Surveying device, surveying system, surveying method and surveying program

Abstract

To provide a surveying device, a surveying system, a surveying method and a surveying program, capable of easily adjusting a correction value for correcting a geometric deviation of the device.SOLUTION: A laser scanner 1 includes: a light irradiation unit 105 that irradiates a calibration reference with a distance measuring laser beam L1; a laser light-receiving unit 106 that receives a laser reflected beam L2; a scan drive unit 104d that can rotate an irradiation direction of the distance measuring laser beam L1 by 180 degrees or more around a horizontal axis; a measurement unit 101b that measures a reflection source of the laser reflected beams L2; a calibration reference setting unit 101c that sets the reflection source 500 having a predetermined feature as a calibration reference; a calibration calculation unit 101d that calculates a positive-side measurement value and an opposite-side measurement value measured by the measurement unit 101b when the calibration reference is irradiated with the distance measuring laser beam L1 and when the irradiation direction is a positive side and an opposite side of the scan drive unit 104d; and a correction value calculation unit 101e that calculates a correction value of a measurement result for the reflection source from a difference between these measurement values.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] As a surveying device, a laser scanner that acquires point cloud data by scanning with a laser beam is known. Specifically, as described in Patent Document 1, the laser scanner can change the elevation angle (vertical angle) of the laser beam by a scanning mirror that can rotate around a horizontal axis, and can change the azimuth angle (horizontal angle) of the laser beam by a horizontal rotation unit that can rotate a main body that supports the scanning mirror around a vertical axis. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-223840 A [Patent Document 2] JP 2022-136224 A Summary of the Invention [Problem to be solved by the invention]

[0004] In a laser scanner such as that described in Patent Document 1, a geometric misalignment may occur in the rotation axis (horizontal axis) of the scanning mirror or the rotation axis (vertical axis) of the horizontal rotation unit. Such a geometric misalignment in the device may cause a misalignment in the optical axis of the emitted laser light (so-called optical axis misalignment). Therefore, before shipping the laser scanner, the optical axis misalignment that occurs in each device is measured with high precision, and a correction value is set so that the misalignment can be corrected mathematically.

[0005] However, the degree of deviation changes depending on the use after shipment, so the correction value needs to be adjusted. However, in order to perform high-precision measurements like those before shipment in order to adjust the correction value, Special facilities and equipment are required, and it is not easy for users to adjust the correction values.

[0006] Specifically, in order to adjust the correction value, it was necessary to capture the measurement target with a laser scanner and calculate the coordinates of the measurement target with high accuracy. Since the laser scanner is a device that detects the surface of an object, a special device such as a total station as in Patent Document 2 is required to obtain the coordinates from the surface shape, and it was not easy for the user to adjust the correction value.

[0007] Therefore, an object of the present disclosure is to provide a surveying instrument, a surveying system, a surveying method, and a surveying program that can easily adjust correction values ​​that correct geometric deviations of the instrument. [Means for solving the problem]

[0008] In order to achieve the above-mentioned object, the surveying device disclosed herein comprises a laser irradiation unit that irradiates a ranging laser light, a laser receiving unit that receives reflected light of the ranging laser light, a scan drive unit that can rotate the irradiation direction of the ranging laser light around a horizontal axis, a measurement unit that measures the reflection source of the reflected light from the relationship between the ranging laser light and the reflected light, a calibration reference setting unit that sets the reflection source having predetermined characteristics as a calibration reference based on the measurement results of the reflection source, a calibration calculation unit that calculates a plurality of measurement values ​​which are a plurality of measurement results obtained by irradiating the ranging laser light to the plurality of points when the ranging laser light is irradiated to one or more calibration references set by the calibration reference setting unit, and a correction value calculation unit that calculates a correction value of the measurement result of the reflection source measured by the measurement unit from the plurality of measurement values ​​calculated by the calibration calculation unit.

[0009] The surveying system of the present disclosure comprises the above-mentioned surveying device and the above-mentioned reflecting source.

[0010] The surveying method disclosed herein includes a calibration standard setting process for setting a reflection source having predetermined characteristics as a calibration standard based on measurement results regarding the reflection source of reflected light of the distance measurement laser light irradiated from a surveying device including a laser irradiation unit that irradiates distance measurement laser light, a laser receiving unit that receives reflected light of the distance measurement laser light, a scanning drive unit that can rotate the irradiation direction of the distance measurement laser light around a horizontal axis, and a measurement unit that measures the reflection source of the reflected light from the relationship between the distance measurement laser light and the reflected light; a calibration calculation process for calculating a plurality of measurement values, which are a plurality of measurement results obtained by irradiating the distance measurement laser light to the plurality of points, when the distance measurement laser light is irradiated to a plurality of points on one or more calibration standards set by the calibration standard setting process; and a correction value calculation process for calculating a correction value of the measurement result of the reflection source measured by the measurement unit from the plurality of measurement values ​​calculated by the calibration calculation process.

[0011] The surveying program disclosed herein is intended to cause a computer to execute the following steps: a calibration standard setting process for setting a reflection source having predetermined characteristics as a calibration standard based on measurement results regarding the reflection source of reflected light of the distance-measuring laser light irradiated from a surveying device having a laser irradiation unit that irradiates distance-measuring laser light, a laser receiving unit that receives reflected light of the distance-measuring laser light, a scanning drive unit that can rotate the irradiation direction of the distance-measuring laser light around a horizontal axis, and a measurement unit that measures the reflection source of the reflected light from the relationship between the distance-measuring laser light and the reflected light; a calibration calculation process for calculating multiple measurement values, which are multiple measurement results obtained by irradiating the distance-measuring laser light to the multiple points, when the distance-measuring laser light is irradiated to multiple points on one or more calibration standards set by the calibration standard setting process; and a correction value calculation process for calculating a correction value of the measurement result of the reflection source measured by the measurement unit from the multiple measurement values ​​calculated by the calibration calculation process. Effect of the Invention

[0012] According to the surveying instrument, surveying system, surveying method, and surveying program disclosed herein, it is possible to easily adjust the correction value that corrects the geometric deviation of the instrument. [Brief description of the drawings]

[0013] [Figure 1] 1 is a schematic diagram showing a surveying system according to an embodiment of the present invention. [Diagram 2] 1 is a block diagram showing the overall configuration of a laser scanner according to an embodiment of the present invention; [Diagram 3] 1 is a schematic diagram showing a configuration of an optical system of a laser scanner according to an embodiment of the present invention. [Figure 4] 6 is a flowchart showing correction value adjustment control executed by the laser scanner of the present embodiment. [Diagram 5] FIG. 11 is an explanatory diagram for explaining the effect of the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] An embodiment of a surveying instrument and a surveying system according to the present disclosure will be described with reference to FIGS. 1 to 3 as appropriate.

[0015] FIG. 1 shows a schematic diagram of a surveying system according to this embodiment. The surveying system 1000 shown in the figure includes a laser scanner 1 (surveying device). The laser scanner 1 is a surveying device that is placed, for example, on the top of a tripod T and performs measurements by scanning a range to be surveyed with laser light. In the surveying system 1000, objects (including floors, walls, ceilings, etc.) in the range to be surveyed are reflection sources 500 of the laser light. In the surveying system 1000 of this embodiment, one or more retroreflective members such as a prism 500a and a retroreflective sheet 500b that serve as the reflection source 500 are arranged in the range to be surveyed.

[0016] The laser scanner 1 comprises a main body 100 and a base 200 that supports the main body 100, and the main body 100 is supported on the base 200 so as to be rotatable 360° around a vertical axis A1 (i.e., in the horizontal direction).

[0017] The laser scanner 1 measures a reflecting source 500, which is a survey target, by emitting a distance measuring laser light L1 and receiving a reflected laser light L2 reflected by the reflecting source 500.

[0018] Hereinafter, in the laser scanner 1, one side with respect to the main body 100 will be referred to as the front side, and the side opposite the front side will be referred to as the rear side.

[0019] 2 is a block diagram showing the overall configuration of the surveying device of this embodiment. As shown in the figure, the main body 100 of the laser scanner 1 includes a processing unit 101, a laser emission unit 102, a light guide unit 104, a laser reception unit 106, a light intensity adjustment unit 107, a scan drive unit 108, an elevation angle detection unit 109, an input unit 110, a display unit 111, a communication unit 112, and a storage unit 113. In addition, the base unit 200 includes a horizontal rotation drive unit 201 and an azimuth angle detection unit 202.

[0020] The horizontal rotation drive unit 201 of the base unit 200 is an actuator capable of rotating around a vertical axis A1 of the main body unit 10. The horizontal rotation drive unit 201 is provided with an azimuth angle detection unit 202. The azimuth angle detection unit 202 directly detects the rotation angle of the horizontal rotation drive unit 201, and detects the azimuth angle (horizontal angle) of the distance measurement laser light L1 from the rotation angle.

[0021] The optical system of the laser scanner 1 is mainly composed of a laser emission unit 102, a light guide unit 104, a laser reception unit 106, a light intensity adjustment unit 107, and a scan drive unit 108. Specifically, a schematic diagram showing the configuration of the optical system of the laser scanner 1 is shown in FIG.

[0022] The laser emitter 102 is a single or multiple light emitting elements that emit the distance measurement laser light L1.

[0023] The light guide unit 104 is an optical system that guides the distance measurement laser light L1 emitted from the laser emitter 102 to a scanning mirror 104d shown in FIG.

[0024] Specifically, the light guide unit 104 includes a light receiving mirror 104a which is a half mirror that transmits the distance measurement laser light L1 emitted from the laser emission unit 102, a beam splitter 104b which reflects only light rays of a required wavelength (e.g., infrared light) from the distance measurement laser light L1 that has passed through the light receiving mirror 104a, a focusing lens 104c which collects the distance measurement laser light L1 reflected from the beam splitter 104b, and a scanning mirror 104d which reflects the distance measurement laser light L1 that has passed through the focusing lens 104c toward the reflection source 500.

[0025] In addition, for the reflected laser light L2 from the reflection source 500, the light guide unit 104 reflects the incident reflected laser light L2 by the scanning mirror 104d, focuses it by the focusing lens 104c, reflects it by the beam splitter 104b, and transmits it to the laser receiving unit 106 through the light intensity adjustment unit 107 by the receiving mirror 104a.

[0026] The scanning mirror 104d has a substantially circular plate shape and is rotatably supported by the scanning driver 108. The scanning driver 108 can rotate the scanning mirror 104d about a horizontal axis A2 passing through the center of the scanning mirror 104d. In other words, the scanning driver 108 can rotate the irradiation direction of the distance measurement laser light L1 360 degrees around the vertical axis A1 (vertical direction) by driving the scanning mirror 104d to rotate.

[0027] Further, the scan driver 108 is provided with an elevation angle detector 109. The elevation angle detector 109 directly detects the rotation angle of the scan mirror 104d, and detects the elevation angle (vertical angle) of the distance measurement laser light L1 reflected by the scan mirror 10 from the angle of the scan mirror 104d.

[0028] The laser receiving unit 106 has a light receiving element that receives the reflected laser light L2. Specifically, as shown in Fig. 3, the laser receiving unit 106 is disposed so as to receive the reflected laser light L2 from the light receiving mirror 104a. Furthermore, the light receiving element of the laser receiving unit 106 has a function of measuring the light intensity of the received reflected laser light L2.

[0029] The light intensity adjusting unit 107 is, for example, an optical attenuator, and is capable of adjusting (particularly attenuating) the intensity of the reflected laser light L2 from the light receiving mirror 104a and allowing the laser receiving unit 106 to receive the light. The light intensity adjusting unit 107 of this embodiment has a plurality of filters with different attenuation rates, and is configured to select an appropriate filter by controlling the processing unit 101. In particular, the light intensity adjusting unit 107 of this embodiment includes a filter having an attenuation rate that attenuates the reflected laser light L2 from the retroreflective member to a light intensity that can be received by the laser receiving unit 106.

[0030] The control system of the laser scanner 1 is mainly composed of a processing unit 101 , an input unit 110 , a display unit 111 , a communication unit 112 , and a storage unit 113 .

[0031] The input unit 110 is an operating means by which an operator can input control instructions to the control unit 101a, and includes any device such as a touch panel, a switch, a button, or a dial.

[0032] The display unit 111 is for displaying various types of information and is configured, for example, with a liquid crystal panel. The display unit 111 may be configured integrally with the input unit 110, such as a touch panel.

[0033] The communication unit 112 is capable of transmitting and receiving various types of information to and from an external device (not shown). The transmission and reception here may be either wired communication or wireless communication.

[0034] The storage unit 113 is realized by a storage medium such as an HDD, SSD, or flash memory, and is configured to be able to store various information. The storage unit 113 stores, as various information, for example, point cloud data (coordinate data based on the distance, elevation angle, and azimuth angle of each point) measured by a measurement unit described later, information on calibration standards (positive side measurement values, negative side measurement values, etc.) set by a calibration standard setting unit 101c and a calibration calculation unit 101d described later, and correction values ​​(including correction coefficients) for geometric deviations on the device.

[0035] The processing unit 101 is electrically connected to each of the above-mentioned components, and controls, for example, the laser emission unit 102, the light intensity adjustment unit 107, the scan drive unit 108, the display unit 111, the communication unit 112, the storage unit 113, and the horizontal rotation drive unit 201. The processing unit 101 also acquires various information from the laser reception unit 106, the elevation angle detection unit 109, the input unit 110, the communication unit 112, the storage unit 113, and the azimuth angle detection unit 202.

[0036] Moreover, the processing unit 101 has a control unit 101a, a measurement unit 101b, a calibration standard setting unit 101c, a calibration calculation unit 101d, and a correction value calculation unit 101e corresponding to the processes to be executed. Note that the components of the processing unit 101 are only virtually divided according to the processes to be executed, and do not necessarily have to be physically divided.

[0037] The control unit 101a has a function of controlling the entire main body unit 100 and the base unit 200. For example, the control unit 101a rotates the scanning mirror 104d via the scanning drive unit 108, rotates the main body unit 100 by driving the horizontal rotation drive unit 201, and adjusts the attenuation rate of the light intensity of the reflected laser light L2 by the light intensity adjustment unit 107. When the received light intensity at the laser receiving unit 106 is equal to or greater than a predetermined value, the control unit 101a changes the transmission filter (i.e., transmits the reflected laser light L2) in the optical attenuator serving as the light intensity adjustment unit 107.

[0038] The measuring unit 101b measures the reflection source 500 based on the relationship between the distance measurement laser light L1 and the reflected laser light L2. For example, when using a so-called time-of-flight method, the distance from the laser scanner 1 to the reflection source 500 is measured based on the time from irradiating the distance measurement laser light L1 to receiving the reflected laser light L2 from the reflection source 500. Alternatively, the so-called phase shift method (also called phase difference method) may be used, in which case a distance measurement laser light modulated in multiple ways is irradiated, and the distance from the laser scanner 1 to the reflection source 500 is measured based on the phase difference of the diffuse reflection component of the reflected laser light L2. The measuring unit 101b also measures the relative direction of the reflection source 500 with respect to the laser scanner 1 based on the elevation angle detected by the elevation angle detection unit 109 and the azimuth angle detected by the azimuth angle detection unit 202. The distance, elevation angle, and azimuth angle of the reflection source 500 with respect to the laser scanner 1 are corrected using a correction value described later, and then the coordinates of the reflection source 500 are calculated. The measuring unit 101b stores each of the coordinates thus measured as point cloud data in the storage unit 113. A three-dimensional model can be generated based on the point cloud data.

[0039] The calibration standard setting unit 101c is for setting the reflection source 500 having a predetermined characteristic as the calibration standard based on the measurement result of the reflection source 500. Specifically, the calibration standard setting unit 101c performs a reference detection scan to scan the target range in order to detect the calibration standard, and extracts one or more calibration standards from the point cloud data that is the scan result. The condition (predetermined characteristic) of the reflection source 500 to be the calibration standard is, for example, that the light intensity of the laser reflected light L2 is equal to or greater than a predetermined light intensity. The predetermined light intensity here is the light intensity of the laser reflected light L2 when the reflection source 500 is a retroreflective member. In addition, when there are multiple calibration standards, it is preferable to select calibration standards at positions where the rotation angles (elevation angles) of the scanning mirror 104d are apart from each other in order to further improve the calibration accuracy. Therefore, for example, when there are multiple calibration standards, the calibration standard setting unit 101c may set only the calibration standards whose relative elevation angles are equal to or greater than a predetermined value among the extracted calibration standards as the final calibration standards. Moreover, instead of being limited to the relative elevation angle, only calibration standards having a relative distance or a relative azimuth angle equal to or greater than a predetermined value may be set as the final calibration standard.

[0040] The calibration calculation unit 101d has a function of performing measurements on the front side and the opposite side of one or more calibration standards set by the calibration standard setting unit 101c, and obtaining the respective measurement results. Specifically, the calibration calculation unit 101d obtains the front side measurement values, which are the measurement results measured by the measurement unit 101b, by measuring the calibration standard from the front side (hereinafter referred to as a front side scan). The calibration calculation unit 101d also obtains the opposite side measurement values ​​by rotating the main body unit 100 horizontally 180 degrees by the horizontal rotation drive unit 201 while keeping the position of the laser scanner 1 unchanged, and measuring the same calibration standard from the opposite side (hereinafter referred to as an opposite side scan). As a specific means for obtaining the measurement values, for example, a calibration standard (measurement target) is extracted from the obtained point cloud by a feature point extraction method (at this time, an intensity filter is generally used), and the coordinate values ​​of the calibration standard (for example, the front side measurement values ​​and the opposite side measurement values) are obtained from the point cloud of the extracted feature points by center of gravity detection or the like.

[0041] Furthermore, before performing the forward side scan and the reverse side scan, the calibration calculation unit 101d controls the light intensity adjustment unit 107 to attenuate the reflected laser light L2 from the retroreflective member to a light intensity that can be received by the laser receiving unit 106. Since the retroreflective member serving as the calibration reference receives reflected laser light L2 with a higher light intensity than the normal reflection source 500, the calibration calculation unit 101d increases the attenuation rate in advance using the light intensity adjustment unit 107 so that the calibration reference can be detected with high accuracy.

[0042] The correction value calculation unit 101e calculates a correction value of the measurement result of the reflection source 500 measured by the measurement unit 101b from the front side measurement value and the opposite side measurement value calculated by the calibration calculation unit 101d. For example, the correction value calculation unit 101e determines that the average value of the front side measurement value and the opposite side measurement value is the true value, and calculates a front side correction value such that the front side measurement value becomes the true value, and an opposite side correction value such that the opposite side measurement value becomes the true value. As an example, the calculated value of "true value / front side measurement value" is set as the front side correction value, and the calculated value of "true value / opposite side measurement value" is set as the opposite side correction value. Then, the correction value calculation unit 101e adjusts the correction value by updating the front side correction value and the opposite side correction value stored in the storage unit 113 to the newly calculated front side correction value and the opposite side correction value, respectively.

[0043] In this way, the processing unit 101 of the laser scanner 1 can perform adjustment control of the correction value.

[0044] Next, Fig. 4 shows a flowchart illustrating the correction value adjustment control (surveying method) executed by the laser scanner according to this embodiment, and Fig. 5 shows an example of a point cloud image generated as a result of a reference detection scan. Below, a description will be given along with the flowchart of Fig. 4 with reference to Fig. 5. However, Fig. 5 is an image of a simplified point cloud image, not an actual point cloud image. The correction value adjustment control is started in response to an operation by an operator from the input unit 110 of the laser scanner 1.

[0045] When the correction value adjustment control is started, first, as shown in Fig. 4, in step S1, the calibration reference setting unit 101c performs a reference detection scan to scan the target range. For example, the reference detection scan is a 360-degree scan (full range scan) in both the horizontal and vertical directions. When this full range scan is performed, a point cloud image as shown in Fig. 5 is generated from the point cloud data obtained by the measurement unit 101b.

[0046] In step S2, the calibration standard setting unit 101c determines whether or not there is a reflection source 500 having a predetermined characteristic (above a predetermined light intensity) from the point cloud data that is the measurement result of the reference detection scan. If the calibration standard setting unit 101c determines that there is a reflection source 500 having the predetermined characteristic (if step S2 is Yes), the process proceeds to step S3. On the other hand, if the calibration standard setting unit 101c determines that there is no reflection source 500 having the predetermined characteristic (if step S2 is No), the correction value adjustment control ends.

[0047] In step S3, the calibration standard setting unit 101c sets the reflection source 500 having a predetermined characteristic as the calibration standard. In the point cloud image example of FIG. 5, points such as points B1 to B4 are extracted as the reflection source 500 having a predetermined characteristic. Points B1 and B2 are assumed to be the retroreflective sheet 500b, and points B3 and B4 are assumed to be the prism 500a, and these points B1 to B4 have high reflectance. The calibration standard setting unit 101c can set the calibration standard by extracting points showing a light intensity equal to or greater than a predetermined value in this way. In addition, if there are multiple calibration standards, only the calibration standards whose relative elevation angles are equal to or greater than a predetermined value among the extracted calibration standards may be set as the final calibration standard. For example, since points B3 and B4 in FIG. 5 have close relative elevation angles, only one of them may be set as the calibration standard.

[0048] In the following step S4, the calibration calculation unit 101d adjusts the attenuation rate in the light intensity adjustment unit 107 based on the received light intensity in the measurement result acquired by the measurement unit 101b in step S1. For example, when the light intensity (received light intensity) of the reflected laser light L2 from the calibration standard exceeds a predetermined value, the calibration calculation unit 101d adjusts the attenuation rate in the light intensity adjustment unit 107 to increase it in order to avoid saturation of the received signal (optical signal). Note that when this received light intensity is an appropriate value, the control unit 101a does not need to adjust the attenuation rate in the light intensity adjustment unit 107.

[0049] In step S5, the calibration calculation unit 101d performs a positive side scan. That is, the calibration calculation unit 101d irradiates the distance measurement laser light L1 from the positive side toward the calibration standard set in step S3, measures the calibration standard, and obtains a positive side measurement value. Note that, if there are multiple calibration standards, the positive side measurement value for each is obtained.

[0050] In step S6, the calibration calculation unit 101d controls the horizontal rotation drive unit 201 to turn the main body unit 100 upside down.

[0051] Then, in step S7, the calibration calculation unit 101d performs an opposite-side scan. That is, the calibration calculation unit 101d irradiates the distance measurement laser light L1 from the opposite side toward the calibration standard set in step S3, measures the calibration standard, and obtains opposite-side measurement values. Here, too, if there are multiple calibration standards, opposite-side measurement values ​​are obtained for each.

[0052] In step S8, the correction value calculation unit 101e calculates the average value of the positive side measurement value obtained in step S5 and the opposite side measurement value obtained in step S7.

[0053] In step S9, the correction value calculation unit 101e calculates correction values ​​(specifically, a positive side correction value and a negative side correction value) for the geometric deviation on the device from the average value calculated in step S8. Then, the calculated correction values ​​are updated in the storage unit 113, and are applied to the correction of the measurement value from the next time onwards (so-called calibration).

[0054] (program) Here, the programs for realizing the functions constituting the surveying system 1000 according to this embodiment will be described in detail.

[0055] The operation of each component of the laser scanner 1 is stored in the form of a program in the storage unit 113. The processing unit 101 reads the program from the storage unit 113, expands it in a memory (main storage device) not shown, and executes the above-mentioned processing in accordance with the program.

[0056] The program includes, for example, a calibration standard setting step of setting a reflection source having a predetermined characteristic as a calibration standard based on a measurement result of the reflection source of the reflected light of the distance measurement laser light irradiated from a surveying instrument having a laser irradiation unit that irradiates a distance measurement laser light, a laser receiving unit that receives reflected light of the distance measurement laser light, a scan drive unit that can rotate the irradiation direction of the distance measurement laser light around a horizontal axis, and a measurement unit that measures the reflection source of the reflected light from the relationship between the distance measurement laser light and the reflected light; and When the ranging laser light is irradiated to one or more of the set calibration standards, a calibration calculation process is executed to calculate a front-side measurement value, which is the measurement result measured by the measurement unit when the irradiation direction is on the front side of the scan drive unit, and an opposite-side measurement value, which is the measurement result measured by the measurement unit when the irradiation direction is on the opposite side of the scan drive unit; and a correction value calculation process is executed to calculate a correction value of the measurement result of the reflection source measured by the measurement unit from the front-side measurement value and the opposite-side measurement value calculated by the calibration calculation process.

[0057] The storage unit 113 is an example of a non-transient tangible medium. Other examples of non-transient tangible media include a magnetic disk, a magneto-optical disk, an optical disk, and a semiconductor memory connected via an interface. In addition, when this program is distributed to a computer via a network, the computer that receives the program may load the program into memory and execute the above process.

[0058] The program may be for implementing part of the above-mentioned functions. Furthermore, the program may be a so-called difference file (difference program) that implements the above-mentioned functions in combination with other programs already stored in the storage unit 113.

[0059] As described above, the surveying system 1000 having the laser scanner 1 (surveying device) according to this embodiment, the correction value adjustment control (surveying method), and the surveying program can perform a reference detection scan to set a calibration reference, and adjust the correction value by performing a forward side scan and a reverse side scan of the calibration reference. Since no large-scale equipment or device is required, even a user can adjust the correction value. This makes it easy to adjust the correction value that corrects the geometric deviation of the device.

[0060] Furthermore, the calibration standard setting unit 101c sets the reflection source 500 of the reflected laser light L2 having a predetermined light intensity or more as the calibration standard as a condition for extracting the calibration standard. In other words, the operator can easily set the calibration standard by simply having the reflection source 500 with high reflectance in the target range.

[0061] Furthermore, the calibration calculation unit 101d attenuates the light intensity of the reflected laser light L2 by the light intensity adjustment unit 107 before the reflected laser light L2 is received by the laser receiving unit 106. This allows the calibration calculation unit 101d to avoid saturation of the received signal (light signal), thereby avoiding errors in the measured distance due to saturation of the received signal, and thereby enabling highly accurate coordinates (for example, forward measurement values ​​and reverse measurement values) to be obtained. Then, the correction value calculation unit 101e can perform highly accurate correction. Therefore, highly accurate forward scans and reverse scans can be performed even for a calibration standard with a high reflectance, and the accuracy of adjustment of the correction value is improved.

[0062] Furthermore, in this embodiment, by setting the light intensity of the retroreflective member (prism 500a, retroreflective sheet 500b) as the condition of the calibration standard, an operator can reliably set the calibration standard simply by placing the retroreflective member, making it easier to adjust the correction value.

[0063] Furthermore, according to this embodiment, since a highly reflective object such as the prism 500a is used as the measurement target, the intensity of the reflected laser light L2 can be increased to 10,000 times or more compared to the object surface. This makes it possible to suppress the influence of environmental disturbances, and therefore to separate and grasp the highly reflective object from other objects. In particular, since the highly reflective object has a certain size, when the highly reflective object is used, the coordinates of the highly reflective object can be uniquely determined by calculating the center of gravity. Furthermore, by providing the light intensity adjusting unit 107, it is possible to more reliably avoid saturation of the electrical signal in the laser receiving unit 106, and it becomes possible to more effectively utilize the highly reflective object.

[0064] This completes the description of the embodiment of the present disclosure, but the aspects of the present disclosure are not limited to this embodiment.

[0065] In the above embodiment, the calibration calculation unit 101d acquires the forward measurement value and the reverse measurement value as the coordinates of the calibration reference, but the coordinates of the calibration reference to be acquired are not limited to the forward measurement value and the reverse measurement value, and may be multiple measurement results (i.e., multiple measurement values) acquired by irradiating the ranging laser light L1 to multiple points (i.e., irradiating the ranging laser light L1 in multiple directions).

[0066] In the above embodiment, the light intensity adjustment unit 107 is provided to attenuate the light entering the laser receiving unit 106, but the light intensity adjustment unit is not limited to this. For example, an electrical signal amplifier that adjusts (particularly amplifies) an electrical signal generated according to the light received by the laser receiving unit 106 may be provided as the light intensity adjustment unit. In this case, the measurement unit 101b measures the reflection source 500 by amplifying the electrical signal corresponding to the laser reflected light L2 from the retroreflective member more than other light. By adjusting the light intensity by such a method, the calibration calculation unit 101d can obtain the coordinates of the calibration reference with higher accuracy, and the calculation accuracy of the correction value by the correction value calculation unit 101e can be further improved. Note that the light intensity adjustment unit may use both the electrical signal amplifier and the optical attenuator of the above embodiment, or may use only one of them.

[0067] In the above embodiment, the calibration standard setting unit 101c sets the condition (predetermined feature) of the reflection source 500 as the calibration standard as the light intensity of the reflected laser light L2 being equal to or greater than a predetermined light intensity, but the condition of the calibration standard is not limited to this. For example, the feature amount of the reflection source 500 may be calculated based on point cloud data or a captured image, and a reflection source 500 having a feature amount equal to or greater than a predetermined amount (e.g., a reflection source having a specific shape) may be set as the calibration standard. The feature amount may be calculated using an existing image analysis technique. This allows the calibration standard to be extracted without being limited to the retroreflective member. In other words, the operator can more easily adjust the correction value.

[0068] In the above embodiment, the main body 100 can rotate 360 ​​degrees around the vertical axis A1, but the rotatable angular range of the main body 100 is not particularly limited. Also, in the above embodiment, the scan driver 108 can rotate the irradiation direction of the distance measurement laser light L1 by 360 degrees or more around the horizontal axis A2, but the rotatable angular range of this irradiation direction is not particularly limited. However, this angular range is preferably 180 degrees or more so that the distance measurement laser light L1 can be irradiated on both the forward and reverse sides.

[0069] In the above embodiment, it is preferable to suppress saturation of the output of a signal generating unit (detector) that generates an electrical signal from the reflected laser light L2 received by the laser receiving unit 106 by reducing the gain of the signal generating unit (detector) as necessary.

[0070] The surveying program according to the present disclosure is not limited to the program according to the above embodiment, so long as it is a program as follows. That is, the surveying program according to the present disclosure may be a surveying program for causing a computer to execute a calibration reference setting step of setting a reflection source having a predetermined characteristic as a calibration reference based on a measurement result of the reflection source of the reflected light of the distance measurement laser light irradiated from a surveying device including a laser irradiation unit that irradiates a distance measurement laser light, a laser receiving unit that receives reflected light of the distance measurement laser light, a scan drive unit that can rotate the irradiation direction of the distance measurement laser light around a horizontal axis, and a measurement unit that measures the reflection source of the reflected light from the relationship between the distance measurement laser light and the reflected light, a calibration calculation step of calculating a plurality of measurement values ​​that are a plurality of measurement results obtained by irradiating the distance measurement laser light to the plurality of points when the distance measurement laser light is irradiated to one or a plurality of calibration references set by the calibration reference setting step, and a correction value calculation step of calculating a correction value of the measurement result of the reflection source measured by the measurement unit from the plurality of measurement values ​​calculated by the calibration calculation step. [Explanation of symbols]

[0071] 1. Laser scanner 100 Main body 101 Processing section 101a Control section 101b Measuring part 101c Calibration standard setting section 101d Calibration calculation section 101e Correction value calculation unit 102 Laser emission unit 104 Light guide section 104a Receiving mirror 104b Beam splitter 104c Condenser lens 104d Scanning mirror 106 Laser receiver 107 Light intensity adjustment unit 108 Scanning driver 109 Elevation angle detector 200 Base 201 Horizontal rotation drive unit 202 Azimuth angle detection unit 500 Reflection Source 500a Prism 500b retroreflective sheeting 1000 Survey System

Claims

1. a laser irradiation unit that irradiates a laser beam for distance measurement; a laser light receiving unit that receives reflected light of the distance measuring laser light; a scanning driver that can rotate the irradiation direction of the distance measuring laser light around a horizontal axis; a measurement unit for measuring a reflection source of the reflected light based on a relationship between the distance measurement laser light and the reflected light; a calibration standard setting unit that sets the reflection source having a predetermined characteristic as a calibration standard based on a measurement result of the reflection source; a calibration calculation unit that calculates a plurality of measurement values ​​that are a plurality of measurement results obtained by irradiating the plurality of points with the distance-measuring laser light on one or a plurality of the calibration references set by the calibration reference setting unit when the distance-measuring laser light is irradiated on the plurality of points; a correction value calculation unit that calculates a correction value of the measurement result of the reflection source measured by the measurement unit from the plurality of measurement values ​​calculated by the calibration calculation unit; A surveying instrument comprising:

2. 2. The surveying instrument according to claim 1, wherein the calibration standard setting unit sets, as the calibration standard, a reflection source of the reflected light having a predetermined light intensity or more as the reflection source having the predetermined characteristic.

3. The surveying instrument according to claim 1 , further comprising a light intensity adjusting section that adjusts the light intensity of the reflected light before the reflected light is received by the laser receiving section.

4. an electrical signal amplifier that amplifies an electrical signal generated from the reflected light received by the laser receiving unit, The measurement unit measures the reflection source based on the electrical signal amplified by the electrical signal amplifier. The surveying instrument according to claim 1.

5. The surveying instrument according to claim 2 , wherein the calibration standard setting unit sets the predetermined light intensity to a light intensity equivalent to the reflected light having a retroreflective member as the reflection source.

6. The surveying instrument according to claim 1 , wherein the calibration standard setting unit calculates a characteristic amount of the reflection source, and sets the reflection source having the characteristic amount equal to or greater than a predetermined value as the calibration standard, as a reflection source having the predetermined characteristic.

7. A surveying instrument according to any one of claims 1 to 6, The reflection source; A surveying system comprising:

8. a calibration standard setting process for setting a reflection source having a predetermined characteristic as a calibration standard based on a measurement result of the reflection source of the reflected light of the distance-measuring laser light irradiated from a surveying instrument including: a laser irradiation unit for irradiating a distance-measuring laser light; a laser receiving unit for receiving a reflected light of the distance-measuring laser light; a scan drive unit capable of rotating an irradiation direction of the distance-measuring laser light around a horizontal axis; and a measurement unit for measuring the reflection source of the reflected light from the relationship between the distance-measuring laser light and the reflected light; a calibration calculation step of calculating a plurality of measurement values ​​which are a plurality of measurement results obtained by irradiating the plurality of points with the distance-measuring laser light with respect to the one or a plurality of calibration references set in the calibration reference setting step; a correction value calculation step of calculating a correction value of the measurement result of the reflection source measured by the measurement unit from the plurality of measurement values ​​calculated in the calibration calculation step; A surveying method comprising:

9. a calibration standard setting process for setting a reflection source having a predetermined characteristic as a calibration standard based on a measurement result of the reflection source of the reflected light of the distance-measuring laser light irradiated from a surveying instrument including: a laser irradiation unit for irradiating a distance-measuring laser light; a laser receiving unit for receiving a reflected light of the distance-measuring laser light; a scan drive unit capable of rotating an irradiation direction of the distance-measuring laser light around a horizontal axis; and a measurement unit for measuring the reflection source of the reflected light from the relationship between the distance-measuring laser light and the reflected light; a calibration calculation step of calculating a plurality of measurement values ​​which are a plurality of measurement results obtained by irradiating the plurality of points with the distance-measuring laser light with respect to the one or a plurality of calibration references set in the calibration reference setting step; a correction value calculation step of calculating a correction value of the measurement result of the reflection source measured by the measurement unit from the plurality of measurement values ​​calculated in the calibration calculation step; A surveying program for running the following on a computer.

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