LIGHT TRANSMITTER, MEASURING SYSTEM AND METHOD FOR AUTOMATIC RESUME OF TRACKING
Patent Information
- Application Number
- DE112023004097
- Authority / Receiving Office
- DE · DE
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-09-30
- Filing Date
- 2023-09-28
- Publication Date
- 2025-09-04
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
Technical area
[0001] The disclosure relates to a light transmitter, a surveying system and a method for automatically resuming tracking. Background of the technology
[0002] Patent Literature 1 discloses some surveying instruments with an automatic tracking device. When the tracking deviates, an operator grasps a pole with a prism attached and holds an optical transmitter, which transmits a transmission signal (tracking guide light) using light from the optical transmitter to a surveying instrument. The surveying instrument receives the transmission signal, detects the arrival direction of the transmission signal, and aligns a telescope in the arrival direction of the transmission signal. This allows the surveying instrument to quickly fix the prism and re-track. Literature listPatent literature
[0003] Patent Literature 1: JP No. 3075384 Brief descriptionTechnical problem
[0004] However, in the method of Patent Literature 1, when the tracking deviation occurs, the operator needs to stop the surveying work, point a light emitting port of a remote control at the surveying instrument, and press a switch to send a transmission signal, which is inconvenient for the operator.
[0005] The disclosure has been conceived with this problem in mind, and an object thereof is to provide a light transmitter that automatically directs a light transmitting aperture toward a surveying instrument, a surveying system, and a method for automatically resuming tracking. Solution to the problem
[0006] To achieve the above object, according to one aspect of the present disclosure, there is provided a light transmitter comprising a transmitter main body configured to transmit tracking guide light; a drive unit configured to drive the transmitter main body to rotate horizontally; an inertial measurement unit configured to measure accelerations in three axial directions of the transmitter main body; an angle detector configured to detect a rotation angle of the transmitter main body; a transmitter communication unit configured to transmit and receive information;and a transmitter control unit configured to arithmetic process measured values of the inertial measurement unit and the angle detector, control the transmitter communication unit, transmit the tracking guide light of the transmitter main body, and rotate the drive unit. The light transmitter control unit causes the light transmitter communication unit to receive a horizontal direction angle from a surveying instrument to the light transmitter main body and a first movement direction of the light transmitter main body, calculates a difference between a light transmission direction of the tracking guide light and an azimuth angle to the surveying instrument as an angle from the measured value of the inertial measurement unit and the measured value of the angle detector, and rotates the drive unit so that the light transmission direction of the tracking guide light is directed toward the surveying instrument to transmit the tracking guide light.
[0007] According to the aspect, the light emitter control unit further calculates a second moving direction of the light emitter from the measured value of the inertial measuring unit, compares the first moving direction and the second moving direction, and calculates a difference with a horizontal azimuth angle to the surveying instrument as an angle.
[0008] Furthermore, the tracking guide light according to the aspect is configured to emit light having different frequencies in a left region and a right region in a horizontal direction around the light transmitting direction, and to emit light having a frequency different from both the frequency of the left region and the frequency of the right region in a region including the light transmitting direction.
[0009] According to another aspect, a surveying system is provided, including a light emitter having a light emitter main body configured to emit a tracking light, a drive unit configured to drive the light emitter main body to rotate horizontally, an inertial measurement unit configured to measure accelerations in three axial directions of the light emitter main body, an angle detector configured to detect a rotation angle of the light emitter main body, a light emitter communication unit configured to transmit and receive information, and a light emitter control unit configured to arithmetic process measured values of the inertial measurement unit and the angle detector, the light emitter communication unit, the light emission of the tracking light of the light emitter main body, and the rotation of the drive unit; a prism,which is attached to the light transmitter; and a surveying instrument having a light receiving unit configured to receive the tracking guide light and a surveying instrument communication unit configured to communicate with the light transmitter communication unit, wherein the surveying instrument has a tracking function and a distance measuring function and angle measuring function for measuring a distance to the prism and an angle of the prism, wherein the light transmitter control unit causes the light transmitter communication unit to receive a horizontal direction angle from the surveying instrument to the light transmitter main body and a first moving direction of the light transmitter main body,a difference between a light transmission direction of the tracking light and an azimuth angle to the surveying instrument is calculated as an angle from the measured value of the inertial measuring unit and the measured value of the angle detector, and the drive unit is rotated so that the light transmission direction of the tracking light is directed towards the surveying instrument to transmit the tracking light.
[0010] According to yet another aspect, a method for automatically resuming tracking when tracking deviates is provided in a surveying system comprising a light transmitter including a light transmitter main body configured to transmit tracking guide light, a drive unit configured to drive the light transmitter main body to rotate horizontally, an inertial measurement unit configured to measure accelerations in three axial directions of the light transmitter main body, an angle detector configured to detect a rotation angle of the light transmitter main body, a light transmitter communication unit configured to transmit and receive information, and a light transmitter control unit configured to perform arithmetic processing of measured values of the inertial measurement unit and the angle detector, the light transmitter communication unit,to control the light emission of the tracking guide light of the light transmitter main body and the rotation of the drive unit, a prism attached to the light transmitter, and a surveying instrument having a light receiving unit configured to receive the tracking guide light and a surveying instrument communication unit configured to communicate with the light transmitter communication unit, wherein the surveying instrument has a tracking function and a distance measuring function and angle measuring function for measuring a distance to the prism and an angle of the prism, the method comprising: (a) a step of receiving, by the light transmitter communication unit, a horizontal direction angle from the surveying instrument to the light transmitter main body and a first moving direction of the light transmitter main body from the surveying instrument; (b) a step of calculating, by the light transmitter control unit, a difference between a light transmission direction of the tracking guide light and an azimuth angle to the surveying instrument as an angle from the measured value of the inertial measuring unit and the measured value of the angle detector; (c) a step of rotating the drive unit by the light emitting control unit so that the light emitting direction of the tracking guide light of the light emitting main body is directed toward the surveying instrument based on the angle and the measured value of the angle detector; (d) a step of transmitting, by the light emitting control unit, the tracking guide light from the light emitting main body; and (e) a step of receiving the tracking guide light by the light receiving unit to detect a direction of a center of the light emitter, and searching the prism in a vertical direction by the surveying instrument to fix the prism. Beneficial effects
[0011] As is apparent from the above description, the present disclosure relates to a light transmitter that automatically directs a light transmitting aperture toward a surveying instrument, a surveying system, and a method for automatically resuming tracking. Short description of the drawings Fig. 1 shows a schematic configuration of a surveying system with a light transmitter according to a first embodiment. Fig. 2 shows a front view of a surveying instrument. Fig. Figure 3 shows a schematic representation of the internal structure of the surveying instrument. Fig. Figure 4 shows a block diagram of the surveying instrument. Fig. 5 shows a schematic configuration of a target unit in side view. Fig. 6 shows a block diagram of the light transmitter. Fig. Figure 7 shows the processing of the surveying instrument and the light transmitter at the beginning of tracking and during tracking as an explanatory diagram. Fig. Figure 8 shows the processing of the light transmitter in case of tracking deviation as an explanatory diagram. Fig. Figure 9 shows the process of resuming automatic tracking. Fig. 10 shows a schematic configuration of a surveying system with a light transmitter according to a second embodiment. Fig. 11 shows a block diagram of the light transmitter according to the second embodiment. Fig. 12A and Fig. 12B shows a polygon mirror and peripheral side surfaces of the polygon mirror in development views. Fig. Figure 13 shows a plan view of a surveying instrument and a fan beam transmitter unit. Fig. 13 also shows an explanatory view for describing an effect. Description of embodiments
[0012] Hereinafter, preferred embodiments of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited thereto. In each embodiment, the same elements are denoted by the same reference numerals, and redundant descriptions are omitted. (First embodiment)
[0013] Fig. 1 shows a schematic configuration of a surveying system 1 according to a first embodiment of the present disclosure.
[0014] The surveying system 1 comprises a surveying instrument 10 and a target unit 70.
[0015] The surveying instrument 10 is a total station with a distance / angle measurement function and a tracking function. Furthermore, the surveying instrument 10 also has a light receiving unit 60.
[0016] The target unit 70 has a prism 72, which is a target of the surveying instrument 10 and completely reflects light, at an upper end of a rod 71. An operator grasps and transports the target unit 70. The operator attaches the target unit 70 substantially vertically to a measurement point. The surveying instrument 10 measures the target unit 70.
[0017] The target unit 70 includes a light transmitter 90. While the surveying instrument 10 performs tracking of the prism 72, the light transmitter 90 transmits and receives various types of data to and from the surveying instrument 10 as needed. When the tracking deviates, the light transmitter 90 rotates toward the surveying instrument 10 and transmits infrared tracking guide light Lc to the surveying instrument 10.
[0018] The light receiving unit 60 of the surveying instrument 10 can receive the tracking guide light Lc, detect a direction of the prism 72, re-fix (collimate) the prism 72, and quickly resume tracking. (surveying instrument)
[0019] The surveying instrument 10 is described with reference to Fig. 2 to 4. Fig. 2 is a front view of the surveying instrument 10. Fig. Figure 3 shows a schematic representation of the internal structure of the surveying instrument 10.
[0020] As in Fig. 2 and Fig. 3, the surveying instrument 10 includes a surveying instrument main body 15 having a base portion 13 and a rotary seat 14 rotatable in a horizontal direction with respect to the base portion 13, and a cover member 16.
[0021] The base part 13 is roughly configured with a mounting seat 13a fixed to a tripod mount 2, a leveling stand 13b having leveling screws (not shown), and a housing 13c having a drive mechanism such as a horizontal rotation drive unit M1 that drives the rotation seat 14 to rotate horizontally about a vertical axis V.
[0022] A support member 17 with a pair of support elements 17a is mounted on the rotating seat 14. A lens barrel member 18 of a distance measuring optical system and a tracking optical system is arranged between the support elements 17a. The lens barrel member 18 is rotatably supported in the vertical direction by a horizontal shaft H formed in the support member 17. The lens barrel member 18 houses a distance measuring unit 23 and a tracking unit 24.
[0023] A vertical rotation drive unit M2 that rotates the lens barrel part 18 in the vertical direction is attached to one end of the horizontal shaft H. A vertical angle detector 22 for detecting a rotation angle of the lens barrel part 18 is formed at the other end thereof.
[0024] A horizontal plate 19, which is a thin plate arranged horizontally above the pair of support members 17a, is fixed to an upper end of the support part 17. A surveying instrument control unit 29 and a light receiving unit 60 are attached to the upper surface of the horizontal plate 19.
[0025] The cover member 16 has a protruding portion 16a that protrudes toward the upper surface. A front surface of the protruding portion is flush with the front surface of the cover member. The light-receiving unit 60 is arranged in the center of the horizontal plate 19 and is located within the protruding portion 16a.
[0026] The surveying instrument control unit 29 is mounted on a circuit board. The surveying instrument control unit 29 is arranged behind the light receiving unit 60 in the center of the horizontal plate 19.
[0027] Two windows, namely a light receiving unit window 16d and a lens barrel window 16b, are formed on the front surface of the cover member 16. The light receiving unit window 16d is located on the front surface of the protruding part 16a. The lens barrel window 16b is formed to extend vertically in the center of the front surface of the protruding part 16a.
[0028] The lens barrel window 16b is formed on the optical axis of the lens barrel part 18 and transmits infrared laser light from the optical systems of the distance measuring unit 23 and the tracking unit 24. The light receiving unit window 16d is formed in front of the light receiving unit 60. The light receiving unit 60 receives the tracking guide light Lc through the light receiving unit window 16d.
[0029] The surveying instrument 10 is connected to an operating terminal (not shown) that has a display unit and an input unit. The operating terminal is, for example, a smartphone or tablet and has a control function for the surveying instrument 10 through an application installed thereon. An operator carries the operating terminal and enters commands as needed while checking a survey status on the display. (Block diagram)
[0030] Fig. 4 shows a control block diagram of the surveying instrument 10. The surveying instrument 10 includes a horizontal angle detector 21, a vertical angle detector 22, a horizontal rotation drive unit M1, a vertical rotation drive unit M2, a distance measuring unit 23, a tracking unit 24, a surveying instrument communication unit 25, a storage unit 26, and a surveying instrument control unit 29 that is connected to and controls all of these components.
[0031] The horizontal angle detector 21 and the vertical angle detector 22 are each implemented with absolute encoders or incremental encoders comprising a rotary disk, a slot, an LED, and an image sensor. The horizontal angle detector 21 is formed on a rotary shaft of the rotary seat 14 to detect a horizontal angle of the rotary seat 14. The vertical angle detector 22 is formed on the horizontal shaft H of the lens barrel part 18 to detect a vertical angle of the lens barrel part 18.
[0032] The horizontal rotation drive unit M1 and the vertical rotation drive unit M2 are each implemented with motors. Under the control of the surveying instrument control unit 29, the horizontal rotation drive unit M1 moves the rotary shaft of the rotary seat 14, and the vertical rotation drive unit M2 moves the horizontal shaft H of the lens barrel part 18. Both drive units jointly rotate the lens barrel part 18. The horizontal angle detector 21 and the vertical angle detector 22 constitute an angle measuring unit. The horizontal rotation drive unit M1 and the vertical rotation drive unit M2 constitute a drive unit.
[0033] The distance measuring unit 23 includes a light transmitting unit and a light receiving unit. The distance measuring unit 23 collimates the prism 72, which is an omnidirectional retroreflector, as a target. The distance measuring unit 23 sends the fully reflected light as distance measuring light, e.g., infrared laser light, to the prism 72. The distance measuring unit 23 receives the reflected light via the light receiving unit to measure a distance to the center of the prism 72 based on the phase difference or time difference between the distance measuring light and the internal reference light.
[0034] The tracking unit 24 includes a tracking light transmitting system that emits infrared laser light with a wavelength different from that of the distance measuring light as tracking light, and a tracking light receiving system that includes an image sensor such as a CCD sensor or a CMOS sensor. The tracking unit 24 captures a landscape image with a tracking guide light and a landscape image without a tracking guide light and sends both images to the surveying instrument control unit 29. The surveying instrument control unit 29 obtains the center of a target image from a difference between the two images, detects the center as the target position, and performs automatic tracking so that the lens barrel part 18 always faces the target and the distance between the center of the target image and the center of the visual axis of the lens barrel part 18 is within a specified value.
[0035] The surveying instrument communication unit 25 is a communication interface that enables the exchange and reception of information between the surveying instrument 10 and the measuring module. Examples of communication devices include Bluetooth (registered trademark). The communication devices are not limited to this and can also be implemented using other known wired and wireless communication standards.
[0036] The storage unit 26 is implemented with computer-readable storage media, such as hard disk drives (HDDs). The storage unit 26 stores programs for the surveying instrument 10 to perform various functions, such as a surveying function and an automatic tracking function. Furthermore, the storage unit 26 also stores various types of data, such as measurement data, acquired by the surveying instrument 10.
[0037] The light receiving unit 60 is implemented with a light receiving sensor and receives the tracking guide light Lc. The light receiving unit 60 is arranged at the front of the surveying instrument 10 to detect a horizontal direction of the light transmitter 90 that emits the tracking guide light Lc.
[0038] The surveying instrument control unit 29 is a microcontroller in which, for example, a CPU, a ROM, and a RAM are mounted in an integrated circuit. The surveying instrument control unit 29 is connected to all devices of the surveying instrument 10 to control these components. The surveying instrument control unit 29 controls, for example, the horizontal rotation drive unit M1 and the vertical rotation drive unit M2. The surveying instrument control unit 29 also controls the light emission of the distance measuring unit 23 and the tracking unit 24. The surveying instrument control unit 29 also performs automatic tracking of the prism 72, automatic collimation, distance measurement and angle measurement, and control of the light receiving unit 60.The survey instrument control unit 29 also sends and receives measurement data and commands to and from the survey instrument communication unit 25. (Target unit)
[0039] The target unit 70 will be described below with reference to the drawings. Fig. 5 is a side view of the target unit 70. See also the perspective view of the target unit 70 in Fig. 1. As in Fig. 1 and Fig. As shown in Figure 5, the prism 72 of the aiming unit 70 is attached to the upper end of the rod 71. The optical center of the prism 72 passes through the central axis of the rod 71. The distance between the optical center of the prism 72 and the lower end of the rod 71 is known and is referred to as the mounting height.
[0040] In addition, the light transmitter 90 is attached to the upper part of the prism 72.
[0041] The light emitter 90 includes a light emitter base 98 fixed to the upper portion of the target unit 70, and a light emitter main body 96 mounted on the light emitter base 98 so as to be rotatable in the horizontal direction with respect to a vertical axis X2. The light emitter 90 is fixed to the upper portion of the prism 72, with the vertical axis X2 coinciding with the central axis of the rod 71. A light emitting aperture 95 is formed on the peripheral side surface of the light emitter main body 96. The light emitting aperture 95 emits the tracking guide light Lc therethrough.
[0042] Fig. 6 shows a block diagram of the control system of the light emitter 90. The light emitter 90 includes an inertial measurement unit (IMU) 91, a light emitter drive unit 92, a light emitting angle detector 93, a light emitter communication unit 94, a laser light source 97a included in a light emitting unit 97, and a light emitter control unit 99 that controls these components.
[0043] The IMU 91 includes a three-axis gyroscope and a three-axis accelerometer for measuring angular velocities and accelerations in three axes. The IMU 91 is positioned so that the measurement center passes through the center axis of the rod 71.
[0044] The light transmitter drive unit 92 is designed with a motor and drives the light transmitter main body 96 to rotate horizontally about the vertical axis X2.
[0045] The light transmission angle detector 93 is equipped with a value sensor to detect a rotation angle around the vertical axis X2.
[0046] In this embodiment, a light transmission direction of the tracking guide light Lc is set as a reference direction AX, and the light transmission angle detector 93 detects a rotation angle with respect to the reference direction AX.
[0047] The light transmitter communication unit 94 has a configuration corresponding to that of the surveying instrument communication unit 25 and can send and receive information to and from the surveying instrument 10.
[0048] The light emitting unit 97 is implemented by a laser light source 97a having a laser light emitting diode and a lens 97b. The light emitting unit 97 emits the light emitted from the laser light source 97a as a tracking guide light Lc from the light emitting aperture 95 using the lens 97b in the orthogonal direction to the vertical axis X2. The reference direction AX is a direction in which the light emitter 90 emits the tracking guide light Lc from the vertical axis X2.
[0049] The light emitter control unit 99 is a microcontroller in which, for example, a CPU, a ROM, and a RAM are mounted in an integrated circuit. The light emitter control unit 99 is connected to the devices of the light emitter 90 to control these components. Examples of control include the illumination control of the light emitting unit 97, the arithmetic processing of the detected data of the light emitting angle detector 93 and the IMU 91, the control of the light emitter drive unit 92, and the transmission and reception of data to and from the surveying instrument 10 via the light emitter communication unit 94. Furthermore, the light emitter control unit 99 also includes a memory. The memory stores a program, received data, and measurement data.
[0050] The light transmitter control unit 99 acquires a measured value from the IMU 91 as needed while the surveying instrument 10 performs tracking of the prism 72. The light transmitter control unit 99 receives a movement direction of the prism 72 and a horizontal direction angle of the surveying instrument 10. Based on these values, the light transmitter control unit 99 calculates a difference value between the current reference direction AX of the light transmitter 90 and an azimuth angle of the surveying instrument 10. The light transmitter control unit 99 enables the alignment of the reference direction AX of the light transmitter 90 with the surveying instrument 10 (details will be described later).
[0051] When the tracking of the prism 72 by the tracking unit 24 deviates, the light emitter control unit 99 controls the light emitter drive unit 92 to direct the reference direction AX toward the direction of the surveying instrument 10 immediately before the tracking deviation, directs the reference direction AX of the light emitter 90, that is, the light transmitting direction, toward the surveying instrument 10, and turns on the laser light source 97a to transmit the tracking guide light Lc.
[0052] In this embodiment, the light emitter main body 96 is rotated only in the horizontal direction. However, the light emitter 90 may also include a vertical rotation drive unit to rotate the light emitter main body 96 in the vertical direction to rotate the tracking guide light Lc in the vertical direction. Since the tracking guide light Lc is infrared light, an operator cannot visually detect the tracking guide light Lc. (Procedure for resuming tracking)
[0053] The light transmitter 90 has the function of automatically rotating toward the surveying instrument 10 when tracking deviation occurs and emitting the tracking guide light Lc to facilitate the surveying instrument 10 in resuming tracking. This will be described in detail with reference to the drawings.
[0054] Fig. Figure 7 shows the processing of the surveying instrument 10 and the light transmitter 90 during tracking. Fig. 8 shows the processing of the light transmitter 90 when the tracking deviates.
[0055] When the tracking unit 24 fixes the prism 72 to start tracking, the surveying instrument 10 sends a signal to the light transmitter 90. Upon receiving the signal, the light transmitter 90 also begins the process.
[0056] Next, the surveying instrument 10 measures a distance and an angle of the prism 72. During tracking, the distance and angle of the prism 72 are measured as needed. The surveying instrument control unit 29 calculates a horizontal direction angle Hm of the surveying instrument 10 to the prism 72 based on the measured distance / angle data and a moving direction Ht (described later) of the prism 72 based on a difference value of the measured values, to send the calculated results to the light transmitter 90.
[0057] The arithmetic processing of the measured distance / angle data is performed by the surveying instrument control unit 29, and an arithmetic result is sent to the light transmitter 90. However, the measured distance / angle data may also be sent to the light transmitter 90, and the arithmetic processing of the data may be performed by the light transmitter control unit 99.
[0058] When tracking begins, the IMU 91 measures acceleration and angular velocity. A measured value is stored with a timestamp at the time of the measurement.
[0059] The direction of movement of the light emitter 90 (ie the prism 72) is calculated based on the acceleration. As in Fig. 7, at the time of tracking, the direction of movement Ht detected by the surveying instrument 10 (thick white arrow in Fig. 7) of the prism 72 with a movement direction T1 calculated by the IMU 91 (thick black arrow in Fig. 7) of the prism 72. This allows synchronization and correction of the acquired data to be achieved.
[0060] Since the surveying instrument 10 always directs the optical axis toward the prism 72 during tracking, a direction (arrow DR1) of the prism 72 as seen from the surveying instrument 10 and a direction (arrow DR2) of the surveying instrument 10 as seen from the prism 72 are opposite directions.
[0061] The processing of the surveying instrument 10 and the light transmitter 90 in the event of a tracking deviation is described with reference to Fig. 8 described.
[0062] When the tracking deviates, the surveying instrument 10 first sends a signal to receive the signal, and the light transmitter 90 also starts processing when the tracking deviates.
[0063] Since the surveying instrument 10 does not fix the prism 72, the direction (arrow DR1) of the prism 72 as viewed from the surveying instrument 10 and the direction (arrow DR2) of the surveying instrument 10 as viewed from the prism 72 do not match, even if the directions are opposite. The light emitter control unit 99 then compares the acquired data of the surveying instrument 10 with the acquired data of the light emitter 90 acquired immediately before the tracking deviation.
[0064] The light emitting control unit 99 extracts the moving direction T1 of the prism 72 immediately before the tracking deviation. The light emitting control unit 99 calculates an azimuth angle AN2, which is an angle of the reference direction AX with respect to the moving direction T1, based on the value measured by the light emitting angle detector 93.
[0065] In addition, the light emitter control unit 99 extracts the moving direction Ht of the prism 72 and the horizontal direction angle Hm of the surveying instrument 10 to the prism 72 immediately before the tracking deviation received by the surveying instrument 10. The light emitter control unit 99 calculates a horizontal direction angle Hm+180 degrees as the opposite direction to the horizontal direction angle Hm of the surveying instrument 10 to the prism 72. The light emitter control unit 99 sets this angle as the direction angle of the light emitter 90 to the surveying instrument 10. This is because the surveying instrument 10 always directs the optical axis toward the prism 72 during tracking, so that the direction (arrow DR2) of the surveying instrument 10 as viewed from the prism 72 is opposite to the direction (arrow DR1) of the prism 72.The light transmitter control unit 99 calculates an azimuth angle AN1 at which 180 degrees are added to the horizontal direction angle Hm with respect to the moving direction Ht of the prism 72.
[0066] The light emitter control unit 99 calculates an angle AN3, which is a difference value between the azimuth angle AN1 and the azimuth angle AN2. The angle AN3 is an angle indicating a difference between the reference direction AX and the direction of the surveying instrument 10. The light emitter control unit 99 controls the light emitter drive unit 92 to rotate the light emitter main body 96 horizontally by the angle AN3 to direct the reference direction AX toward the surveying instrument 10. The light emitter control unit 99 turns on the laser light source 97a to emit the tracking guide light Lc toward the surveying instrument 10.
[0067] The surveying instrument 10 receives the tracking light Lc by the light receiving unit 60 to detect the horizontal direction of the center of the tracking light Lc. The lens barrel part 18 is driven in the vertical direction to fix the prism 72.
[0068] When tracking is resumed, the light transmitter 90 stops transmitting the tracking guide light Lc.
[0069] Even in a state without reference points, the prism can be fixed by scanning in all directions with a tracking light, but this is time-consuming, which is a problem. The light emitter 90 can emit the tracking light Lc toward the surveying instrument 10 to instruct the direction of the prism 72 when the tracking deviates. The operator does not need to direct the tracking light Lc toward the surveying instrument 10. When the tracking deviates, the light emitter 90 automatically rotates toward the surveying instrument 10 and emits the tracking light Lc.
[0070] The surveying instrument 10 can receive measurement data from the IMU 91 from the light emitter 90 as needed to determine a movement direction and a speed of the prism 72. When the movement speed of the prism 72 is high, the surveying instrument 10 shortens a measurement interval of the prism 72 to prevent deviation. Even if the tracking deviates, the light emitter control unit 99 uses more recent data. To shorten the time until tracking resumes, the light emitter control unit 99 calculates a direction in which the light emitter 90 should rotate when the tracking deviates.
[0071] In a conventional surveying instrument, a light emitting unit of a tracking unit emits tracking guide light, and a light receiving unit receives reflected light to perform scanning. Since the light receiving unit receives reflected light, the amount of received light is small in this case. In contrast, the surveying instrument 10 receives the tracking guide light Lc transmitted from the target side via the light receiving unit 60, so even a large amount of received light is easily detected. Therefore, the prism 72 can be fixed more quickly.
[0072] The light transmitter control unit 99 can control the light transmitter drive unit 92 based on the angle AN3 calculated at all times so that the reference direction AX is always directed toward the surveying instrument 10. (Tracking continuation process)
[0073] A procedure for resuming automatic tracking is described, in which tracking is automatically resumed even if the tracking deviates from the configuration described above.
[0074] Fig. Figure 9 shows the flow of a continuation of automatic tracking. Since the surveying instrument 10 and the light transmitter 90 can perform processing simultaneously, the processing of the surveying instrument 10 is described as steps S101 to S111, and the processing of the light transmitter 90 is described as steps S201 to S211.
[0075] First, the tracking unit 24 of the surveying instrument 10 fixes the prism 72 in step S101 and starts the tracking.
[0076] Next, in step S102, the surveying instrument 10 sends a command to the light transmitter 90 to start a tracking process. The light transmitter 90 receives the command. This processing will be described later.
[0077] Next, in step S103, the surveying instrument 10 measures a distance to the prism and an angle of the fixed prism 72. The surveying instrument 10 measures a distance and an angle at predetermined time intervals.
[0078] Next, in step S104, the surveying instrument control unit 29 calculates the moving direction Ht of the prism 72 and the horizontal direction angle Hm of the surveying instrument 10 based on the measured values obtained by the distance measurement and the angle measurement, and sends the calculation results to the light transmitter 90.
[0079] Processing then proceeds to step S105, and if tracking continues, processing returns to step S103. If tracking deviates, processing proceeds to step S106.
[0080] In step S106, a command is sent to the light transmitter 90.
[0081] Next, in step S107, the light receiving unit 60 receives the tracking guide light Lc transmitted from the light emitter 90. As a result, the horizontal direction of the light emitter 90 is detected.
[0082] Next, the processing proceeds to step S108, and the surveying instrument 10 drives the lens barrel part 18 in the vertical direction while the tracking unit 24 emits tracking guide light to search the prism 72 in the vertical direction.
[0083] Next, the processing proceeds to step S109 and the tracking unit 24 fixes the prism 72.
[0084] Processing then proceeds to step S110, where the prism is fixed and tracking is resumed. Surveying instrument 10 sends a command to light transmitter 90 to terminate the tracking resumption process.
[0085] Processing then proceeds to step S111 and resumes tracking. Processing returns to step S101.
[0086] Next, a processing flow of the light transmitter 90 will be described.
[0087] First, in step S201, the light transmitter 90 receives a command to start a tracking process from the surveying instrument 10 (see step S102). Upon receipt of the command, the light transmitter 90 starts a tracking process.
[0088] Next, processing proceeds to step S202, and the IMU 91 begins measurement. The IMU 91 measures triaxial accelerations and triaxial angular velocities at predetermined time intervals.
[0089] Next, processing proceeds to step S203, and the light transmitter 90 receives the moving direction Ht of the prism 72 and the horizontal direction angle Hm of the surveying instrument 10 from the surveying instrument 10 (see step S104). Steps S202 and S203 are performed continuously until step S204.
[0090] Next, in step S204, the light emitter 90 receives a tracking resumption processing command from the surveying instrument 10 (see step S106). Consequently, the light emitter 90 executes a tracking resumption process (steps S205 to S209).
[0091] The processing proceeds to step S205, the light emitting control unit 99 calculates the azimuth angle AN2 and the moving direction T1 based on the measurement data of the IMU 91 and the measurement data of the light emitting angle detector 93.
[0092] Next, the processing proceeds to step S206, and the light emitting control unit 99 calculates the angle AN3 by matching the calculation result in step S205 with the moving direction Ht of the prism 72 and the horizontal direction angle Hm of the surveying instrument 10 received in step S203.
[0093] Next, the processing proceeds to step S207, and the light emitting control unit 99 rotates the light emitting main body 96 by the angle AN3 calculated in step S206 to direct the reference direction AX toward the surveying instrument 10.
[0094] Next, processing proceeds to step S208, and the light transmitter 90 transmits the tracking guide light Lc. The light receiving unit 60 of the surveying instrument 10 receives the tracking guide light Lc (see step S107).
[0095] The processing proceeds to step S209, and the light transmitter 90 receives a command to terminate the tracking resumption process from the surveying instrument 10 (see step S110).
[0096] Then, the processing proceeds to step S210, and the light transmitter 90 turns off the tracking guide light Lc to stop the light emission.
[0097] According to the above processing flow, even if the tracking is abnormal, the processing for resuming tracking is automatically performed, and the tracking is resumed even if an operator does not do anything. (Second embodiment)
[0098] Next, a second embodiment will be described. Components similar to those of the first embodiment are denoted by the same reference numerals, and a detailed description thereof will be omitted.
[0099] Fig. 10 shows a schematic configuration of a surveying system 101 with a target unit 170 according to the second embodiment.
[0100] The surveying system 101 comprises a surveying instrument 10 and the targeting unit 170.
[0101] The aiming unit 170 includes the prism 72 formed at the upper end of the rod 71 and a light emitter 190. The light emitter 190 has the same configuration as the light emitter 90 of the first embodiment, except that a fan beam light emitting unit 200 is formed instead of the light emitting unit 97. The fan beam light emitting unit 200 emits a fan beam that is narrow in the vertical direction and spreads in the horizontal direction as the tracking guide light Lc2. The fan beams are emitted in pairs in the horizontal direction. The pair of fan beams is emitted so that the fan beams partially overlap in different directions in the horizontal direction. The fan beams are moved in the vertical direction.
[0102] The surveying instrument 10 has a similar configuration to the surveying instrument 10, except that the light receiving unit 60 receives the tracking guide light Lc2, which is a fan beam. In the present embodiment, the surveying instrument control unit 29 of the surveying instrument counts the number of times the light receiving unit 60 receives the fan beam within a predetermined time. The pair of fan beams, which is the tracking guide light Lc2, is moved in the vertical direction, and the light transmitter 190 detects a direction of the surveying instrument 10 based on the number of times the light receiving unit 60 receives the fan beams to direct the reference direction AX toward the surveying instrument 10 (as described later). (fan beam light emitting unit)
[0103] Fig. 11 is a block diagram of the light transmitter 190 with the fan beam light transmitting unit 200.
[0104] The fan beam light emitting unit 200 includes a laser light source 201 that emits laser light, a cylindrical lens 202 that horizontally spreads the light emitted from the laser light source 201, a polygon mirror 207 whose peripheral surface is formed of a reflection surface, and a motor M3 that rotates the polygon mirror 207.
[0105] The light incident on the cylindrical lens 202 is formed into a fan-shaped beam that spreads in the horizontal direction, is reflected by the peripheral surface of the polygon mirror 207, which is rotated about a central axis X3 by the motor M3, and is applied in the vertical direction as a fan beam that is long in the horizontal direction and short in the vertical direction.
[0106] The light emitter control unit 199 of the light emitter 190 has a similar configuration to the light emitter control unit 99, except that the fan beam light emitting unit 200 is controlled instead of the light emitting unit 97. The light emitter control unit 199 also controls the rotation drive of the motor M and the switching on of the laser light source 201. (shape of the polygon mirror)
[0107] The polygon mirror 207 and the fan beams emitted from the polygon mirror 207 will be described in detail with reference to the drawings.
[0108] Fig. 12A and Fig. 12B are explanatory diagrams of the polygon mirror 207. Fig. 12A is a perspective view of the polygon mirror 207. Fig. 12B is a development view of the peripheral side surfaces of the polygon mirror 207.
[0109] The polygon mirror 207 has an outer shape of a substantially regular hexagonal column and six reflecting surfaces, such as a first reflecting surface 208a, a second reflecting surface 208b, a third reflecting surface 208c, a fourth reflecting surface 208d, a fifth reflecting surface 208e, and a sixth reflecting surface 208f, formed at equal intervals as circumferential side surfaces. Furthermore, the polygon mirror 207 has a left end surface 210a to which one side of all the reflecting surfaces is connected, and a right end surface 210b to which the other side of all the reflecting surfaces is connected.
[0110] The polygon mirror 207 is rotationally driven by the motor M3 around the central axis X3 and applies the light incident on the reflecting surfaces 208a to 208f in the rotational direction. According to the present embodiment, the light incident on a reflecting surface is reflected by the reflecting surface, spreads in the horizontal direction, and is radiated as a fan beam while traveling in the vertical direction.
[0111] The first reflection surface 208a and the fourth reflection surface 208d are slightly inclined toward the left end surface 210a to slightly reflect the incident fan beam toward the left end surface 210a. The fan beam reflected relatively to the left by these two reflection surfaces of the six reflection surfaces of the polygon mirror 207 is defined as a first fan beam B1.
[0112] On the other hand, the second reflection surface 208b, the third reflection surface 208c, the fifth reflection surface 208e, and the sixth reflection surface 208f are slightly inclined toward the right end surface 210b to slightly reflect the incident fan beam toward the right end surface 210b. The fan beam reflected relatively to the right by these four reflection surfaces of the six reflection surfaces of the polygon mirror 207 is defined as a second fan beam B2.
[0113] The polygon mirror 207 reflects the incident light either to the left or to the right. A method for proportionally separately reflecting a fan beam in the left or right direction is not limited to this. Other known methods may also be used, such as performing surface treatments on the reflecting surfaces 208a to 208f to adjust the reflection directions. (shape of the fan beam)
[0114] An effect of the light emitter 190 having the above configuration will be described with reference to Fig. 13 described. Fig. 13 is a plan view showing the light emitter 190 and the fan beam, and is an explanatory view mainly showing a shape of a fan beam from the light emitter 190.
[0115] As in Fig. 12, the first fan beam B1 and the second fan beam B2 reflected by the polygon mirror 207 are emitted to partially overlap each other while having different main radiation directions in the horizontal direction.
[0116] As described above, when the tracking deviates, the light emitter 90 rotates to direct the reference direction AX toward the surveying instrument 10. Similarly, the light emitter 190 rotates to direct the reference direction AX5 toward the surveying instrument 10. The light emitter 190 is adjusted so that the reference direction AX5 of the light emitter 190 passes through the center of an overlap region of the first fan beam B1 and the second fan beam B2. The overlap region is narrower than the horizontal spread of the first fan beam B1 and the second fan beam B2.
[0117] The first fan beam B1 is reflected by two of the six reflecting surfaces of the polygon mirror 207. The second fan beam B2 is reflected by four of the six reflecting surfaces of the polygon mirror 207. Since the number of times the first fan beam B1 and the second fan beam B2 are received by the light receiving unit 60 is different for each time (cycle) in which the polygon mirror 207 makes one revolution, it is possible to distinguish between the first fan beam B1 and the second fan beam B2. In this way, the direction of the surveying instrument 10 with respect to the reference direction AX5 of the light emitter 190 can be detected.
[0118] An area scanned only by the first fan beam B1 is called the first area AR1. An area scanned only by the second fan beam B2 is called the second area AR2. An area into which both the first fan beam B1 and the second fan beam B2 are transmitted is called the third area AR3.
[0119] Similar to the light transmitter 90, the light transmitter 190 starts the measurement in the IMU 91 during tracking and receives measurement data from the surveying instrument 10 as needed. When the tracking deviates, the light transmitter control unit 99 is rotationally driven so that the reference direction AX5 is directed toward the surveying instrument 10. The first fan beam B1 and the second fan beam B2, which propagate in the horizontal direction, are directed in the vertical direction toward the surveying instrument 10 as the tracking guide light Lc2.
[0120] The light transmitter 190 rotates the reference direction AX5 toward the surveying instrument 10 and emits the tracking guide light Lc2. The tracking guide light Lc, which contains the fan beam pair expanding greatly in the horizontal direction, is received by the light receiving unit 60 of the surveying instrument 10. The light transmitter 190 distributes the reflection in the left-right direction, and the surveying instrument 10 can more easily receive the tracking guide light Lc.
[0121] When the surveying instrument 10 is located in the first area AR1, the light receiving unit 60 receives only the first fan beam B1. In response to the detection result, the light emitter 190 rotates horizontally to the left so that the light emitter 190 directs the reference direction AX5 toward the surveying instrument 10. As a result, when the light receiving unit 60 receives the first fan beam B1 and the second fan beam B2, it is determined that the surveying instrument 10 has entered the third area AR3.
[0122] Similarly, the light receiving unit 60 receives only the second fan beam B2 when the surveying instrument 10 is located in the second area AR2. In response to this detection result, the light emitter 190 rotates horizontally to the right. As a result, when the light receiving unit 60 receives the first fan beam B1 and the second fan beam B2, it is determined that the surveying instrument 10 has entered the third area AR3.
[0123] When the surveying instrument 10 receives light with the light receiving unit 60, the light emitting control unit 99 directs the center of the third area AR3, that is, the reference direction AX5, toward the surveying instrument 10.
[0124] The light transmitter 190 detects a direction of the surveying instrument 10 based on the number of light receptions of the surveying instrument 10.
[0125] Since the surveying instrument 10 has performed tracking of the prism 72 until immediately before the tracking deviation, the surveying instrument 10 has directed its collimation direction toward the light emitter 190. Therefore, when the light emitter 190 directs the reference direction AX5 in the direction immediately before the tracking deviation, the light emitter 190 can direct the reference direction AX5 to the state in which the light emitter 90 and the surveying instrument 10 were facing each other. After the tracking deviation, the surveying instrument 10 receives the tracking guide light Lc. When the surveying instrument 10 receives the first fan beam, the surveying instrument 10 is located to the left of the first area AR1. The surveying instrument 10 is also located to the left of the light emitter 190 in the horizontal direction.The surveying instrument 10 rotates the lens barrel part 18 slightly to the left in the horizontal direction while transmitting the tracking light and rotates the lens barrel part 18 in the vertical direction to fix the prism 72.
[0126] When the surveying instrument 10 receives the second beam, the surveying instrument 10 is located in the second area AR2 on the right side of the light emitter 190. The surveying instrument 10 is located relatively on the right side of the light emitter 190 in the horizontal direction. The surveying instrument 10 rotates the lens barrel part 18 slightly to the left in the horizontal direction while emitting the tracking guide light, and rotates the lens barrel part 18 in the vertical direction to fix the prism 72.
[0127] Since the surveying instrument 10 has been tracking until immediately before the tracking deviation, the prism 72 is located near the current collimation direction after the tracking deviation. When searching for the prism 72, the surveying instrument 10 can easily find the prism 72 by determining a search direction in a simplified manner. This means that the surveying instrument 10 can easily find the prism 72 by determining the left or right side from a position where the tracking deviates. With this configuration, the surveying instrument 10 can detect a search direction and shorten the time until the surveying instrument 10 resumes tracking.
[0128] Although preferred embodiments of the present disclosure have been described above, the above-described embodiments are examples of the present disclosure, and these embodiments may be combined based on the knowledge of those skilled in the art, and such forms are also included in the scope of the present disclosure. List of reference symbols 1 surveying system 10 Surveying instrument 21 Horizontal angle detector 22 Vertical angle detector 23 Distance measuring unit 24 tracking unit 60 light receiving unit 72 Prism 90 light transmitters 91 IMU (Inertial Measurement Unit) / Drive Unit 92 Light transmitter drive unit 93 light transmitting angle detector (angle detector) 94 Light transmitter communication unit 96 Light transmitter main body 99 Light transmitter control unit AN1 Azimuth angle. AN2 Azimuth angle AN3 angle Ht direction of movement (first direction of movement) Lc tracking light T1 direction of movement (second direction of movement)
Claims
[1] Light transmitter which has: a transmitter main body configured to transmit tracking guide light; a drive unit configured to drive the transmitter main body to rotate horizontally; an inertial measurement unit configured to measure accelerations in three axial directions of the transmitter main body; an angle detector configured to detect a rotation angle of the transmitter main body; a transmitter communication unit configured to send and receive information; and a transmitter control unit configured to control the arithmetic processing of measured values of the inertial measurement unit and the angle detector, the transmitter communication unit, the transmission of the tracking guide light of the transmitter main body, and the rotation of the drive unit, wherein the light transmitter control unit causes the light transmitter communication unit to receive a horizontal direction angle from a surveying instrument to the light transmitter main body and a first moving direction of the light transmitter main body, calculates a difference between a light transmission direction of the tracking guide light and an azimuth angle to the surveying instrument as an angle from the measured value of the inertial measurement unit and the measured value of the angle detector, and rotates the drive unit so that the light transmission direction of the tracking guide light is directed toward the surveying instrument to transmit the tracking guide light. [2] The light transmitter according to claim 1, wherein the light transmitter control unit calculates a second moving direction of the light transmitter from the measured value of the inertial measuring unit, compares the first moving direction and the second moving direction, and calculates a difference with a horizontal azimuth angle to the surveying instrument as an angle. [3] The light transmitter according to claim 1 or 2, wherein the tracking guide light is emitted at different frequencies in a left region and a right region in a horizontal direction around the light transmitting direction, and is emitted at a frequency different from both the frequency of the left region and the frequency of the right region in a region including the light transmitting direction. [4] Surveying system that has: a light transmitter having a light transmitter main body configured to emit tracking light, a drive unit configured to drive the light transmitter main body to rotate horizontally, an inertial measurement unit configured to measure accelerations in three axial directions of the light transmitter main body, an angle detector configured to detect a rotation angle of the light transmitter main body, a light transmitter communication unit configured to transmit and receive information, and a light transmitter control unit configured to arithmetic process measured values of the inertial measurement unit and the angle detector, the light transmitter communication unit, control the light emission of the tracking light of the light transmitter main body, and the rotation of the drive unit; a prism attached to the light emitter; and a surveying instrument having a light receiving unit configured to receive the tracking guide light and a surveying instrument communication unit configured to communicate with the light emitting communication unit, wherein the surveying instrument has a distance measuring function and angle measuring function for measuring a distance to the prism and an angle of the prism, and a tracking function for tracking the prism, where the light transmitter control unit causes the light transmitter communication unit to receive a horizontal direction angle from the surveying instrument to the light transmitter main body and a first moving direction of the light transmitter main body, calculates a difference between a light transmission direction of the tracking guide light and an azimuth angle to the surveying instrument as an angle from the measured value of the inertial measurement unit and the measured value of the angle detector, and rotates the drive unit so that the light transmission direction of the tracking guide light is directed toward the surveying instrument to transmit the tracking guide light. [5] A method for automatically resuming tracking when tracking deviates in a surveying system comprising a light transmitter, a light transmitter main body configured to transmit tracking guide light, a drive unit configured to drive the light transmitter main body to rotate horizontally, an inertial measurement unit configured to measure accelerations in three axial directions of the light transmitter main body, an angle detector configured to detect a rotation angle of the light transmitter main body, a light transmitter communication unit configured to transmit and receive information, and a light transmitter control unit configured to perform arithmetic processing of measured values of the inertial measurement unit and the angle detector, the light transmitter communication unit,to control the light emission of the tracking guide light of the light transmitter main body and the rotation of the drive unit, a prism attached to the light transmitter, and a surveying instrument having a light receiving unit configured to receive the tracking guide light and a surveying instrument communication unit configured to communicate with the light emitting communication unit, wherein the surveying instrument has a distance measuring function and angle measuring function for measuring a distance to the prism and an angle of the prism, and a tracking function for tracking the prism, the method comprising: (a) a step of receiving, by the light transmitter communication unit, a horizontal direction angle from the surveying instrument to the light transmitter main body and a first moving direction of the light transmitter main body from the surveying instrument; (b) a step of calculating, by the light transmitter control unit, a difference between a light transmission direction of the tracking guide light and an azimuth angle to the surveying instrument as an angle from the measured value of the inertial measuring unit and the measured value of the angle detector; (c) a step of rotating the drive unit by the light emitting control unit by the angle so that the light emitting direction of the tracking guide light of the light emitting main body is directed toward the surveying instrument; (d) a step of transmitting, by the light emitting control unit, the tracking guide light from the light emitting main body; and (e) a step of receiving the tracking guide light by the light receiving unit to detect a direction of a center of the light emitter, and searching the prism in a vertical direction by the surveying instrument to fix the prism.