Surveying device

Abstract

To provide a surveying device that can acquire three-dimensional point group data for a measuring object inexpensively and easily, even in an environment where GNSS cannot be used.SOLUTION: A device comprises a mobile terminal 2 equipped with a three-dimensional laser scanner function, a fixed frame part 3 to which the mobile terminal 2 is detachably secured, and a prism target 4, where the prism target 4 is provided on the fixed frame part 3. The fixed frame part 3 comprises a holding part 31 for holding the mobile terminal 2, a yawing rolling mechanism enabling rotation of the mobile terminal 2 about a vertical axis, a pitching rolling mechanism enabling rotation of the mobile terminal 2 about a horizontal axis, and a movement mechanism 33 capable of moving the terminal base point that is a predetermined base point of the mobile terminal 2 to the intersection point of the vertical axis of the yawing rolling mechanism and the horizontal axis of the pitching rolling mechanism.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a surveying instrument having a three-dimensional laser scanner function. [Background technology]

[0002] When excavating a tunnel by blasting, the blasting conditions, such as the location of explosives and the amount of explosives, are determined based on a geological survey conducted in advance. However, during actual construction, the predetermined blasting conditions often become inappropriate due to unevenness and discontinuities in the ground. For this reason, it is necessary to understand the excavation shape of the face and the state of debris accumulation during drilling and adjust the blasting conditions accordingly.

[0003] A three-dimensional laser scanner is used to understand the excavation shape of the face and the state of debris accumulation. A three-dimensional laser scanner acquires three-dimensional point cloud data from distance data and angle data to each measurement point on the surface of the object to be measured, and then performs calculations on the acquired three-dimensional point cloud data to identify the shape of the object to be measured.

[0004] For example, Patent Document 1 discloses a blasting optimization method in which, before blasting, three-dimensional measurements are taken of the working face and the expected area where debris will be scattered using a three-dimensional measuring device such as a three-dimensional scanner, and after blasting, three-dimensional measurements are taken of the piled-up state of the scattered debris and the excavation shape of the working face using a three-dimensional measuring device such as a three-dimensional scanner, and the relationship between the index value of the blasting situation set based on the piled-up state of the debris and the excavation shape of the working face and the amount of blasting personnel is accumulated as quantified data, the accumulated data is analyzed to determine whether the blasting is good or bad, and the blasting conditions are corrected. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-190189 Summary of the Invention [Problem to be solved by the invention]

[0006] The three-dimensional measuring device described in Patent Document 1 is relatively large, difficult to handle, and expensive. In response to this, the inventors have focused on the application of a portable terminal equipped with a three-dimensional laser scanner function, which is relatively small, lightweight, and inexpensive.

[0007] In surveying, it is necessary to know the position of the 3D measuring device itself, but in a non-GNSS environment such as a tunnel, the GNSS-based self-location recognition function of such mobile devices cannot be used. Also, although the mobile devices are equipped with acceleration sensors that can capture displacement when moving from a GNSS environment to a non-GNSS environment, there are problems such as the need to continuously capture the history of movement and the accumulation of errors as the moving distance becomes large.

[0008] Furthermore, to determine the position of a three-dimensional measuring device inside a tunnel, it is possible to place multiple targets around the three-dimensional measuring device, measure the coordinates of each target using a total station or the like, and then use the three-dimensional measuring device to aim at the targets whose positions are now known. However, this method requires a significant amount of preparation time before measurements can be taken using three-dimensional measuring equipment, which can interrupt work and reduce the overall work efficiency of the tunnel excavation project.

[0009] The problem that the present invention aims to solve is to provide a surveying instrument that can inexpensively and easily acquire three-dimensional point cloud data of a measurement object even in an environment where GNSS cannot be used. [Means for solving the problem]

[0010] The invention of claim 1 of the present application is a surveying instrument comprising a portable terminal having a three-dimensional laser scanner function, a fixed body to which the portable terminal is detachably fixed, and a target, wherein the target is provided on the fixed body.

[0011] The invention of claim 2 of the present application is the surveying instrument described in claim 1, characterized in that the fixed body unit comprises a holding unit that holds the portable terminal, a yawing rotation mechanism that can rotate the portable terminal held by the holding unit around a vertical axis, a pitching rotation mechanism that can rotate the portable terminal held by the holding unit around a horizontal axis, and a moving mechanism that can move a terminal reference point, which is a predetermined reference point of the portable terminal held by the holding unit, to the intersection of the vertical axis of the yawing rotation mechanism and the horizontal axis of the pitching rotation mechanism.

[0012] The invention of claim 3 of the present application is the surveying instrument described in claim 2, characterized in that it comprises a measurement point marker plate that can be installed in front of the portable terminal held in the holding unit and has a measurement point marker, and the measurement point marker plate is installed on the fixed body unit so that when the moving mechanism aligns the terminal reference point with the measurement point marker on the measurement point marker plate installed in front of the portable terminal, the terminal reference point is located at the intersection of the vertical axis of the yawing rotation mechanism and the horizontal axis of the pitching rotation mechanism.

[0013] The invention according to claim 4 of the present application is the surveying instrument according to claim 3, characterized in that the measurement point marker plate is transparent, and the measurement point marker is the intersection of a horizontal marker line displayed on the measurement point marker plate and a vertical marker line perpendicular to the horizontal marker line.

[0014] The invention of claim 5 of the present application is the surveying instrument described in claim 3 or claim 4, characterized in that the measurement point marker plate is provided on the fixed body portion so as to be in a set state in which it is provided in front of the portable terminal and in a released state in which it is retracted from the front of the portable terminal.

[0015] The invention according to claim 6 of the present application is the surveying instrument described in claim 2, characterized in that the target is arranged so that the target measurement point, which is the measurement point of the target, is located on an extension line of the vertical axis of the yawing rotation mechanism.

[0016] The invention according to claim 7 of the present application is the surveying instrument according to any one of claims 1 to 3, characterized in that the fixed body portion includes legs. [Effects of the Invention]

[0017] The surveying instrument of the present invention can acquire three-dimensional point cloud data of the object to be measured using a commercially available mobile terminal, so there is no need to use expensive equipment, it is inexpensive, and it can also identify the scanned position of the mobile terminal even inside a tunnel where the position of the mobile terminal cannot be determined using GNSS. In addition, there is no need to set up multiple targets around the site, and the effort required to sight the targets using a surveying instrument is eliminated, so work can be continued without long interruptions, work efficiency is improved, and construction costs can be reduced.

[0018] In addition, the fixed body unit comprises a holding unit that holds the mobile terminal, a yawing rotation mechanism that can rotate the mobile terminal held by the holding unit around a vertical axis, a pitching rotation mechanism that can rotate the mobile terminal held by the holding unit around a horizontal axis, and a moving mechanism that can move the terminal reference point, which is a predetermined reference point of the mobile terminal held by the holding unit, to the intersection of the vertical axis of the yawing rotation mechanism and the horizontal axis of the pitching rotation mechanism.Therefore, even when the mobile terminal is rotated by the yawing rotation mechanism and the pitching rotation mechanism, it rotates around the reference point, and three-dimensional point cloud data of the object to be measured can be accurately obtained.

[0019] In addition, the device is provided with a measurement point marker plate that can be installed in front of the portable terminal held in the holding section and has a measurement point marker.The measurement point marker plate is installed on the fixed body section so that when the moving mechanism aligns the terminal reference point with the measurement point marker on the measurement point marker plate installed in front of the portable terminal, the terminal reference point is located at the intersection of the vertical axis of the yawing rotation mechanism and the horizontal axis of the pitching rotation mechanism.Therefore, the terminal reference point can be easily positioned at the intersection of the vertical axis of the yawing rotation mechanism and the horizontal axis of the pitching rotation mechanism.

[0020] In addition, if the measurement point marker is provided on the fixed body so that it can be set in a set state in front of the mobile terminal and in a released state in which it is retracted from the front of the mobile terminal, the measurement point marker can be set in the set state when positioning the terminal reference point of the mobile terminal, and when performing laser scanning, the measurement point marker can be set in the released state so as not to be affected by reflected light from the measurement point marker, allowing for accurate surveying.

[0021] In addition, the measurement point marker plate is transparent, and the measurement point marker is the intersection of a horizontal marker line displayed on the measurement point marker plate and a vertical marker line perpendicular to the horizontal marker line, making it easy to position the terminal reference point using a moving mechanism.

[0022] In addition, if the fixed body portion is provided with legs, the surveying instrument can be installed stably. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is a front view of a surveying instrument showing an embodiment of the present invention. [Figure 2] 1 is a side view of a surveying instrument showing an embodiment of the present invention. [Figure 3] 1 is an enlarged front view of a main part of a surveying instrument showing an embodiment of the present invention. [Figure 4] 4 is a cross-sectional view taken along the line AA in FIG. 3. [Figure 5] FIG. 4 is a cross-sectional view of FIG. 3 taken along line B-B. [Figure 6] 4 is a cross-sectional view taken along CC in FIG. 3. DETAILED DESCRIPTION OF THE INVENTION

[0024] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. It goes without saying that the present invention is not limited to the embodiments.

[0025] 1 is a front view of the surveying instrument, FIG. 2 is a side view of the surveying instrument, FIG. 3 is an enlarged front view of the main parts of the surveying instrument, FIG. 4 is a cross-sectional view taken along line AA in FIG. 3, FIG. 5 is a cross-sectional view taken along line BB in FIG. 3, and FIG. 6 is a cross-sectional view taken along line CC in FIG. 3.

[0026] As shown in Figures 1 and 2, the surveying instrument 1 of the present invention is suitable for conducting surveying in an environment where GNSS cannot be used, such as inside a tunnel, and comprises a portable terminal 2, a fixed frame 3 as a fixed body to which the portable terminal 2 is detachably fixed, a prism target 4 as a target, and legs 5.

[0027] The mobile terminal 2 is a smartphone having a three-dimensional laser scanner function (for example, a smartphone having a LiDAR (Light Detection and Ranging) function). The mobile terminal 2 may also be a tablet having the same function.

[0028] The mobile terminal 2 irradiates a laser from the laser irradiation unit 20 onto the object to be measured, measures the distance and angle from the mobile terminal 2 to the reflection point using the light reflected from the object to be measured, and acquires and outputs three-dimensional point cloud data of the object to be measured from the distance data and angle data.

[0029] The acquired three-dimensional point cloud data is, for example, coordinate value information in a local coordinate system with a reference point inside the mobile terminal 2 as the origin. In this embodiment, the reference point that is the origin of the local coordinate system is the laser irradiation unit 20 of the mobile terminal 2, more specifically, the irradiation point 20p (terminal reference point) that is on the surface of the mobile terminal 2 and is the center of the laser irradiation unit 20.

[0030] Coordinate calculations and the like are performed in the arithmetic processing unit based on the three-dimensional point cloud data, and the shape and position of the measurement object are displayed on a display unit such as a monitor. The functions related to the arithmetic processing unit and display unit may be implemented in the mobile terminal 2, or may be provided in a computing device such as a computer that is separately provided so as to be able to communicate.

[0031] As shown in FIG. 3, the fixed frame unit 3 includes a frame body 30, a holding unit 31 that holds the mobile terminal 2, a measurement point marker plate 32, and a movement mechanism 33 that can move the holding unit 31.

[0032] The frame body 30 is formed into a substantially rectangular shape by left and right vertical frames 300, an upper frame 301 installed between the upper ends of the vertical frames 300, and a lower frame 302 installed between the lower ends of the vertical frames 300.

[0033] As shown in Figures 3 and 4, a rotating shaft 303 parallel to the upper frame 301 and lower frame 302 is provided through the expanded portion 300a provided at the top of the left and right vertical frames 300, and an operating dial 304 is attached to the outer end of the rotating shaft 303. When the operation dial 304 is rotated, the rotation shaft 303 can be rotated around the axis 303c of the rotation shaft 303.

[0034] The rotation shaft 303 is included in a pitching rotation mechanism that can rotate the portable terminal 2 held by the holding part 31 around a horizontal axis (axis center 303c).

[0035] Furthermore, vertical guide rails 305, each having an inner surface facing each other and open, are fixed to the inner ends of the left and right rotating shafts 303 in parallel with the vertical frame 300. The vertical guide rails 305 rotate together with the rotating shafts 303. The left and right vertical guide rails 305 are rails that are open on the inside (FIG. 5).

[0036] Between the left and right vertical guide rails 305, a horizontal guide rail 306 parallel to the upper frame 301 and the lower frame 302 is provided so as to be slidable on the vertical guide rails 305. The horizontal guide rail 306 is a rail with an open top (FIG. 4).

[0037] A holding portion 31 is slidably provided on the lateral guide rail 306 . As shown in Figures 3 and 6, the holding portion 31 includes a tubular portion 310 having an open end face, a slide shaft 311 inserted slidably into the interior from one end face of the tubular portion 310, a pair of clamping plates 312 attached so as to face the other end face of the tubular portion 310 and the tip of the slide shaft 311, and a spring (not shown) built into the tubular portion 310 that urges the slide shaft 311 so as to bring the pair of clamping plates 312 closer together.

[0038] When the pair of clamping plates 312 are separated against the biasing force of the spring, the portable terminal 2 is inserted between the clamping plates 312, and the clamping plates 312 are released, the pair of clamping plates 312 come into pressure contact with both side surfaces of the portable terminal 2, and the holding part 31 holds the portable terminal 2. When the pair of clamping plates 312 are moved apart, the portable terminal 2 can be easily removed from the holding part 31.

[0039] As shown in Figures 3 to 5, the measurement point marker plate 32 is a transparent panel whose dimensions are slightly larger than the inner dimensions of the frame body 30, and the center of the lower end of the measurement point marker plate 32 is connected to the center of the front surface of the lower frame 302 of the frame body 30 via a hinge 320.

[0040] The measurement point marker plate 32 is provided with locking devices 321 (which may be magnets, etc.) at the center of the top end and on both sides. When the measurement point marker plate 32 is raised and the locking devices 321 are locked to the frame body 30, it is placed in a set state in front of the mobile terminal 2. When the locking devices 321 are removed from the frame body 30, the measurement point marker plate 32 can be rotated downward to be placed in a released state (shown by the dashed line in Figure 4) in which it is retracted from the front of the mobile terminal 2.

[0041] The measurement point marker board 32 displays a horizontal marker line 322 parallel to the upper frame 301 and lower frame 302, and a vertical marker line 323 perpendicular to the horizontal marker line 322, and the intersection of the horizontal marker line 322 and the vertical marker line 323 is the measurement point marker 324.

[0042] The movement mechanism 33 consists of a horizontal movement mechanism 330 that moves the holding part 31 parallel to the horizontal marker line 322 of the measurement point marker board 32 in the set state, and a vertical movement mechanism 331 that moves it parallel to the vertical marker line 323.

[0043] As shown in FIGS. 3 and 4, the lateral movement mechanism 330 includes a tubular portion-side rack 3300 provided on the lower surface of the tubular portion 310 along the longitudinal direction toward the opening of the lateral guide rail 306. The cylindrical portion side rack 3300 has a locking claw 3300 a that engages with the opening of the horizontal guide rail 306 .

[0044] The lateral movement mechanism 330 is rotatably provided within the opening of the lateral guide rail 306 and includes a lateral shaft side pinion 3301 that meshes with a cylindrical portion side rack 3300 .

[0045] A dial 3302 is fixed to the end of the central axis of the horizontal shaft side pinion 3301, and by rotating the dial 3302, the horizontal shaft side pinion 3301 is rotated, and the cylindrical side rack 3300 moves along the horizontal guide rail 306, whereby the holding portion 31 moves along the horizontal guide rail 306 parallel to the horizontal direction marker line 322.

[0046] As shown in FIGS. 3 and 6, the vertical movement mechanism 331 includes a horizontal axis side rack 3310 provided along the longitudinal direction toward the opening of the vertical guide rail 305 arranged at both ends of the horizontal guide rail 306. The horizontal-shaft-side rack 3310 has a locking claw 3310 a that engages with the opening of the vertical guide rail 305 .

[0047] The vertical direction movement mechanism 331 is rotatably provided within the opening of the vertical guide rail 305 and includes a vertical shaft side pinion 3311 that meshes with a horizontal shaft side rack 3310 .

[0048] A dial 3312 is fixed to the end of the central axis of the vertical shaft side pinion 3311, and by rotating the dial 3312, the vertical shaft side pinion 3311 is rotated, and the horizontal shaft side rack 3310 moves along the vertical guide rail 305, and the holding part 31 together with the horizontal movement mechanism 330 moves along the vertical guide rail 305 parallel to the vertical direction marker line 323.

[0049] Therefore, by setting the measurement point marker plate 32 and operating the dial 3302 of the horizontal movement mechanism 330 and the dial 3312 of the vertical movement mechanism 331 to move the portable terminal 2 held by the holding unit 31 parallel to the horizontal marker line 322 and the vertical marker line 323, the laser irradiation unit 20, which is the scanning position that serves as the reference point of the portable terminal 2 when viewed from the front, can be aligned with the measurement point marker 324.

[0050] The prism target 4 is provided on the upper surface of the upper frame 301 of the fixed frame unit 3 . The prism target 4 has a target measurement point 4p which is its measurement point.

[0051] The prism target 4 is provided on the fixed frame 3 so that the target measurement point 4p is located on a line extending upward from the vertical direction marker line 323 of the measurement point marker plate 32 in the set state when viewed from the front. The prism target 4 is provided so that the target measurement point 4p is located on an extension of an axis 53c of a support 53, which will be described later, in a side view.

[0052] As shown in FIGS. 1 and 2, the fixed frame 3 further includes legs 5, and the legs 5 include a base 50, a horizontal stand 51, a tripod 52, a support 53, and a level .

[0053] A horizontal table 51 is provided on the upper surface of the base 50 via a level adjustment mechanism (not shown). The horizontal table 51 is set horizontally relative to the base 50 by operating the level adjustment mechanism while checking a spirit level 54 provided on a support 53 (described later).

[0054] A tripod unit 52 is attached to the underside of the base 50 in an openable and closable manner. The length of each leg of the tripod unit 52 is adjustable.

[0055] The support 53 has a lower support 531 and an upper support 532 whose lower end is connected to the upper end of the lower support 531 . The lower support 531 is erected at a right angle to the upper surface of the horizontal base 51, and a level 54 is attached to the lower part.

[0056] The upper support column 532 is connected to the lower support column 531 so as to be rotatable about the axis 53 c of the support column 53 . The lower frame 302 of the fixed frame part 3 is connected to the upper end of the upper support pillar 532. The upper frame 301 and lower frame 302 of the frame main body 30 are perpendicular to the support pillar 53, and the vertical frame 300 stands upright parallel to the support pillar 53.

[0057] When the lever 531a provided at the connection between the upper end of the lower support 531 and the upper support 532 is operated to rotate the upper support 532, the fixed frame 3, the mobile terminal 2 held by the holding part 31, and the prism target 4 rotate horizontally.

[0058] Upper support column 532, which rotates around axis 53c relative to lower support column 531, is included in a yawing rotation mechanism that can rotate portable terminal 2 held by holder 31 around a vertical axis (axis 53c).

[0059] Using this surveying instrument 1, a survey is carried out in the following procedure.

[0060] At a location inside a tunnel where surveying is to be carried out, the surveying instrument 1 is set up without the portable terminal 2 being held thereon by adjusting the length of the legs of the tripod part 52 as necessary. Thereafter, the horizontal base 51 is adjusted by a horizontal adjustment mechanism (not shown) so that it is horizontal, and the support column 53 is erected in the vertical direction.

[0061] Next, the portable terminal 2 is held by the holding portion 31, and the measurement point marker plate 32 of the fixed frame portion 3 is set in place. The horizontal guide rail 306 and the horizontal marker line 322 of the measurement point marker plate 32 extend horizontally, and the vertical guide rail 305 and the vertical marker line 323 of the measurement point marker plate 32 extend vertically.

[0062] The surface of the cylindrical portion 310 of the holder 31 that the portable terminal 2 comes into contact with is a plane extending in the vertical direction, so when the portable terminal 2 is brought into contact with the cylindrical portion 310 and held by the holder 31, the surface of the portable terminal 2 is set parallel to the measurement point marker plate 32. In addition, when viewed from the side at this time, the irradiation point 20p of the portable terminal 2 is set to be located on an extension of the axis 53c of the support 53 (FIG. 4).

[0063] Next, the moving mechanism 33 is operated to move the portable terminal 2 held by the holding part 31, and the irradiation point 20p of the portable terminal 2 is aligned with the measurement point marker 324 of the measurement point marker plate 32 when viewed from the front.

[0064] When the irradiation point 20p of the portable terminal 2 is aligned with the measurement point marker 324 of the measurement point marker plate 32, the target measurement point 4p and the irradiation point 20p are located on an extension of the axis 53c of the support 53, and the irradiation point 20p is located on an extension of the axis 303c of the rotation shaft 303 (FIGS. 3, 4, and 5). This allows the portable terminal 2 held by the holding unit 31 to perform yawing rotation around a vertical axis passing through the irradiation point 20p of the terminal reference point, which is a predetermined reference point, and to perform pitching rotation around a horizontal axis passing through the irradiation point 20p.

[0065] Thereafter, a surveying device such as a total station is installed, and the fixed frame part 3 is rotated so that the prism target 4 of the surveying instrument 1 faces the surveying device. Then, the surveying device is used to collimate the prism target 4 of the surveying instrument 1, measure the distance and angle of the prism target 4, and identify the absolute coordinates of the target measurement point 4p from the known coordinates.

[0066] The offset value, which indicates the positional relationship between the target measurement point 4p and the irradiation point 20p, is the vertical distance between the target measurement point 4p and the measurement point marker 324. By knowing this vertical distance in advance and using this and the absolute coordinates of the target measurement point 4p, the absolute coordinates of the irradiation point 20p, which is the reference point for the origin of the local coordinate system of the mobile terminal 2, can be calculated.

[0067] Furthermore, a measurement point set on a surveying device such as a total station is sighted using the scope function of the camera attached to the mobile terminal 2, and the direction angle is determined by pointing the mobile terminal 2 toward the surveying device. Note that the azimuth angle may also be output using a gyro function attached to the mobile terminal 2.

[0068] The measurement point marker 32 is tilted down to be in a released state, retracted from the front of the portable terminal 2. Therefore, the measurement point marker 32 does not obstruct the laser emitted from the portable terminal 2.

[0069] Next, measurement is started by the portable terminal 2. A laser is irradiated from the laser irradiation unit 20 onto the measurement object, and the distance and angle from the portable terminal 2 to the reflection point are measured based on the light reflected from the measurement object.

[0070] Depending on the object to be measured, the lever 531a provided on the support 53 is operated to rotate the frame body 30 around the vertical axis (yaw rotation of the portable terminal 2), or the operation dial 304 is operated to rotate the rotation axis 303, thereby rotating the vertical guide rail 305 around the horizontal axis (pitching rotation of the portable terminal 2). Since the portable terminal 2 is rotated around the irradiation point 20p, accurate distance data and angle data can be obtained.

[0071] If the entire object to be measured cannot be covered in one scan, the position of the surveying instrument 1 is changed and the above procedure is repeated.

[0072] The three-dimensional point cloud data of the measurement object acquired by the portable terminal 2 is output in a local coordinate system. Then, the three-dimensional point cloud data in the local coordinate system is converted into an absolute coordinate system by, for example, a separately provided arithmetic processing unit using coordinate data of the target measurement point 4p of the prism target 4 from the surveying device, an offset value indicating the positional relationship between the target measurement point 4p and the irradiation point 20p, and angle data of a gyro sensor mounted on the portable terminal 2, thereby measuring the shape, position, etc. of the measurement object.

[0073] [Modification] In the above embodiment, the origin of the local coordinate system of the acquired three-dimensional point cloud data is considered to be irradiation point 20p, which is on the surface of mobile terminal 2 and is the center of laser irradiation unit 20, and an error is allowed, but this does not pose any particular problem if high accuracy is not required. However, if greater accuracy is required, it is necessary to more accurately determine the reference point inside mobile terminal 2, which is the origin of the local coordinate system. An example of a method for determining the reference point inside mobile terminal 2, which is the origin of the local coordinate system, is described below.

[0074] 1) Three or more known points whose absolute coordinates are known are provided, and these known points are scanned with the surveying instrument 1 set in the same manner as in the above embodiment to obtain coordinate values ​​in the local coordinate system.

[0075] 2) A coordinate transformation formula is calculated that statistically minimizes the error between the local coordinate system coordinate values ​​of these acquired known points and the known absolute coordinates when the coordinates are transformed.

[0076] 3) The prism target 4 is surveyed using a surveying device such as a total station, and the absolute coordinates of the target measurement point 4p are obtained.

[0077] 4) The absolute coordinate of the origin of the local coordinate system is calculated by converting the origin of the local coordinate system using the coordinate conversion formula calculated in 2).

[0078] 5) By carrying out steps 1) to 4) in advance, the positional relationship between the absolute coordinates of the target measurement point 4p obtained in 3) and the absolute coordinates of the origin of the local coordinate system calculated in 4) can be calculated, and accurate surveying can be achieved by making corrections so that the intersection of the axis 303c of the rotation axis 303 directly below the absolute coordinates of the target measurement point 4p and the axis 53c of the support 53 becomes the origin of the local coordinate system.

[0079] [Other Modifications] The present invention is not limited to the above-described embodiment, and may also include the following, for example.

[0080] In this embodiment, the mobile terminal is rotated manually relative to the fixed frame, and the fixed frame is rotated relative to the legs, but the rotation can also be performed automatically by a motor.

[0081] In this embodiment, a tripod section is provided on the underside of the base, and a support pillar is rotatably erected on the upper surface of a horizontal stand provided on the upper surface of the base, but a fixed frame section may also be rotatably attached directly to the upper surface of the horizontal stand.

[0082] In this embodiment, a pinion and a rack that mesh with each other are used as the movement mechanism, but the horizontal movement mechanism can also be configured by slidably engaging the holding portion with the horizontal guide rail and providing a fixture that fixes the holding portion to the horizontal guide rail, and the vertical movement mechanism can be configured by slidably engaging both ends of the horizontal guide rail with the vertical guide rail and providing a fixture that fixes the horizontal guide rail to the vertical guide rail.

[0083] In this embodiment, the holding section holds the mobile terminal by clamping it with a pair of clamping plates that are biased in a direction toward each other by a spring, but this is not limited to this. For example, the pair of clamping plates can be moved toward or away from each other by turning a screw, and the mobile terminal can also be inserted and held in a box whose width can be changed.

[0084] 1 Surveying instrument 2. Mobile devices 20 Laser irradiation unit 3 Fixed frame 30 Frame body 300 vertical frame 301 Upper frame 302 Bottom frame 303 Rotating shaft 304 Operation Dial 305 vertical guide rail 306 Horizontal guide rail 31 Holding part 310 Cylinder part 311 Slide shaft 312 Holding plate 32 Survey point sign 320 Hinge 321 Fasteners 322 Horizontal marking line 323 Vertical Marking Line 324 Survey Point Marking 33 Moving mechanism 330 Lateral Movement Mechanism 3300 barrel side rack 3301 Horizontal shaft pinion 3302 Dial 331 Vertical movement mechanism 3310 Horizontal axis rack 3311 Rail side pinion 3312 Dial 4 Prism Target 5 Legs 50 bases 51 Horizontal platform 52 Tripod part 53 Post 531 Lower support 531a Lever 532 Upper support 54 Level

Claims

1. A mobile device having a three-dimensional laser scanner function; a fixed body to which the mobile terminal is detachably fixed; a target; The target is provided on the fixed body. A surveying instrument characterized by:

2. The fixed body portion is a holder for holding the mobile terminal; a yawing rotation mechanism capable of rotating the portable terminal held by the holding unit around a vertical axis; a pitching rotation mechanism capable of rotating the portable terminal held by the holding unit around a horizontal axis; a movement mechanism that is capable of moving a terminal reference point, which is a predetermined reference point of the portable terminal held by the holding unit, to an intersection point of the vertical axis of the yawing rotation mechanism and the horizontal axis of the pitching rotation mechanism.

2. The surveying instrument according to claim 1.

3. a measurement point marker plate having a measurement point marker, the measurement point marker plate being capable of being provided in front of the mobile terminal held in the holding portion; The measurement point marker plate is provided on the fixed body portion so that, when the moving mechanism aligns the terminal reference point with the measurement point marker on the measurement point marker plate provided in front of the mobile terminal, the terminal reference point is located at the intersection of the vertical axis of the yawing rotation mechanism and the horizontal axis of the pitching rotation mechanism.

3. The surveying instrument according to claim 2.

4. The survey point marker is transparent, The measurement point marking is the intersection of a horizontal marking line displayed on the measurement point marking board and a vertical marking line perpendicular to the horizontal marking line.

4. The surveying instrument according to claim 3.

5. The measurement point marker plate is provided on the fixed body portion so as to be in a set state in which it is provided in front of the portable terminal and in a released state in which it is retracted from the front of the portable terminal.

5. The surveying instrument according to claim 3 or 4.

6. The target is provided so that a target measurement point, which is a measurement point of the target, is located on an extension line of the vertical axis of the yawing rotation mechanism.

3. The surveying instrument according to claim 2.

7. 4. The surveying instrument according to claim 1, wherein the fixed body portion includes a leg portion.

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