further performed according to the method of FIG. 6 (step S107). The processes of steps S106 and S107 are performed by the horizontal angle calculation unit 215 of the target device.

  Finally, Dm obtained in step S106 and Ht obtained in step S107 are sent from the survey instrument 400 to the terminal 132, and the processing is ended (step S108). The terminal 132 that has received the information on Dm and Ht creates, for example, the display content of FIG. 9 and causes the display of the terminal 132 to display it. The operator sees the display of FIG. 9 and moves the target device 130 to the target position.

  After step S103, projective transformation may be performed on the captured image. In this case, the elevation angle of the optical axis of the telescope 16 with respect to the helical display target 120 is calculated based on the result of step S102. If the elevation angle is equal to or greater than the threshold value, projective transformation is performed on the image data obtained in step S103, and the image obtained in step S103 is converted into an image obtained by viewing the spiral display target 120 at the elevation angle 0 °.

  By performing the above-described projective transformation, the occurrence of an error when the spiral display target 120 is viewed obliquely from above or obliquely from below can be suppressed.

2. Second Embodiment FIG. 11 shows an example in which the present invention is applied to a technology for projecting an image from a projector to a positioning position on the ground or floor (see, for example, patent registration 6130078). FIG. 11 shows a target device 130 provided with a projector 520, an all around reflecting prism 110, and a spiral display target 120.

  In this case, information on the horizontal orientation of the projector 520 with respect to the projection surface (for example, the floor surface) of the projector is required to make the projection orientation appropriate. By obtaining the information of this direction, it is possible to project an image showing the guiding direction of the target device 130 from the projector 520 onto the ground or floor.

In the case of FIG. 11, the three-dimensional position (horizontal position and height) of the projector 520 equipped with a communicator is determined by the positioning of the all-circumferential reflecting prism 110 by the surveying instrument 400 installed at a known position and further determining the reference orientation. Is identified. On the other hand, from the position of the all-round reflecting prism 110 measured by the surveying instrument 400 and the photographed image of the all-round reflecting prism 110 and the spiral display target 120, The position B of the lower end _B0 and the boundary of the spiral pattern is detected, and the distance L between them is calculated. Then, the orientation Ht in the horizontal direction of the projector 520 (target device 130) is specified from L using the relationship of FIG. 5 and FIG.

  Information on the three-dimensional position of the projector 520 and the orientation in the horizontal direction is calculated by the surveying instrument 400 and sent to the projector 520. Receiving this information, the projector 520 adjusts the image to be projected, its projection position, and the scale and orientation of the projected image.

3. Third Embodiment For example, the present invention can be applied to a technique for specifying the horizontal direction of a mobile unit. In this case, a target in which the all-round reflection prism 110 and the spiral display target 120 are connected in the vertical direction is fixed to the moving body. At this time, the target is fixed to the moving body so that the spiral axis is vertical. For example, a gimbal mechanism is used so that the spiral axis of the target is always vertical even if the moving body is inclined. In the case where the target is configured to tilt with the movable body, the rotation of the movable body about the yaw axis is detected.

  In FIG. 12, a UAV (Unmanned Aerial Vehicle) 500 is mounted via a gimbal mechanism 501 with a target device 510 in which an all-round reflecting prism 110 and a spiral display target 120 are coupled, and tracked by a surveying instrument 400. The case of detecting the horizontal direction of the image is shown.

  In this case, the surveying instrument 400 is horizontally installed at a position whose coordinates are known in the absolute coordinate system, and the horizontal direction in the absolute coordinate system is determined. Then, the all around reflection prism 110 in the flying UAV 500 is tracked by the surveying instrument 400 and positioned. Further, based on the image of the target device 510, the surveying instrument 400 calculates the horizontal angle (corresponding to Dm in FIG. 6) with respect to the surveying instrument 400 of the UAV 500 according to the principle described in the first embodiment. Then, according to the principle of FIG. 6, the horizontal angle Ht of the UAV 500 in the absolute coordinate system is obtained.

4. Fourth Embodiment Direction detection using a spiral display target is not limited to that in the horizontal direction. For example, the surveying instrument 400 of FIG. In this case, the target device 130 is also turned horizontally by 90 ° and used. In this case, the angle (height angle) about the horizontal axis of the target device 130 can be measured.

5. Fifth Embodiment A mode is also possible in which the rotational angle of a helical display target is detected using positional information of a reflecting prism. The spiral display target 120 is shown in FIG. In this case, the position B ₀ of the all-round reflecting prism 110 on the spiral axis, the position B of the boundary of the spiral display, and the position B ₁ of the upper end of the spiral display target 120 are detected from the image obtained by photographing the spiral display target 120. In addition, the method of calculating | requiring position _B0 (position of a reflection center) on the helical axis of the all around reflective prism 110 by the laser positioning function of the survey instrument 400 is also possible.

Here, Lc is examined in advance and is known. In this case, by counting the number of pixels of the image, the apparent dimensions L1 _image and Lc _{image in the image} are determined, and the actual dimension L1 is calculated from L1 = (L1 _image / Lc _image ) Lc.

  The relationship between L1 and the horizontal angle Dm of the spiral display target 120 with respect to the surveying instrument 400 has the relationship shown in FIG. 5, so L1 to Dm can be obtained. Further, the horizontal angle Ht of the spiral display target 120 in the absolute coordinate system can be obtained from the principle of FIG. In addition, Lα in FIG. 13 can be acquired from the image to obtain Dm and Ht.

6. Sixth Embodiment A mode is also possible in which information on the rotation angle of a helical target is obtained based on the ratio of the helical pattern portion to the non-helical region (in the direction of the helical axis). For example, based on the ratio of Lα and L1 in FIG. 13, the rotation angle θ around the helical axis of the helical target 120 is determined. In this case, the relationship between (L1 / Lα) and the angle θ from the reference angular position is obtained as the same relationship as FIG. This relationship is determined in advance, (L1 / Lα) is determined from the photographed image, and the angle θ is determined from the above relationship.

  In the case of realizing the present embodiment, the surveying instrument 400 includes a ratio calculation unit, where the calculation of the ratio is performed. Then, based on this ratio, the horizontal angle calculation unit 215 of the target device calculates Dm and Ht. In this method, since the ratio (L1 / Lα) of L1 and Lα does not change even when viewed obliquely from above or obliquely below, projective transformation is unnecessary even when viewed from an angle other than 0 °. As a ratio to be used, (L / C1) using C1 and L in FIG. 4 and (L1 / Lc) using Lc and L1 in FIG. 13 are also possible.

  In the present embodiment, the ratio of the first distance on the spiral axis between the specific portion of the spiral pattern and the non-helical portion to the second distance on the spiral axis of the non-helical portion is the helical axis of the spiral pattern. Θ is obtained using the dependence on the rotation angle θ of the surroundings. In this method, the ratio of the first distance and the second distance does not change even when viewed obliquely from above or below, so the horizontal angle of the target device 130 is also obtained when the elevation angle of the optical axis of the surveying instrument 400 is not 0 °. Dm and Hm can be measured with high accuracy.

(Others)
The spiral display is not limited to those at equal intervals. As the spiral pattern, it is possible to adopt digital data represented as a bar code by the spacing of the spiral pattern. This technique is described, for example, in Japanese Patent Application Laid-Open No. 10-38563. In this case, coded data can be obtained from the image, a value corresponding to L in FIG. 4 can be obtained from the content of the code, and further, angle information on the spiral display target can be obtained from the relationship in FIG. The coding of the spiral pattern is advantageous in that it is resistant to noise and high accuracy can be obtained.

In addition, it is preferable to use LED light, fluorescent material, light reflecting material or the like so as to make it easier to identify the difference in pattern in the spiral pattern, and further, to distinguish the spiral pattern from the non-pattern.

  The present invention is applicable to a technique for measuring the posture of an object.

  11: Horizontal rotation unit 12, 12: Base, 13: Vertical rotation unit, 14a: Horizontal rotation angle control dial, 14b: high and low angle control dial, 15a: aiming device, 15b: aiming device, 16: telescope, 17: eyepiece unit 18, 19 Display 110 110 All around reflective prism 120 Spiral display target 130 Target device 131 Rod-like member 132 Terminal 400 Surveying machine 500 UAV 501 Gimbal mechanism 510 ... target device.

Claims (8)

A target device having a spiral pattern display on its surface,
The rotational position of the target device about the helical axis is detected based on the position on the helical axis of the helical pattern of the specific portion of the helical pattern when measured from a specific direction. Target device.   A position according to claim 1, wherein the position of the particular portion is defined by the distance between the position and another portion which is distinguishable from the spiral pattern display and which is at a distance from the spiral axis. Target device. The distance between the specific part and the other part is L,
When the angle of the rotational position with respect to the reference rotational position is θ,
The L and the θ have a specific relationship,
The target device according to claim 2, wherein the θ is obtained by measuring the L.   The target device according to claim 3, wherein the L and the θ are in direct proportion.   The target device according to any one of claims 1 to 4, wherein the spiral pattern display is a display of contents encoded by a spiral interval. A method of measuring an angular position of the target device according to any one of claims 1 to 4 about the helical axis,
Photographing the spiral pattern display;
Calculating the position of the specific part on the helical axis based on the result of the imaging;
Determining an angular position about the helical axis of the target device based on the position of the specific part on the helical axis. It is a surveying instrument which surveys an angle position about a spiral axis of a target device according to any one of claims 1 to 5,
A camera for capturing the spiral pattern display;
Position calculation means for calculating the position on the spiral axis of the specific part based on the image of the spiral pattern display photographed by the camera;
An angular position calculation means for obtaining an angular position about the helical axis of the target device based on the position of the specific part on the helical axis. It is a program for surveys for making a computer perform calculation of the angle position about a helical axis of the target device according to any one of claims 1 to 5,
Calculating the position of the specific part on the helical axis based on the image obtained by photographing the helical pattern display on a computer;
Determining an angular position of the target device about a helical axis based on the position of the specific part on the helical axis.

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