Surveying system, surveying device, surveying method, and surveying program

Abstract

To provide a surveying system, a surveying device, a surveying method or a surveying program with which it is possible to promote appropriate swinging of a pole in surveying for swinging a pole and calculating the position of a measurement point.SOLUTION: This surveying system 1 comprises: a distance measuring unit 102 for measuring a distance to an object 301 to be surveyed, by range-finding light; direction detection units 106, 107 for detecting the emission direction of the range-finding light; a computation unit 101b for acquiring position information regarding the object 301 to be surveyed, on the basis of the distance measured by the distance measuring unit 102 and the emission direction detected by the direction detection units 106, 107; a storage unit 111 for storing offset information R that represents distance information from the object 301 to be surveyed to a measurement point P; and a swing guidance unit 201b for estimating a swing state of the object 301 to be surveyed, on the basis of a plurality of pieces of position information acquired by the computation unit 101b and the offset information, and generating swing guidance information for the object 301 to be surveyed, in accordance with the estimated swing state.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a surveying system, a surveying instrument, a surveying method, and a surveying program. [Background technology]

[0002] Conventionally, in light wave surveying using a total station (TS), a pole with a surveying target (retroreflective part) such as a prism was set vertically at the measurement point. In this type of surveying, in order to set the pole vertically at the measurement point, it was necessary to use a bubble tube or the like to perform leveling, which was very time-consuming and inefficient.

[0003] Therefore, the following Patent Document 1 describes an optical wave surveying method using a total station (TS), in which the end of a pole (pole prism) having a prism to be surveyed is placed at a measurement point on the ground, etc., and the position of the prism is surveyed multiple times while the pole is tilted from the vertical direction and swung (tilted) around the measurement point, and the position of the measurement point corresponding to the position of the pole end is calculated. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2002-22443 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the technology described in Patent Document 1, the pole needs to be swung appropriately to accurately calculate the position of the measurement point, which requires the skill of the worker. In other words, the pole cannot always be swung appropriately to enable surveying, which causes a problem that the position of the measurement point cannot be calculated smoothly and the efficiency of the surveying work decreases. Moreover, this problem occurs not only when the pole end is installed at a measurement point on the ground, but also when it is installed at a measurement point on a ceiling surface or a vertical wall surface, and is more pronounced when it is installed at a measurement point on a ceiling surface or a vertical wall surface because the range in which the pole can be swung is limited.

[0006] Therefore, an object of the present invention is to provide a surveying system, surveying device, surveying method, or surveying program that can promote appropriate swinging of a pole in a survey in which the position of a measurement point is calculated by swinging a pole. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the surveying system according to the first item of the present invention comprises a ranging unit that measures the distance to a survey object using ranging light, a direction detection unit that detects the emission direction of the ranging light, a calculation unit that acquires position information of the survey object based on the distance measured by the ranging unit and the emission direction detected by the direction detection unit, a memory unit that stores offset information which is distance information from the survey object to a measurement point, and a swing guide unit that estimates the swing state of the survey object based on the multiple pieces of position information acquired by the calculation unit and the offset information, and generates swing guide information of the survey object according to the estimated swing state.

[0008] In the surveying system related to the second item of the present invention, in the surveying system related to the first item, the calculation unit calculates the position coordinates of the measurement point from the multiple position information and the offset information, and the swing guide unit calculates the accuracy of the calculated position coordinates of the measurement point from the estimated swing state, and if it determines that the accuracy is equal to or greater than a predetermined threshold, terminates the generation of the swing guide information.

[0009] In the surveying system related to the third item of the present invention, in the surveying system related to the first or second item, the calculation unit calculates the position coordinates of the measurement point from the multiple position information and the offset information, and the swing guide unit calculates the accuracy of the calculated position coordinates of the measurement point from the estimated swing state, and if it determines that the accuracy is less than a predetermined threshold, generates swing guide information to increase the accuracy.

[0010] A surveying system according to a fourth aspect of the present invention is the surveying system according to the third aspect, wherein the swing guide information for increasing the accuracy is information on a swing trajectory of the survey object.

[0011] A surveying system according to a fifth aspect of the present invention is the surveying system according to the third aspect, wherein the swing guide information for increasing the accuracy is information related to the number of swings of the survey object.

[0012] A surveying system according to a sixth aspect of the present invention is the surveying system according to the third aspect, wherein the swing guide information for increasing the accuracy is information related to a swing speed of the survey object.

[0013] A surveying system according to a seventh aspect of the present invention is the surveying system according to the third aspect, wherein the swing guide information for increasing the accuracy is information relating to the level of the accuracy.

[0014] The surveying device according to the eighth item of the present invention comprises a distance measuring unit which measures the distance to the survey object by distance measuring light, a direction detection unit which detects the emission direction of the distance measuring light, a calculation unit which acquires position information of the survey object based on the distance measured by the distance measuring unit and the emission direction detected by the direction detection unit, a memory unit which stores offset information which is distance information from the survey object to a measurement point, and a swing guide unit which estimates the swing state of the survey object based on the multiple pieces of position information acquired by the calculation unit and the offset information, and generates swing guide information of the survey object according to the estimated swing state.

[0015] A surveying method according to the ninth item of the present invention includes a ranging process for measuring the distance to a survey object using ranging light, a direction detection process for detecting the emission direction of the ranging light, a calculation process for acquiring position information of the survey object based on the distance measured by the ranging process and the emission direction detected by the direction detection process, and a swing guide process for estimating a swing state of the survey object based on a plurality of pieces of position information acquired by the calculation process and offset information, which is distance information from the survey object to a measurement point, and generating swing guide information of the survey object according to the estimated swing state.

[0016] The surveying program according to the tenth item of the present invention is a surveying program for causing a computer to execute a swing guide process for estimating a swing state of the surveying object based on a plurality of position information acquired by a surveying method comprising: a ranging process for measuring the distance to the surveying object using a ranging light; a direction detection process for detecting the emission direction of the ranging light; and a calculation process for acquiring position information of the surveying object based on the distance measured by the ranging process and the emission direction detected by the direction detection process, and offset information, which is distance information from the surveying object to a measurement point, and generating swing guide information for the surveying object in accordance with the estimated swing state. Effect of the Invention

[0017] According to the present invention, it is possible to provide a surveying system, a surveying device, a surveying method, and a surveying program that can promote appropriate swinging of a pole in a survey in which the position of a measurement point is calculated by swinging a pole. [Brief description of the drawings]

[0018] [Figure 1] FIG. 1 is an overall configuration diagram showing a surveying system. [Diagram 2] FIG. 2 is a block diagram of a main surveying device and a terminal surveying device in the surveying system. [Diagram 3] FIG. 2 is a screen transition diagram showing the transition of the display screen of the terminal surveying device. [Figure 4]FIG. 11 is an explanatory diagram of a method for calculating the accuracy of the estimated position coordinates of a measurement point. [Diagram 5] 1 is a flowchart for explaining a process of a surveying method. [Figure 6] FIG. 1 is a block diagram of a computer for executing a surveying program. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] An embodiment of a surveying system, a surveying device, a surveying method, and a surveying program according to the present invention will be described with reference to FIGS. 1 to 6 as appropriate.

[0020] (Survey system configuration) First, an embodiment of a surveying system according to the present invention will be described. As shown in Fig. 1, this surveying system 1 is for calculating the position coordinates of a measurement point P on the boundary between a ground E and a standing wall W.

[0021] As shown in FIG. 1, the surveying system 1 includes a main body surveying device 100, a terminal surveying device 200, and a retroreflection instrument 300. The main body surveying device 100 is, for example, a total station (TS) having a mirror device (MD), and includes a support part 100a (tripod) placed on the ground E and a cylindrical main body part 100b supported by the support part 100a. The terminal surveying device 200 is, for example, a smartphone, a feature phone, a tablet, a handheld computer device (for example, a PDA: Personal Digital Assistant), a wearable terminal (for example, a glasses-type device, a watch-type device), a personal computer, or the like, which can transmit and receive data D between the main body surveying device 100 and the main body surveying device 100. The retroreflection instrument 300 is a pole 302 having a prism 301 (a retroreflection part that is a surveying object) that can reflect light L (distance measuring light and tracking light to be described later) emitted from the main body part 100b. An embodiment of a surveying device according to the present invention corresponds to a main body surveying device 100 and a terminal surveying device 200 .

[0022] 2, the main body 100b of the main body surveying device 100 includes a main body control unit 101, a distance measurement unit 102, a tracking light transmitting / receiving unit 103, a horizontal drive unit 104, a vertical drive unit 105, a horizontal direction detection unit 106, a vertical direction detection unit 107, a main body operation unit 108, a main body display unit 109, a telescope unit 110, a storage unit 111, and a main body communication unit 112. The main body control unit 101 includes various control units 101a and a calculation unit 101b.

[0023] The various control units 101a of the main body control unit 101 are configured to be able to control the ranging unit 102, the tracking light transmitting / receiving unit 103, the horizontal driving unit 104, the vertical driving unit 105, the horizontal direction detection unit 106, the vertical direction detection unit 107, the main body operation unit 108, the main body display unit 109, the telescope unit 110, the memory unit 111, the main body communication unit 112, and the calculation unit 101b.

[0024] The distance measuring unit 102 includes a light transmitting unit for transmitting distance measuring light towards the prism 301, a light receiving unit for receiving reflected light from the prism 301, and a calculation unit for calculating the distance between the main body surveying device 100 and the prism 301 by transmitting and receiving the light. The distance measuring light is, for example, visible light, near infrared light, or ultraviolet light emitted in a linear direction. As a calculation method (distance measuring method), for example, a pulse method or a phase difference method, which are well-known technologies, can be adopted.

[0025] The tracking light transmitting / receiving unit 103 includes a light transmitting unit for transmitting the tracking light toward the prism 301, and a light receiving unit for receiving the reflected light from the prism 301. The tracking light is, for example, visible light, near infrared light, or ultraviolet light that is emitted radially. The tracking light transmitting / receiving unit 103 is disposed so as to emit the tracking light in the same direction as the emission direction of the distance measuring light by the distance measuring unit 102.

[0026] The horizontal drive unit 104 is for rotating the entire main body unit 100b or the telescope unit 110 alone in the horizontal direction under the control of the various control units 101a so that the tracking light transmitter / receiver unit 103 continuously receives the tracking light reflected from the prism 301.

[0027] The vertical drive unit 105 rotates the telescope unit 110 in the vertical direction under the control of the various control units 101 a so that the tracking light transmitting and receiving unit 103 continuously receives the tracking light reflected from the prism 301 .

[0028] Horizontal direction detection unit 106 is a horizontal encoder capable of detecting a horizontal angle, which is the rotation angle of telescope unit 110 in the horizontal direction (that is, the rotation angle from a reference direction around a vertical axis).

[0029] Vertical direction detection unit 107 is a vertical encoder capable of detecting a vertical angle, which is the rotation angle of telescope unit 110 in the vertical direction (that is, a rotation angle from a reference direction around a horizontal axis).

[0030] The calculation unit 101b of the main body control unit 101 is configured to be able to calculate the position coordinates (position information) of the prism 301 relative to the main body unit 100b in three-dimensional coordinates (x, y, z) based on the distance measured by the distance measurement unit 102, the horizontal angle detected by the horizontal direction detection unit 106, and the vertical angle detected by the vertical direction detection unit 107. The calculation unit 101b is also able to calculate the three-dimensional coordinates of a measurement point P corresponding to the installation position of the end of the pole 302 from a plurality of position coordinates (position information) of the prism 301 and offset information (offset R shown in FIG. 1) which is distance information from the prism 301 to the end of the pole 302 (the pole tip).

[0031] The main body operation unit 108 is an operation means by which an operator can input control instructions to various control units 101a of the main body control unit 101, and includes any device such as a touch panel, a switch, a button, a dial, or the like.

[0032] The main body display unit 109 is for displaying various data, and is configured, for example, with a liquid crystal panel. In this specification, the various data refers to any data that has been acquired or can be acquired in the surveying system 1, such as the distance measured by the distance measuring unit 102, the horizontal angle detected by the horizontal direction detection unit 106, the vertical angle detected by the vertical direction detection unit 107, and the position coordinates of the prism 301 and the measurement point P calculated by the calculation unit 101b. The main body display unit 109 may be configured integrally with the main body operation unit 108.

[0033] The telescope unit 110 is configured so that an operator can visually confirm the position of the prism 301 through the telescope unit 110. The collimation direction of the telescope unit 110 is the same as the emission direction of the distance measuring light by the distance measuring unit 102 and the emission direction of the tracking light by the tracking light transmitting / receiving unit 103.

[0034] The memory unit 111 is realized, for example, by a storage medium such as an HDD, SSD, or flash memory, and is configured to be able to store various data such as the dimensions (height, width, depth, etc.) of the main body surveying device 100, various programs, surveying data, GPS time, captured images, etc.

[0035] Memory unit 111 stores the distance (e.g., diagonal distance) measured by distance measurement unit 102, the horizontal angle detected by horizontal direction detection unit 106, the vertical angle detected by vertical direction detection unit 107, the position coordinates (position information) of prism 301 and measurement point P calculated by calculation unit 101b, and offset information which is distance information from prism 301 to the end (pole tip) of pole 302. Moreover, the position coordinates (position information) here do not have to be calculated by calculation unit 101b.

[0036] The storage unit 111 further stores swing guide information for the prism 301. This swing guide information is generated by the swing guide unit 201b, and is, for example, the swing trajectory, the number of swings, or the swing speed of the prism 301, or the degree of accuracy of the position coordinates of the measurement point P calculated by the calculation unit 101b.

[0037] The main body communication unit 112 is configured to be capable of transmitting and receiving various data D to and from the terminal communication unit 202 of the terminal surveying device 200 and the like.

[0038] 2, the terminal surveying device 200 includes a terminal control unit 201, a terminal communication unit 202, a terminal display unit 203, and a terminal operation unit 204. The terminal control unit 201 includes various control units 201a and a swing guide unit 201b.

[0039] The various control units 201a of the terminal control unit 201 are capable of controlling the terminal communication unit 202, the terminal display unit 203, the terminal operation unit 204, and the swing guide unit 201b.

[0040] The terminal communication unit 202 is configured to be able to transmit and receive various types of data D.

[0041] The terminal display unit 203 is for displaying various data and is configured with, for example, a liquid crystal panel. The terminal display unit 203 may be configured integrally with the terminal operation unit 204.

[0042] The terminal operation unit 204 is an operation means by which an operator can input control instructions to the various control units 201a of the terminal control unit 201, and includes any device such as a touch panel, a switch, a button, a dial, a microphone, etc.

[0043] The swing guide unit 201b of the terminal control unit 201 estimates the swing state of the prism 301 while the prism 301 is swinging based on the position information (point cloud data) of the multiple prisms 301 acquired by the calculation unit 101b of the main body control unit 101 and the offset information previously stored in the storage unit 111, and generates swing guide information for the prism 301 according to the estimated swing state. The swing guide unit 201b displays the generated swing guide information on the terminal display unit 203 to guide the operator of the swing state of the prism 301. The swing guide unit 201b may function in the terminal surveying device 200 in the initial setting state, or may function only in the terminal surveying device 200 in which a predetermined application software is installed.

[0044] Furthermore, the rocking guide unit 201b calculates the accuracy of the position coordinates of the measurement point P from the estimated rocking state. Then, when the rocking guide unit 201b determines that this accuracy is equal to or greater than a predetermined threshold (e.g., 100% accuracy), it terminates the display of the rocking guide information on the terminal display unit 203 and the generation of the rocking guide information. Furthermore, when the rocking guide unit 201b determines that this accuracy is less than the predetermined threshold, it generates rocking guide information (rocking improvement information) to increase the accuracy.

[0045] Here, the rocking guide information for increasing the accuracy includes, for example, the rocking state that is the cause of the low accuracy (one example is that the rocking trajectory of the prism 301 is elliptical instead of circular), or an appropriate rocking method based on the cause of the low accuracy (one example is to rock the prism 301 so as to draw a figure eight with the measurement point P at the center as shown in FIG. 3(b)). In addition, the rocking guide information for increasing the accuracy includes information on the rocking trajectory of the prism 301 (for example, the rocking trajectory shown in FIG. 4), information on the number of times the prism 301 has rocked (for example, indicator I shown in FIG. 3(b)), information on the rocking speed of the prism 301 (for example, whether the rocking speed is faster or slower than the ideal speed), information on the level of accuracy (for example, the most recently calculated accuracy value), etc.

[0046] The following describes guidance of the rocking state (rocking state and rocking method) by the rocking guide unit 201b of the terminal control unit 201 while the prism 301 is rocking. For example, when the OK button on the screen shown in FIG. 3(a) displayed on the terminal display unit 203 is touched, the screen shown in FIG. 3(b) is displayed on the terminal display unit 203. On this screen, the rocking guide unit 201b shows the rocking state while the prism 301 is rocking, and specifically, the indicator I shows the state until the calculation unit 101b acquires point cloud data that can determine that the accuracy of the estimated position coordinate of the measurement point P is equal to or higher than a predetermined threshold. In other words, the indicator I corresponds to the degree of accuracy of the position coordinate of the measurement point P, and when the accuracy becomes equal to or higher than a predetermined threshold, the indicator I is displayed as full, and the screen displayed on the terminal display unit 203 transitions from FIG. 3(b) to FIG. 3(c). The screen of FIG. 3(c) displays the position coordinates (501 mm, 209 mm, 327 mm) of the measurement point P and the offset R (300 mm) calculated by the calculation unit 101b.

[0047] Furthermore, the screen shown in FIG. 3(b) displays swing guidance information at a point in time while the prism 301 is swinging, and the swing guidance unit 201b determines that the accuracy of the position coordinates of the measurement point P is less than a predetermined threshold, and displays guidance on the terminal display unit 203 regarding the ideal swing trajectory (in this case, a figure-8 shape), such as "Move the prism so as to draw a figure-8 shape around the target coordinate."

[0048] Here, the calculation and determination method of the position coordinate of the measurement point P will be described with reference to FIG. 4. The calculation and determination methods include the following (1) to (4). As shown in FIG. 4(a), (1) is a method (method using a convex hull) in which a point cloud is arranged on or near the surface of a virtual sphere C1 with a radius of the offset R, the center coordinate O1 of the virtual sphere C1 is estimated to be the position coordinate of the measurement point P, the virtual sphere C1 is normalized so that its radius is 1, the area A1 of the smallest curved surface including these point clouds is calculated, and the accuracy is calculated as the ratio "A1 / B1" of the area A1 to the reference area B1. The reference area B1 is the point cloud area when it can be determined that a highly accurate survey has been performed. When the accuracy exceeds 1 (100%), the survey is completed (i.e., appropriate swinging has been performed), and the estimated position coordinate is determined to be the position coordinate of the measurement point P.

[0049] As shown in Figures 4(a) and 4(b), (2) is a method of arranging a group of points on or near the surface of a virtual sphere C1 with a radius of the offset R, estimating the center coordinate O1 of the virtual sphere C1 to be the position coordinate of the measurement point P, normalizing the virtual sphere C1 so that its radius is 1, calculating the average coordinate of these groups of points, converting this average coordinate to polar coordinates (λ, φ), projecting these groups of points onto a polar coordinate plane F, dividing the polar coordinate plane F into N parts in the longitude direction λ (8 parts in Figure 4(b)), extracting the farthest point from the central pole O2 on each of the N-divided planes, calculating the area A2 of the surface obtained by connecting the extracted points, and calculating the accuracy, which is the ratio of the area A2 to the reference area B2, "A2 / B2". The reference area B2 is the area of ​​the point cloud when it is judged that a high-precision survey has been performed. When the accuracy exceeds 1 (100%), the survey is complete (i.e., the appropriate oscillation has been performed), and the estimated position coordinates are determined to be the position coordinates of measurement point P.

[0050] As shown in Fig. 4(c), (3) is a method in which a point cloud is placed on or near the surface of a virtual sphere C2 of radius Qi, the central coordinate O3 of the virtual sphere C2 is estimated to be the position coordinate of measurement point P, and the accuracy is calculated as "1-|1-(Qi / R)|". When the accuracy exceeds 1, the survey is complete (i.e., appropriate oscillation has been performed), and the estimated position coordinate is determined to be the position coordinate of measurement point P.

[0051] As shown in FIG. 4(c), (4) is a method in which a point cloud is arranged on or near the surface of a virtual sphere C2 of radius Qi, the central coordinate O3 of the virtual sphere C2 is estimated to be the position coordinate of measurement point P, and the distance between the (in)th estimated position coordinate and the i-th estimated position coordinate, "√(P(i)-P(in))^2", is calculated as the accuracy. When the accuracy falls below a reference value, the survey is completed (i.e., appropriate oscillation has been performed), and the i-th estimated position coordinate is determined to be the position coordinate of measurement point P. The reference value here is the maximum allowable range of deviation between the two estimated position coordinates.

[0052] Furthermore, in the above (1) to (4), in order to improve the accuracy of determining the position coordinate of measurement point P, the calculated accuracy may be corrected using the following correction formula before determining the position coordinate of measurement point P. The correction formula is "accuracy after correction = accuracy before correction - (σR / R)". Here, "σR" is the standard deviation (normalized by R) calculated based on the distance difference between the distance Ri between each point group and the estimated position coordinate of measurement point P and the offset R, expressed as a positive or negative number.

[0053] (Survey method procedure) Next, an embodiment of a surveying method according to the present invention will be described. The surveying method according to this embodiment includes steps S1 to S8 shown in Fig. 5. First, as a premise of the surveying method according to this embodiment, an operator swings the prism 301 around the measurement point P with the end of the pole 302 in contact with the measurement point P.

[0054] 2 recognizes the position of the prism 301 by the tracking light emitted from the tracking light transmitting / receiving unit 103, and drives the horizontal driving unit 104 and the vertical driving unit 105 to continuously apply the distance measuring light emitted from the distance measuring unit 102 to the prism 301. As a result, the distance measuring unit 102 measures the distance from the distance measuring unit 102 to the prism 301 by the distance measuring light (distance measuring step), the horizontal direction detection unit 106 detects the emission direction of the distance measuring light in the horizontal direction (horizontal direction detection step), the vertical direction detection unit 107 detects the emission direction of the distance measuring light in the vertical direction (vertical direction detection step), and the calculation unit 101b of the body control unit 101 acquires multiple position information on the swing trajectory of the prism 301 (calculation step).

[0055] In step S2, the swing guide unit 201b of the terminal control unit 201 shown in Fig. 2 acquires a plurality of pieces of position information acquired by the calculation unit 101b and offset information stored in the storage unit 111 via the terminal communication unit 202. Then, the swing guide unit 201b estimates the swing state of the prism 301 based on the plurality of pieces of position information and the offset information, generates swing guide information (swing state information) of the prism 301 according to the estimated swing state, and displays it on the terminal display unit 203 as necessary. Examples of the swing guide information here include information on the swing trajectory as shown in Fig. 4, or an indicator I (information on the number of swings) as shown in Fig. 3(b), etc.

[0056] In step S3, the swing guide unit 201b judges whether the number of pieces of position information of the prism 301 acquired in the swing guide unit 201b is equal to or greater than a predetermined number (e.g., 3 or more). If step S3 is No, that is, if the swing guide unit 201b judges that the number of pieces of position information of the prism 301 acquired in the swing guide unit 201b is less than the predetermined number, the swing guide unit 201b performs step S1 again after a predetermined time has elapsed. If step S3 is Yes, the calculation unit 101b advances the process to step S4.

[0057] In step S4, the calculation unit 101b acquires rocking guide information (for example, information related to the rocking trajectory shown in FIG. 4) from the rocking guide unit 201b via the main body communication unit 112. Then, the calculation unit 101b calculates the position coordinates of the measurement point P (FIG. 1) from this rocking guide information, multiple pieces of position information acquired by the calculation of the calculation unit 101b, and the offset information stored in the storage unit 111. Furthermore, in step S5, the calculation unit 101b calculates the accuracy of this position coordinates.

[0058] In step S6, the rocking guide unit 201b acquires the accuracy calculated by the calculation unit 101b via the terminal communication unit 202, and determines whether the acquired accuracy is equal to or greater than a threshold value. If the rocking guide unit 201b determines that the accuracy is equal to or greater than the threshold value (if step S6 is Yes), the process proceeds to step S7, and if the rocking guide unit 201b determines that the accuracy is less than the threshold value (if step S6 is No), the process proceeds to step S8.

[0059] In step S7, the rocking guide unit 201b notifies the various control units 101a via the main body communication unit 112 that the acquired accuracy is equal to or greater than a threshold. The various control units 101a then register the position coordinates of the measurement point P calculated by the calculation unit 101b in the storage unit 111, and display a survey completion report, for example, as shown in FIG. 3(c), on the main body display unit 109. The rocking guide unit 201b also ends the generation of the rocking guide information, and stops displaying the rocking guide information on the terminal display unit 203.

[0060] In step S8, the rocking guide unit 201b communicates to the various control units 101a via the main body communication unit 112 that the acquired accuracy is less than the threshold. Then, the various control units 101a discard the position coordinates of the measurement point P calculated by the calculation unit 101b. The rocking guide unit 201b also generates rocking guide information (rocking improvement information) for increasing the accuracy, and specifically, provides information on the cause of the acquired low accuracy as a rocking situation, or provides information on a rocking method (such as moving the prism 301 to draw a figure eight) based on the cause of the low accuracy, as shown in FIG. 3(b). After performing step S8, step S3 is performed again.

[0061] In the surveying method according to this embodiment, the operations possible in the above-mentioned surveying system 1 can be carried out as necessary.

[0062] (Effects of surveying systems and methods) According to the surveying system 1 and surveying method of this embodiment, the swing guide unit 201b estimates the swing state of the prism 301 and generates swing guide information (swing state information), thereby encouraging the worker to swing the prism 301 appropriately.

[0063] Furthermore, according to the surveying system 1 and surveying method of this embodiment, the calculation unit 101b calculates the position coordinates of the measurement point P, and the oscillating guide unit 201b calculates the accuracy thereof, so that the various control units 101a and the oscillating guide unit 201b can carry out appropriate processing (step S7 or step S8 shown in Figure 5) according to the accuracy.

[0064] Furthermore, according to the surveying system 1 and surveying method of this embodiment, when the swing guide unit 201b determines that the accuracy is below a predetermined threshold, it generates swing improvement information (e.g., information on the swing trajectory, number of swings, swing speed, and accuracy level) which is swing guide information for increasing the accuracy, thereby encouraging the operator to swing the prism 301 more appropriately.

[0065] (Survey Program) Next, an embodiment of the survey program according to the present invention will be described. The survey program according to this embodiment is for causing a computer 800 shown in FIG.

[0066] The computer 800 includes a CPU 801, a main memory device 802, an auxiliary memory device 803 which is a non-transitory tangible medium, and an interface 804. The CPU 801 reads out the survey program according to this embodiment from the auxiliary memory device 803 and loads it in the main memory device 802, thereby executing steps S1 to S8 shown in FIG.

[0067] The survey program according to this embodiment can also produce the same effects as those of the survey system 1 described above.

[0068] In this embodiment, instead of the auxiliary storage device 803, For example, a magnetic disk, a magneto-optical disk, or a C D-ROM, DVD-ROM and semiconductor memory can be used.

[0069] The survey program according to this embodiment may be a differential file (differential program) for executing steps S1 to S8 shown in FIG. 5 in combination with other programs already stored in the auxiliary storage device 803.

[0070] (Modification of survey system) In the above explanation of the surveying system 1, a case where an operator surveys the measurement point P of the boundary line between the ground E and the standing wall W has been taken as an example, but the surveying system 1 can be applied to cases where an operator surveys a measurement point at any location. For example, the surveying system 1 can be applied in various situations where an operator cannot place the pole 302 vertically or horizontally, such as a case where an operator surveys a side point of the boundary line between a standing wall and a ceiling, or a case where an operator places the end of the pole 302 at the measurement point while avoiding obstacles near the measurement point. The surveying system 1 can also be applied to cases where an operator surveys a measurement point at a location where the pole 302 can be placed vertically or horizontally.

[0071] In the surveying system 1, the main body 100b is formed in a cylindrical shape, but the main body 100b may be formed in a shape other than a cylindrical shape (for example, a rectangular parallelepiped).

[0072] In the surveying system 1, the horizontal drive unit 104 is configured to be capable of driving the entire main body unit 100b and the telescope unit 110 in the horizontal direction, but the horizontal drive unit 104 may be configured to be capable of driving only either the entire main body unit 100b or the telescope unit 110 in the horizontal direction.

[0073] In the surveying system 1, the vertical drive unit 105 is configured to be capable of driving the telescope unit 110 in the vertical direction, but the vertical drive unit 105 may be configured to be capable of driving the entire main body unit 100b in the vertical direction instead of the telescope unit 110, or may be configured to be capable of driving both the telescope unit 110 and the entire main body unit 100b in the vertical direction.

[0074] In the surveying system 1, the main body control unit 101 may function as the swing guide unit 201b, and the terminal control unit 201 may function as the calculation unit 101b. Furthermore, a control unit may be provided in the retroreflective instrument 300, and this control unit may function as the swing guide unit 201b and the calculation unit 101b.

[0075] Furthermore, the surveying system 1 may further include an external device such as an external controller having a function as a data collector. In this case, the external device may include a calculation unit 101b, a swing guide unit 201b, a storage unit, and a communication unit, and may perform calculations and swing guidance while transmitting and receiving data to and from the main body unit 100b of the main body surveying device 100. [Explanation of symbols]

[0076] 1. Surveying System 100 Main body surveying device 100a Support part 100b Main body 101 Main body control unit 101a Various control units 101b Arithmetic unit 102 Ranging section 103 Tracking light transmitter / receiver 104 Horizontal drive unit 105 Vertical drive unit 106 Horizontal direction detection unit 107 Vertical direction detection unit 108 Main unit operation section 109 Main unit display 110 Telescope Department 111 Storage section 112 Main body communication unit 200 Terminal Surveying Equipment 201 Terminal control unit 201a Various control units 201b Swing guide part 202 Terminal communication unit 203 Terminal display unit 204 Terminal operation unit 300 Retroreflective equipment 301 Prism (survey object) 302 Paul A1, A2 area C1, C2 Virtual sphere D Data E Ground F polar plane I Indicator L light O1 center coordinates O2 center pole О3 Center coordinates P station Qi radius R Offset W standing wall

Claims

1. A distance measuring unit that measures the distance to the object to be measured using a distance measuring light, A direction detection unit for detecting the direction of emission of the distance measuring light, A calculation unit that acquires position information of the object to be surveyed based on the distance measured by the distance measuring unit and the direction of emission detected by the direction detection unit, A storage unit that stores offset information, which is distance information from the survey object to the measurement point, A surveying system comprising: a calculation unit that estimates the oscillation state of the object to be surveyed based on a plurality of position information and offset information obtained by the calculation unit, and an oscillation guide unit that generates oscillation guide information for the object to be surveyed according to the estimated oscillation state.

2. The calculation unit calculates the position coordinates of the measurement point from the plurality of position information and the offset information, The surveying system according to claim 1, wherein the oscillation guide unit calculates the accuracy of the position coordinates of the measurement point calculated from the estimated oscillation state, and terminates the generation of the oscillation guide information if it determines that the accuracy is equal to or greater than a predetermined threshold.

3. The calculation unit calculates the position coordinates of the measurement point from the plurality of position information and the offset information, The surveying system according to claim 1, wherein the oscillation guide unit calculates the accuracy of the position coordinates of the measurement point calculated from the estimated oscillation state, and if it determines that the accuracy is less than a predetermined threshold, it generates oscillation guide information to improve the accuracy.

4. The surveying system according to claim 3, wherein the oscillation guidance information for improving accuracy is information relating to the oscillation trajectory of the object being surveyed.

5. The surveying system according to claim 3, wherein the oscillation guidance information for increasing the accuracy is information relating to the number of oscillations of the object being surveyed.

6. The surveying system according to claim 3, wherein the oscillation guidance information for improving accuracy is information relating to the oscillation speed of the object being surveyed.

7. The surveying system according to claim 3, wherein the oscillation guidance information for increasing the accuracy is information relating to the height of the accuracy.

8. A distance measuring unit that measures the distance to the object to be measured using a distance measuring light, A direction detection unit for detecting the direction of emission of the distance measuring light, A calculation unit that acquires position information of the object to be surveyed based on the distance measured by the distance measuring unit and the direction of emission detected by the direction detection unit, A storage unit that stores offset information, which is distance information from the survey object to the measurement point, A surveying apparatus comprising: a calculation unit that estimates the oscillation state of the object to be surveyed based on a plurality of position information and offset information obtained by the calculation unit, and an oscillation guide unit that generates oscillation guide information for the object to be surveyed according to the estimated oscillation state.

9. A distance measuring unit that measures the distance to the object to be measured using distance measuring light, A direction detection unit for detecting the direction of emission of the distance measuring light, A calculation unit that acquires position information of the object to be surveyed based on the distance measured by the distance measuring unit and the direction of emission detected by the direction detection unit, A main surveying device having a storage unit that stores offset information, which is distance information from the survey object to the measurement point, The system comprises a terminal surveying device that can communicate with the main surveying device, estimates the oscillation state based on the plurality of position information and the offset information, and generates and displays oscillation guidance information for the surveyed object according to the oscillation state, The aforementioned terminal surveying device is Based on the estimated coordinates of the measurement point calculated from the aforementioned multiple location information and the offset information, the accuracy of the estimated coordinates is calculated. A surveying system that terminates the generation and display of the oscillation guidance information when it is determined that the accuracy is equal to or greater than a preset threshold.

10. A distance measurement process that measures the distance to the object to be measured using a distance measuring light, A direction detection step for detecting the direction of emission of the distance measuring light, A calculation step to acquire positional information of the object to be surveyed based on the distance measured by the distance measurement step and the direction of emission detected by the direction detection step, A surveying method comprising: a calculation step which estimates the oscillation state of the survey object based on a plurality of position information obtained by the calculation step and offset information which is distance information from the survey object to the measurement point, and an oscillation guidance step which generates oscillation guidance information for the survey object according to the estimated oscillation state.

11. A distance measurement process that measures the distance to the object to be measured using a distance measuring light, A direction detection step for detecting the direction of emission of the distance measuring light, A calculation step to acquire positional information of the object to be surveyed based on the distance measured by the distance measurement step and the direction of emission detected by the direction detection step, A surveying program for causing a computer to execute a oscillation guidance process that estimates the oscillation state of a survey object based on a plurality of positional information obtained by a surveying method comprising the above, and offset information which is distance information from the survey object to the measurement point, and generates oscillation guidance information for the survey object according to the estimated oscillation state.

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