Measuring apparatus

Abstract

To provide a measuring apparatus capable of suppressing a decrease in measurement accuracy when laser light is emitted in a predetermined direction.SOLUTION: A measuring apparatus 1 includes: a leveling mechanism unit 4 configured to perform horizontal leveling; and a measuring apparatus main body 2 mounted on the leveling mechanism unit 4, the measuring apparatus main body 2 including: a cradle unit 10 rotatable in a horizontal direction and having a horizontal rotation shaft 33; a laser emitting unit 50 connected to a vertical rotation shaft 16 and supported by the cradle unit 10 so as to be rotatable in a vertical direction, the laser emitting unit emitting laser light toward a measurement target; and a calculation control unit. When the laser emitting unit 50 emits laser light in a predetermined direction, the calculation control unit performs control to tilt the leveling mechanism unit 4 by a predetermined angle from a leveled state and to rotate the vertical rotation shaft 16 in a direction that cancels out the tilt direction of the leveling mechanism unit 4.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a measuring device having an automatic leveling function. [Background technology]

[0002] Measuring devices that use laser light have been known for some time, and are used in a variety of situations, such as obtaining spatial position information of an object by receiving reflected light of an emitted laser light, or determining reference planes and reference lines in civil engineering and construction by shining a laser light on an object, etc. In order to expand the measurement range of a measuring device, for example, a laser emission unit that emits laser light is rotated vertically and a base part that supports the laser emission unit is rotated horizontally.

[0003] Patent Document 1 discloses an automatic surveying device. The automatic surveying device described in Patent Document 1 includes a collimating telescope, a vertical rotation axis, a mount, a horizontal rotation axis, and a base. The vertical rotation axis is formed on the collimating telescope. The mount rotatably supports the vertical rotation axis. The horizontal rotation axis is formed on the mount. The base rotatably supports the horizontal rotation axis. Here, a mechanical error angle may occur between the direction perpendicular to the horizontal rotation axis and the direction of the vertical rotation axis. In other words, due to mechanical errors in the manufacturing of the measuring device, the vertical rotation axis may not be perpendicular to the horizontal rotation axis. In this case, it is not possible to emit a laser beam in the zenith direction. Therefore, when a laser beam is emitted in the zenith direction, measurement accuracy decreases.

[0004] Furthermore, Patent Document 2 discloses a surveying device. In the surveying device described in Patent Document 2, a rotating part that serves as a laser emitting part is covered with a protective case. The protective case is a transmission window made of glass or the like that transmits laser light. In order to widen the measurement range, multiple transmission windows are arranged in the rotational direction corresponding to the rotating part that emits laser light, and are joined together at their end faces.

[0005] Laser light incident on the incident surface of the transmission window is refracted at the incident surface and travels through the transmission window, such as glass. Depending on the emission direction of the laser light, the laser light may pass through the joint surface of the multiple transmission windows and be emitted to the outside of the protective case. In this case, the transmission window from which the laser light is emitted is positioned at a different angle from the transmission window through which the laser light entered. In this case, the laser light that has passed through the transmission window is emitted from the transmission window in a direction different from the direction from which the laser light entered the transmission window. As a result, the laser light is emitted in a direction different from the intended direction. Furthermore, the amount of laser light that passes through the joint surface of the multiple transmission windows and is emitted to the outside of the protective case is less than the amount of laser light that does not pass through the joint surface of the multiple transmission windows. Therefore, when laser light passes through the joint surface of the multiple transmission windows, measurement accuracy decreases.

[0006] In this way, there is room for improvement in the automatic surveying device described in Patent Document 1 and the surveying device described in Patent Document 2 in that measurement accuracy decreases when laser light is emitted in a predetermined direction. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-180168 [Patent Document 2] Patent Publication No. 2021-21678 Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention has been made in consideration of the above circumstances, and has an object to provide a measurement device that can prevent a decrease in measurement accuracy when laser light is emitted in a predetermined direction. [Means for solving the problem]

[0009] The above problem is solved by a measuring device according to the present invention, which comprises a leveling mechanism that performs horizontal leveling, and a measuring device main body mounted on the leveling mechanism, wherein the measuring device main body comprises a base unit that has a horizontal rotation axis and is rotatable in the horizontal direction, a laser emission unit that is connected to a vertical rotation axis and is supported on the base unit so as to be rotatable in the vertical direction, and that emits laser light toward an irradiation object, and an arithmetic and control unit, wherein when the laser emission unit emits the laser light in a predetermined direction, the arithmetic and control unit executes control to tilt the leveling mechanism by a predetermined angle from a leveled state and rotate the vertical rotation axis in a direction that cancels the direction of tilt of the leveling mechanism.

[0010] According to the measuring device of the present invention, when the laser emitter emits a laser beam in a predetermined direction, the arithmetic and control unit executes control to tilt the leveling mechanism by a predetermined angle from the leveled state and rotate the vertical rotation axis in a direction that cancels the tilt of the leveling mechanism. Therefore, even if a mechanical error angle occurs between the direction perpendicular to the horizontal rotation axis and the direction of the vertical rotation axis, the arithmetic and control unit can tilt the leveling mechanism by a predetermined angle from the leveled state and rotate the vertical rotation axis in a direction that cancels the tilt of the leveling mechanism, allowing the laser emitter to emit a laser beam in the zenith direction. Furthermore, even when the laser beam is emitted toward a joint surface of multiple transmission windows, the arithmetic and control unit can tilt the leveling mechanism by a predetermined angle from the leveled state and rotate the vertical rotation axis in a direction that cancels the tilt of the leveling mechanism, preventing the laser beam from passing through the joint surface of the multiple transmission windows. As described above, the measuring device of the present invention can suppress a decrease in measurement accuracy when the laser beam is emitted in a predetermined direction.

[0011] In the measuring device according to the present invention, preferably, the measuring device main body further has a plurality of transmission windows through which the laser light emitted from the laser emission unit passes when it is emitted to the outside, the plurality of transmission windows are arranged at different angles from one another and are successively arranged in the rotation direction of the laser emission unit, end faces of the plurality of adjacent transmission windows are joined at a joining surface, and the predetermined direction is a direction from the laser emission unit toward the joining surface.

[0012] According to the measuring device of the present invention, even when a laser beam is emitted toward the bonding surface of a plurality of transmission windows, the calculation and control unit tilts the leveling mechanism by a predetermined angle from the leveled state and rotates the vertical rotation axis in a direction that cancels the direction of tilt of the leveling mechanism, thereby preventing the laser beam from passing through the bonding surface of the plurality of transmission windows. This makes it possible for the measuring device of the present invention to suppress a decrease in measurement accuracy when a laser beam is emitted toward the bonding surface of a plurality of transmission windows.

[0013] In the measuring device according to the present invention, it is preferable that the measuring device main body further has a memory unit, the direction from the laser emission unit toward the joining surface is stored in the memory unit, and the predetermined angle is stored in the memory unit as a correction value.

[0014] According to the measuring device of the present invention, the direction from the laser emission unit toward the bonding surface is stored in the storage unit. Furthermore, the predetermined angle by which the arithmetic and control unit tilts the leveling mechanism from the leveled state is stored in the storage unit as a correction value. This enables the measuring device of the present invention to reduce the arithmetic and processing time while suppressing a decrease in measurement accuracy when the laser light is emitted toward the bonding surface of multiple transmission windows.

[0015] In the measuring device according to the present invention, the predetermined direction is preferably a zenith direction.

[0016] According to the measuring device of the present invention, even if a mechanical error angle occurs between the direction perpendicular to the horizontal rotation axis and the direction of the vertical rotation axis, the calculation control unit can tilt the leveling mechanism by a predetermined angle from the leveled state and rotate the vertical rotation axis in a direction that cancels the tilt of the leveling mechanism, thereby allowing the laser emission unit to emit laser light in the zenith direction. This makes it possible for the measuring device of the present invention to prevent a decrease in measurement accuracy when laser light is emitted in the zenith direction.

[0017] In the measuring device according to the present invention, preferably, the measuring device main body further has a memory unit, and the specified angle is a mechanical error angle between a direction perpendicular to the horizontal rotation axis and the direction of the vertical rotation axis, and is stored in the memory unit as a correction value.

[0018] In the measuring device according to the present invention, the predetermined angle by which the calculation control unit tilts the leveling mechanism from the leveled state is the mechanical error angle between the direction perpendicular to the horizontal rotation axis and the direction of the vertical rotation axis, and this is stored in the memory unit as a correction value. As a result, the measuring device according to the present invention can reduce the calculation processing time and prevent a decrease in measurement accuracy when the laser beam is emitted toward the zenith. [Effects of the Invention]

[0019] According to the present invention, it is possible to provide a measurement device that can prevent a decrease in measurement accuracy when laser light is emitted in a predetermined direction. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a schematic front view of a measurement device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a plan view of the measuring device shown in FIG. [Figure 3] FIG. 2 is a schematic cross-sectional view taken along the line AA in FIG. [Figure 4] FIG. 2 is a block diagram showing the configuration of an optical system of the measurement device shown in FIG. [Figure 5]2 is a perspective view of the front and top sides of the measurement device of FIG. 1. FIG. [Figure 6] FIG. 2 is a plan view showing a leveling mechanism according to a specific example of the present embodiment. [Figure 7] FIG. 2 is a front view showing a leveling mechanism according to this example. [Figure 8] FIG. 2 is a block diagram illustrating a leveling mechanism according to this example. [Figure 9] 5A and 5B are schematic diagrams illustrating a first operation of the measurement device according to the present embodiment. [Figure 10] 5A and 5B are schematic diagrams illustrating a first operation of the measurement device according to the present embodiment. [Figure 11] 4 is a flowchart illustrating a first operation of the measurement device according to the present embodiment. [Figure 12] 10A and 10B are schematic diagrams illustrating a second operation of the measurement device according to the present embodiment. [Figure 13] 10A and 10B are schematic diagrams illustrating a second operation of the measurement device according to the present embodiment. [Figure 14] 10A and 10B are schematic diagrams illustrating a second operation of the measurement device according to the present embodiment. [Figure 15] 10A and 10B are schematic diagrams illustrating a second operation of the measurement device according to the present embodiment. [Figure 16] 10 is a flowchart illustrating a second operation of the measurement device according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0021] Preferred embodiments of the present invention will now be described in detail with reference to the drawings. The embodiments described below are preferred examples of the present invention, and therefore various technically preferable limitations are applied thereto, but the scope of the present invention is not limited to these aspects unless otherwise specified in the following description to the effect that the present invention is particularly limited. Furthermore, in each drawing, similar components are designated by the same reference numerals, and detailed descriptions thereof will be omitted as appropriate.

[0022] The measuring device of this embodiment (hereinafter referred to as "the device") 1 has a "leveling mechanism section 4" and a "measuring device main body 2". [About the leveling mechanism] First, the leveling mechanism 4 will be described with reference to Figure 1. The leveling mechanism 4 is fixed on a tripod and, in this embodiment, is capable of automatic leveling. That is, the leveling mechanism 4 has a fixed axis and multiple drive axes, and a known program operates to displace the multiple drive axes up and down, thereby tilting the upper base 3 connected to the leveling mechanism 4 and achieving horizontal leveling. Specific examples of the leveling mechanism 4 will be described later.

[0023] [Regarding the measuring device main body 2] Next, the measurement device main body 2 will be described with reference to Figures 1 and 3. The measurement device main body 2 has a "base part 3," a "support part 10," and a "laser emission part 50." As shown in FIG. 1 , the "base unit 3" is connected to the top of the leveling mechanism unit 4. The base unit 3 also supports the support unit 10 above it, and rotates the support unit 10 and the laser emission unit 50 supported thereon in the horizontal direction together. The base unit 3 in this embodiment has a motor 31 and a drive gear 32 driven by the motor 31. The drive gear 32 meshes with a horizontal rotation shaft 33 protruding from the support unit 10, thereby allowing the support unit 10 to rotate freely in the horizontal direction. A horizontal angle detector 35 (encoder, etc.) is provided within the base unit 3 to detect the rotation angle of the horizontal rotation shaft 33, thereby detecting the horizontal rotation angle of the measurement device main body 2.

[0024] The "base frame 10" is U-shaped overall, and serves to rotatably support the laser emission unit 50 inside thereof. The base frame 10 has a drive gear 12 and a motor 14 that drives the drive gear 12. The drive gear 12 meshes with a vertical rotation shaft 16 that is connected to the laser emission unit 50 and can rotate in the vertical direction, thereby allowing the laser emission unit 50 to rotate freely in the vertical direction. The base frame 10 is also provided with a vertical angle detector 18 (encoder or the like) that detects the rotation angle of the vertical rotation shaft 16, thereby detecting the vertical rotation angle of the laser emission unit 50.

[0025] In this way, the rotation shafts 16, 33, the drive gears 12, 32, and the motors 14, 31 work together to orient the laser emission unit 50 in the desired horizontal and vertical directions. The rotation angle detectors 18, 35 can detect the rotation angles of the laser emission unit 50 in the horizontal and vertical directions. The base unit 10 is connected to an arithmetic and control unit 19 made up of circuits that control the drive motors 14, 31 and the rotation angle detectors 18, 35. An example of the arithmetic and control unit 19 is a CPU (Central Processing Unit).

[0026] The "laser emission unit 50" is rotatable and emits laser light toward an irradiation target. In this embodiment, the laser emission unit 50 is connected to the vertical rotation shaft 16 provided on the base unit 10 and rotates vertically together with the vertical rotation shaft 16. As shown in FIGS. 1 and 3 , the laser emission unit 50 has a generally cylindrical or box-like overall shape, with its tip formed as a glass cover body 50a through which the laser light passes, also referred to as a lens barrel. The cover body 50a has an emission point SP, which is the point through which the laser light passes and is emitted toward a transmission window 60 (described below). A straight line connecting the emission point SP and the rotation center axis CP of the vertical rotation shaft 16 spaced from the emission point SP defines the optical axis of the laser light L1 emitted toward the irradiation target.

[0027] The device 1 having the above configuration performs distance measurement, angle measurement, and laser pointer functions. These three functions will be explained below mainly with reference to the block diagram in FIG. First, when the device 1 is installed, the leveling mechanism 4 performs automatic leveling based on a signal sent from the calculation control unit 19. This puts the device 1 into a leveling state. In this specification, the "leveling state" refers to a state in which automatic leveling by the leveling mechanism 4 has been completed.

[0028] The distance and angle measurement function is a function of measuring distance and angle after a target TG (irradiation target), such as a retroreflective prism, is locked on. A known configuration can be used to perform this distance and angle measurement function. Specifically, the laser emission unit 50 includes a light-emitting element 25, such as a laser diode, that emits laser light, a light-receiving element 26 that receives light reflected from the irradiated target, and a mirror (not shown) and lens 27 for aligning the optical axis of the emitted laser light with the optical axis of the light reflected from the target TG. With this configuration, the calculation and control unit 19 performs distance and angle measurement using known calculations based on the light-receiving element 26's light-receiving results and the detection results of the horizontal angle detector 35 and vertical angle detector 18.

[0029] The laser pointer function is used to illuminate and trace various reference points or index points on a structure with a laser pointer beam. For example, a laser beam can be emitted vertically (i.e., toward the zenith) from a ground reference point measured using the distance and angle measurement function to trace reference points on each floor of the structure (hereinafter referred to as "vertical measurement"). Based on these reference points on each floor, a laser beam can be emitted to the position of a pillar or other object, tracing a pre-stored design drawing on the structure. In this way, this device can be used not only for civil engineering surveying such as stakeout points, but also for construction. A known configuration can be used to perform this laser pointer function, and the laser emission unit 50 includes a light-emitting element 28 that emits laser light LB with a wavelength different from that of the light-emitting element 25 used for distance and angle measurement. The light-emitting element 28 is composed of a laser diode or the like and emits visible light. The laser light LB emitted from the light-emitting element 28 is emitted externally via a known mirror (not shown), lens 29, or the like, so that the optical axis of the laser light from the light-emitting element 25 used for distance and angle measurement is aligned with that of the laser light.

[0030] The distance and angle measurement functions and laser pointer function are implemented by the calculation and control unit 19 controlling each unit based on various programs stored in the memory unit 40 shown in FIG. 4. Design data for each reference point and the like is also stored in the memory unit 40. Examples of programs include a program for controlling the distance and angle measurement operation of the intended position of the target object, a program for calculating distance and angle through the distance and angle measurement operation, a program for calculating angles based on horizontal angle data and vertical angle data, a program for performing vertical measurement, a program for controlling the laser pointer light based on the design data, and a program for setting measurement conditions. The memory unit 40 can be implemented using various storage devices, such as a magnetic hard disk, an optical DVD, or a semiconductor storage device such as a RAM, ROM, or memory card.

[0031] The above-mentioned support unit 10, laser emission unit 50, calculation control unit 19, memory unit 40, etc. are housed inside a housing 42, which is a cover for protecting these components, as shown in Fig. 1. This housing 42 will be described with reference to Figs. 2 and 5. As shown in these figures, the housing 42 is generally cylindrical overall and has a front surface 42A, a back surface 42B, left and right side surfaces 42C and 42D, and a top surface 42E, covering all four sides and the top. The "front surface" here refers to the side from which the laser light is emitted horizontally during measurement. A handle 53 for lifting the device 1 is located on the top surface 42E side of the housing 42. The handle 53 has a grip portion 53B to be held with the fingers and two support arms 53A extending from both ends of the grip portion 53B. The support arms 53A are connected around the boundaries between the top surface 42E and the left and right side surfaces 42C and 42D. The two support arms 53A are arranged parallel to each other and are inclined upward from the front surface 42A toward the back surface 42B.

[0032] A part of the housing 42 serves as a transmission window 60 through which the laser light emitted from the laser emission unit 50 passes when it is emitted to the outside. The transmission window 60 will be described mainly with reference to FIGS. The transmission window 60 is a light-transmitting member such as transparent glass, and is connected to a through-hole in the housing 42. The transmission window 60 is disposed in the rotation direction RL of the laser emission unit 50 (the vertical rotation direction in this embodiment). This allows the laser emission unit 50 to transmit through the transmission window 60 and emit laser light to the outside. The transmission window 60 has parallel entrance surfaces 61 a, 62 a through which the laser light enters and parallel exit surfaces 61 b, 62 b through which the laser light exits to the outside. The transmission window 60 may be a single sheet, or two or more sheets may be bonded together.

[0033] Here, the transmission window 60 is formed by consecutively arranging multiple transmission windows 61 and 62 at different angles in the rotation direction RL of the laser emission unit 50. This angle refers to the angle relative to the rotation direction of the laser emission unit 50. In this embodiment, since the laser emission unit 50 rotates vertically, the transmission windows 61 and 62 have different angles relative to the vertical direction. As shown in FIG. 5 , the transmission window 61 is a front transmission window arranged on the front surface 42A side (hereinafter referred to as the “front transmission window 61”), and the transmission window 62 is a top transmission window arranged on the top surface 42E side (hereinafter referred to as the “top transmission window 62”). The end face of the front transmission window 61 on the top surface 42E side and the end face of the top transmission window 62 on the front surface 42A side are joined together. The reason why the top transmission window 62 is provided next to the front transmission window 61 in this manner is to irradiate a wide range of the laser beam from the wall surfaces to the ceiling of the structure when tracing the reference points of the structure or a pre-stored design drawing, as described above.

[0034] As shown in Fig. 3, the front transmission window 61 is elongated and extends vertically, and is inclined toward the rear surface 42B as it moves from the base 3 side toward the top surface 42E. Also, as shown in Fig. 2, the front transmission window 61 is inclined horizontally so as not to be perpendicular to the optical axis of the laser light L1 (i.e., it is rotated horizontally around the vertical axis). This inclination prevents the reflected light of the laser light that strikes the front transmission window 61 from entering the lens 27 (see Fig. 4) of the laser emission unit 50, thereby preventing adverse effects on measurement. The inclination angle θ1 of the front transmission window 61 in the figure is approximately 10 degrees.

[0035] 3 and 5, the top transmission window 62 extends from the front surface 42A side so that at least the above-mentioned vertical measurement can be performed. That is, as shown by the dashed dotted line in Fig. 3, the laser emission unit 50 is set up vertically (the cover body 50a is oriented directly upward (toward the zenith)), and the top transmission window 62 extends to a position where the emitted laser light can pass through at least the top transmission window 62. Furthermore, the top transmission window 62 slopes downward from the top surface 42E toward the back surface 42B. This downward slope is intended to prevent the top transmission window 62 from coming into contact with the grip portion 53B when gripping it. Note that the handle 53 of this embodiment is located above the top surface 42E and has the grip portion 53B behind the top transmission window 62. Moreover, a long, narrow groove 56 is formed in the top surface 42E from the front surface 42A toward the back surface 42B, and the top transmission window 62 is disposed within this groove 56. In this way, fingers are effectively prevented from coming into contact with the top transmission window 62 when gripping the grip portion 53B.

[0036] The top transmission window 62 is also tilted vertically so as not to be perpendicular to the optical axis of the laser light L1. That is, as shown in FIG. 1, it has an inclination angle θ2 rotated vertically around the horizontal axis. The inclination angle θ1 of the front transmission window 61 in FIG. 1 is the same as the inclination angle θ2 of the top transmission window 62. As a result, as with the front transmission window 61, reflected light of the laser light that strikes the top transmission window 62 can be prevented from entering the lens 27 (see FIG. 4) of the laser emission unit 50, preventing adverse effects on measurement.

[0037] The end face of the front transmission window 61 and the end face of the top transmission window 62 are joined at a joining surface 63 with an adhesive. The laser light L1 can pass through the adhesive. In other words, the adhesive that joins the end face of the front transmission window 61 and the end face of the top transmission window 62 is made of a material that can transmit the laser light L1.

[0038] Next, a specific example of the leveling mechanism 4 will be described with reference to FIGS. The leveling mechanism 4 of this embodiment is not limited to the specific examples shown in FIGS.

[0039] 6 to 8 includes a seat plate 41, a leveling base plate 47, a fixed shaft 43, a right drive shaft 44, and a left drive shaft 45. The base 3 described above with reference to FIGS.

[0040] The fixed shaft 43, right drive shaft 44, and left drive shaft 45 extend vertically downward relative to the leveling base 47. The lower ends of the fixed shaft 43, right drive shaft 44, and left drive shaft 45 each have a conical tip. The fixed shaft 43 is fixedly mounted. The right drive shaft 44 and left drive shaft 45 are each restricted from rotating and are mounted so as to be able to slide freely in the axial direction.

[0041] The upper end of the right drive shaft 44 is a threaded portion 441. A nut portion 442 is threadedly engaged with the threaded portion 441. A leveling gear 443 is provided on the nut portion 442, and the leveling gear 443 and the nut portion 442 rotate integrally.

[0042] The upper end of the left drive shaft 45 is a screw portion 451. A nut portion 452 is threadedly engaged with the screw portion 451. A leveling gear 453 is provided on the nut portion 452, and the leveling gear 453 and the nut portion 452 rotate together.

[0043] A right leveling motor 444 is provided on the right drive shaft 44. A drive gear 445 is axially attached to the output shaft of the right leveling motor 444. The drive gear 445 is engaged with a leveling gear 443. When the right leveling motor 444 is driven, the nut portion 442 rotates via the drive gear 445 and the leveling gear 443, and the screw portion 441 is displaced up and down relative to the leveling base plate 47. That is, the right drive shaft 44 is displaced up and down in response to the forward and reverse rotation of the nut portion 442.

[0044] A left leveling motor 454 is provided on the left drive shaft 45. A drive gear 455 is axially attached to the output shaft of the left leveling motor 454. The drive gear 455 is engaged with a leveling gear 453. When the left leveling motor 454 is driven, the nut portion 452 rotates via the drive gear 455 and the leveling gear 453, and the screw portion 451 is displaced up and down relative to the leveling base plate 47. That is, the left drive shaft 45 is displaced up and down in response to the forward and reverse rotation of the nut portion 452.

[0045] The right drive shaft 44 and the left drive shaft 45 are displaced independently in the up and down direction by separately driving the right leveling motor 444 and the left leveling motor 454. By controlling the displacement of the right drive shaft 44 and the left drive shaft 45, the tilt of the leveling base plate 47 can be adjusted in two directions around the fixed axis 43.

[0046] The screws 441, 451, the nuts 442, 452, the right leveling motor 444, the left leveling motor 454, the drive gears 445, 455, etc. individually constitute a leveling mechanism that can tilt the leveling base plate 47 in two directions.

[0047] 8, the leveling mechanism 4 further includes a right angle sensor 446 and a left angle sensor 456. The right angle sensor 446 detects the angle of the leveling plate 47 on the right drive shaft 44 with respect to the horizontal direction, and transmits a signal related to the angle to the arithmetic and control unit 19. The left angle sensor 456 detects the angle of the leveling plate 47 on the left drive shaft 45 with respect to the horizontal direction, and transmits a signal related to the angle to the arithmetic and control unit 19.

[0048] The arithmetic and control unit 19 drives the right leveling motor 444 based on the detection result of the right angle sensor 446. The arithmetic and control unit 19 also drives the left leveling motor 454 based on the detection result of the left angle sensor 456. In this way, the arithmetic and control unit 19 automatically levels the leveling board 47 so that it is horizontal.

[0049] Alternatively, the tilt sensor 46 is provided, for example, in the center of the upper surface of the leveling substrate 47. The tilt sensor 46 can detect tilt in two horizontal directions (for example, the X-axis direction and the Y-axis direction) with high accuracy within a range of ±2° to ±3°.

[0050] The right leveling motor 444, the left leveling motor 454, and the tilt sensor 46 are electrically connected to the calculation control unit 19, and based on the detection result of the tilt sensor 46, the right leveling motor 444 and the left leveling motor 454 are driven to automatically level the leveling base plate 47 so that it is horizontal.

[0051] As shown in FIG. 8, the leveling mechanism 4 further includes a right motor drive unit 447 and a left motor drive unit 457. The calculation and control unit 19 is connected to an operation unit 71 for starting the leveling operation and a display unit 72 for displaying the leveling progress status, leveling results, etc. The leveling progress status includes a leveling completion status. The leveling results include information on the correction of the tilt of the leveling substrate 47, such as how much the leveling substrate 47 was tilted in the X-axis direction and the Y-axis direction by executing leveling, or how much the right leveling motor 444 and the left leveling motor 454 were rotated in each direction.

[0052] The memory unit 40 stores programs such as a sequence program for causing the right leveling motor 444 and the left leveling motor 454 to perform leveling operations via the right motor drive unit 447 and the left motor drive unit 457, and a leveling program for calculating the tilt angle and tilt direction based on the detection results of the right angle sensor 446, the left angle sensor 456, and the tilt sensor 46, and further calculating the drive amounts of the right leveling motor 444 and the left leveling motor 454, and controlling the drive of the right motor drive unit 447 and the left motor drive unit 457. The leveling results are stored in the memory unit 40, and are updated to the latest leveling results every time automatic leveling is executed.

[0053] 8, the calculation control unit 19 is electrically connected to the direction detection unit 351 of the horizontal angle detector 35. The direction detection unit 351 detects the direction of the rotation angle (i.e., the horizontal angle) of the horizontal rotation shaft 33 detected by the horizontal angle detector 35, and transmits a signal related to that direction to the calculation control unit 19.

[0054] Next, the operation of the measuring device according to this embodiment will be described with reference to the drawings. First, with reference to FIGS. 9 to 11, the operation of the device 1 when the laser light L1 is emitted toward the joint surface 63 between the front transmission window 61 and the top transmission window 62 will be described.

[0055] The laser light L1 incident on the incident surfaces 61a, 62a of the transmission window 60 is refracted at the incident surfaces 61a, 62a and travels through the transmission window 60 made of glass or the like. Here, as shown in Fig. 9, depending on the emission direction of the laser light L1, the laser light L1 passes through the joint surface 63 between the front transmission window 61 and the top transmission window 62 and is emitted to the outside of the transmission window 60. In this case, the transmission window from which the laser light L1 is emitted is a transmission window (for example, the front transmission window 61) arranged at a different angle from the transmission window into which the laser light L1 entered (for example, the top transmission window 62).

[0056] In this case, the laser light L1 that has passed through the transmission window 60 is emitted from the transmission window 60 in a direction different from the direction in which the laser light L1 entered the transmission window 60. As a result, the laser light L1 is emitted in a direction different from the direction that is originally intended to be pointed. Furthermore, the amount of laser light L1 that passes through the bonding surface 63 and is emitted to the outside of the transmission window 60 is less than the amount of laser light L1 that does not pass through the bonding surface 63. Therefore, when the laser light L1 passes through the bonding surface 63, the measurement accuracy decreases.

[0057] In contrast to this, when the laser emission unit 50 emits the laser light L1 in a predetermined direction, the arithmetic and control unit 19 of the device 1 according to this embodiment executes control to tilt the leveling mechanism unit 4 by a predetermined angle from the leveled state and rotate the vertical rotation shaft 16 in a direction that cancels the direction of tilt of the leveling mechanism unit 4. In the examples shown in FIGS. 9 to 11, the "predetermined direction" is the direction from the laser emission unit 50 (specifically, the emission point SP) toward the bonding surface 63.

[0058] Specific operations of the present device 1 will be described with reference to Fig. 11. First, in step S11, the present device 1 is installed at the measurement location. Then, in step S12, the leveling mechanism 4 executes automatic leveling based on a signal transmitted from the calculation control unit 19. This puts the present device 1 into a leveled state.

[0059] Subsequently, in step S13, the arithmetic and control unit 19 determines whether the measurement direction (i.e., the emission direction of the laser light L1) is the direction toward the bonding surface 63 of the transmission window 60. For example, the angle α (see FIG. 9 ) between the direction from the laser emission unit 50 toward the bonding surface 63, i.e., the horizontal direction, and the direction from the laser emission unit 50 toward the bonding surface 63 is stored in the storage unit 40. The arithmetic and control unit 19 compares the angle between the horizontal direction and the direction from the laser emission unit 50 toward the bonding surface 63 with the angle α stored in the storage unit 40 to determine whether the measurement direction is the direction toward the bonding surface 63 of the transmission window 60.

[0060] If the measurement direction is the direction toward the bonding surface 63 of the transmission window 60 (step S13: YES), the calculation and control unit 19 executes control of the elevation angle offset measurement mode. That is, in step S15, the calculation and control unit 19 acquires a correction value stored in the memory unit 40. The "correction value" is a correction value related to a predetermined angle by which the calculation and control unit 19 tilts the leveling mechanism unit 4 from the leveled state. In the example shown in FIG. 10, the angle β is stored in the memory unit 40 as the correction value.

[0061] 10, the arithmetic and control unit 19 tilts the leveling mechanism 4 by a predetermined angle (i.e., angle β) from the leveled state. Then, in step S17, the arithmetic and control unit 19 rotates the vertical rotation shaft 16 in a direction that cancels the tilt of the leveling mechanism 4. That is, as shown in FIG. 10, the arithmetic and control unit 19 rotates the vertical rotation shaft 16 by angle β to return the irradiation angle of the laser light L1 from angle α+β to angle α, and irradiates the laser light L1 from the laser emission unit 50 toward the target TG.

[0062] Next, in step S18, the calculation control unit 19 executes measurement of the elevation angle offset. That is, as shown in Fig. 10, the calculation control unit 19 executes distance and angle measurement of the target TG that exists at an angle (i.e., elevation angle) α from the horizontal direction. Next, in step S19, the calculation control unit 19 ends measurement of the elevation angle offset. Then, the operation of the device 1 ends.

[0063] On the other hand, if the measurement direction is not the direction of the bonding surface 63 of the transmission window 60 (step S13: NO), the calculation control unit 19 performs normal measurement in step S14. That is, the calculation control unit 19 irradiates the laser light L1 from the laser emission unit 50 toward the target TG without tilting the leveling mechanism unit 4 from the leveled state, and performs distance and angle measurement of the target TG.

[0064] 9 to 11, even when the laser light L1 is emitted toward the joint surface 63 between the front transmission window 61 and the top transmission window 62, the calculation and control unit 19 tilts the leveling mechanism 4 by a predetermined angle (i.e., angle β) from the leveled state and rotates the vertical rotation shaft 16 in a direction that cancels out the direction of tilt of the leveling mechanism 4, thereby preventing the laser light L1 from passing through the joint surface 63. This makes it possible for the device 1 according to this embodiment to prevent a decrease in measurement accuracy when the laser light L1 is emitted toward the joint surface 63 of the transmission window 60.

[0065] The direction from the laser emission unit 50 toward the bonding surface 63 is stored in the storage unit 40. Furthermore, the predetermined angle (i.e., angle β) by which the arithmetic and control unit 19 tilts the leveling mechanism unit 4 from the leveled state is stored as a correction value in the storage unit 40. As a result, the device 1 according to this embodiment can reduce the time required for arithmetic and processing, while suppressing a decrease in measurement accuracy when the laser light L1 is emitted toward the bonding surface 63 of the transmission window 60.

[0066] Next, with reference to FIGS. 12 to 16, the operation of the device 1 when a mechanical error angle occurs between the direction perpendicular to the horizontal rotation axis 33 and the direction of the vertical rotation axis 16 will be described.

[0067] As shown in FIG. 12, there may be a mechanical error angle between the direction perpendicular to the horizontal rotation axis 33 and the direction of the vertical rotation axis 16. That is, due to a mechanical error in the manufacturing of the device 1, the vertical rotation axis 16 may not be perpendicular to the horizontal rotation axis 33. In this case, as shown in FIG. 13, even if the laser emission unit 50 attempts to emit the laser beam L1 in the zenith direction A1, it is unable to emit the laser beam L1 in the zenith direction A1. Therefore, when the laser beam L1 is emitted in the zenith direction, the measurement accuracy decreases.

[0068] In contrast, when the laser emission unit 50 emits the laser beam L1 in a predetermined direction, the arithmetic and control unit 19 of the device 1 according to this embodiment executes control to tilt the leveling mechanism unit 4 by a predetermined angle from the leveled state and rotate the vertical rotation shaft 16 in a direction that cancels the direction of tilt of the leveling mechanism unit 4. In the examples shown in Figs. 12 to 16, the "predetermined direction" is the zenith direction A1.

[0069] Specific operations of the device 1 will be described with reference to Fig. 16. First, the operations of steps S21 and S22 are the same as the operations of steps S11 and S12 described above with reference to Fig. 11. Next, in step S23, the calculation control unit 19 determines whether the measurement direction (i.e., the emission direction of the laser light L1) is the zenith direction A1.

[0070] If the measurement direction is the zenith direction A1 (step S23: YES), the calculation control unit 19 executes control of the zenith direction measurement mode. That is, in step S25, the calculation control unit 19 acquires the correction value of the vertical rotation axis 16 stored in the memory unit 40. The "correction value of the vertical rotation axis 16" is the mechanical error angle between the direction perpendicular to the horizontal rotation axis 33 and the direction of the vertical rotation axis 16. In the example shown in FIG. 14, the angle γ is stored in the memory unit 40 as the correction value of the vertical rotation axis 16.

[0071] Next, in step S26, the calculation and control unit 19 calculates the tilt direction and tilt amount of the leveling mechanism 4 from the horizontal angle direction of the horizontal rotation shaft 33. As described above with reference to FIG. 8, the calculation and control unit 19 receives a signal related to the horizontal angle direction of the horizontal rotation shaft 33 from the direction detection unit 351 of the horizontal angle detector 35. Here, the relationship between the reference angle of the horizontal rotation shaft 33 and the reference direction of the leveling mechanism 4 is stored in advance in the memory unit 40. Therefore, a tilt angle that cancels out the mechanical error angle is determined at the reference angle of the horizontal rotation shaft 33. This allows the calculation and control unit 19 to calculate and correct the tilt angle at any rotation angle of the horizontal rotation shaft 33.

[0072] 15, the arithmetic and control unit 19 tilts the leveling mechanism 4 by a predetermined angle (i.e., angle γ) from the leveled state. Then, in step S28, the arithmetic and control unit 19 rotates the vertical rotation shaft 16 in a direction that cancels the direction of the tilt of the leveling mechanism 4.

[0073] Next, in step S29, the calculation control unit 19 executes measurement of the zenith direction A1. That is, for example, the calculation control unit 19 executes distance and angle measurement of the target TG existing in the zenith direction A1. Next, in step S31, the calculation control unit 19 ends measurement of the zenith direction A1. Then, the operation of the device 1 ends.

[0074] On the other hand, if the measurement direction is not the zenith direction A1 (step S23: NO), the calculation control unit 19 performs normal measurement. That is, the calculation control unit 19 irradiates the laser light L1 from the laser emission unit 50 toward the zenith direction A1 without tilting the leveling mechanism unit 4 from the leveled state, and performs distance and angle measurement of the target TG.

[0075] 12 to 16, even if a mechanical error angle occurs between the direction perpendicular to the horizontal rotation axis 33 and the direction of the vertical rotation axis 16, the calculation control unit 19 tilts the leveling mechanism 4 by a predetermined angle (i.e., angle γ) from the leveled state and rotates the vertical rotation axis 16 in a direction that cancels out the tilt of the leveling mechanism 4, thereby allowing the laser emission unit 50 to emit the laser beam L1 in the zenith direction. This makes it possible for the device 1 according to this embodiment to prevent a decrease in measurement accuracy when the laser beam L1 is emitted in the zenith direction A1.

[0076] Furthermore, the predetermined angle (i.e., angle γ) by which the calculation control unit 19 tilts the leveling mechanism unit 4 from the leveled state is a mechanical error angle between the direction perpendicular to the horizontal rotation axis 33 and the direction of the vertical rotation axis 16, and is stored in the storage unit 40 as a correction value for the vertical rotation axis 16. As a result, the device 1 according to this embodiment can reduce the calculation processing time while suppressing a decrease in measurement accuracy when the laser light L1 is emitted in the zenith direction A1.

[0077] The above describes the embodiments of the present invention. However, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the scope of the claims. The configurations of the above embodiments can be partially omitted or arbitrarily combined in a different manner from the above. [Explanation of symbols]

[0078] 1: This device, 2: Measuring device main body, 3: Base, 4: Leveling mechanism, 10: Support, 12: Drive gear, 14: Motor, 16: Vertical rotation shaft, 18: Vertical angle detector, 19: Calculation control unit, 25: Light-emitting element, 26: Light-receiving element, 27: Lens, 28: Light-emitting element, 29: Lens, 31: Motor, 32: Drive gear, 33: Horizontal rotation shaft, 35: Horizontal angle detector, 40: Memory unit, 41: Seat plate, 42: Housing, 42A: Front, 42B: Rear, 42C: Left and right side surfaces, 42D: Left and right side surfaces, 42E: Top, 43: Fixed shaft, 44: Right drive shaft, 45: Left drive shaft, 46: Tilt sensor, 47: Leveling board, 50: Laser emission unit, 50a: Cover body, 53: Handle, 53A: Support arm portion, 53B: Grip portion, 56: Groove portion, 60: Transmission window, 61: Front transmission window, 61a: Incident surface, 61b: Exit surface, 62: Top transmission window, 62a: Incident surface, 62b: Exit surface, 63: Joint surface, 71: Operation portion, 72: Display portion, 351: Direction detection portion, 441: Screw portion, 442: Nut portion, 443: Leveling gear, 444: Right leveling motor, 445: Drive gear, 446: Right angle sensor, 447: Right motor drive portion, 451: Screw portion, 452: Nut portion, 453: Leveling gear, 454: Left leveling motor, 455: Drive gear, 456: Left angle sensor, 457: Left motor drive unit, A1: Zenith direction, CP: Rotation center axis, L1: Laser beam, LB: Laser beam, RL: Rotation direction, SP: Emission point, TG: Target

Claims

1. a leveling mechanism for performing horizontal leveling; a measuring device main body mounted on the leveling mechanism; Equipped with The measuring device main body includes: a support unit having a horizontal rotation axis and rotatable in a horizontal direction; a laser emission unit that is connected to a vertical rotation shaft and supported by the base unit so as to be rotatable in a vertical direction, and that emits laser light toward an irradiation object; an arithmetic control unit; and a control unit for controlling the vertical rotation axis to rotate in a direction that cancels the tilt of the leveling mechanism when the laser emission unit emits the laser light in a predetermined direction and tilts the leveling mechanism by a predetermined angle from a leveled state, the control unit being configured to perform control such that the vertical rotation axis rotates in a direction that cancels the tilt of the leveling mechanism.

2. the measurement device body further includes a plurality of transmission windows through which the laser light emitted from the laser emission unit passes when it is emitted to the outside, the plurality of transmission windows are arranged at different angles from one another and are successively arranged in a rotation direction of the laser emission part, adjacent end faces of the plurality of transmission windows are joined together at a joining surface, 2. The measuring device according to claim 1, wherein the predetermined direction is a direction from the laser emission part toward the joining surface.

3. The measurement device main body further includes a storage unit, a direction from the laser emission unit toward the bonding surface is stored in the storage unit, 3. The measuring device according to claim 2, wherein the predetermined angle is stored in the storage unit as a correction value.

4. 2. The measuring device according to claim 1, wherein the predetermined direction is a zenith direction.

5. The measurement device main body further includes a storage unit, 5. The measuring device according to claim 4, wherein the predetermined angle is a mechanical error angle between a direction perpendicular to the horizontal rotation axis and the direction of the vertical rotation axis, and is stored in the memory unit as a correction value.

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