Survey system

Abstract

To provide a survey system that can easily measure the deviation from a preset height of a measurement target surface or an uneven state, and allows construction work such as installation work or ground leveling work in parallel with the measurement of the height of a setting target surface or the uneven state.SOLUTION: A survey system comprises a height measuring device and an unevenness measuring device 2 including a measurement target 35 having retroreflective characteristics, and measures an installation surface with respect to a horizontal reference surface or an uneven state of a leveled surface. The height measuring device is a total station 37 that tracks the measurement target 35, and is configured to perform measurement of the measurement target 35 and transmit a result to the unevenness measuring device 2, set the height of a construction finished surface, acquire height information of the measurement target, calculates the height of a measurement reference position of a distance measuring sensor with respect to the construction finished surface on the basis of the height information of the measurement target and a known height, and calculate unevenness information of a construction surface with respect to the construction finished surface on the basis of a measurement result from the distance measuring sensor. A projection device is configured to project the unevenness information on the construction surface in real time.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a surveying system for measuring the unevenness of a surface to be measured. [Background technology]

[0002] In concrete pouring or leveling work, it is desirable to eliminate unevenness (unevenness) on the pouring surface or leveling surface and to perform construction at a set height.

[0003] Conventionally, for example, in concrete pouring work, a measuring rod is inserted into the concrete in the poured portion, and the height of the concrete in the poured portion is measured at predetermined intervals.

[0004] If unevenness was found after measuring the thickness, correction work was carried out, such as adding more concrete to the concave parts or removing concrete from the convex parts.

[0005] In the conventional method, each height measurement had to be done manually, which made it difficult to measure unevenness. In addition, there was a problem of poor work efficiency because the concrete pouring work, height measurement work, and correction work were carried out as separate processes.

[0006] Furthermore, during ground leveling work, the leveling height (unevenness) was measured by stretching a string at a specified height after leveling the ground, and if there was any deviation from the set height or unevenness, corrections were made by piling up or removing soil. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Publication No. 7-49228 [Patent Document 2] Patent No. 6130078 [Patent Document 3] US Patent Application Publication No. 2011 / 0235053 Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention provides a surveying system that can easily measure the deviation of the surface to be measured from the set height or the unevenness, and that enables construction work such as pouring work or leveling work to be performed in parallel with the measurement of the height or unevenness of the set surface. [Means for solving the problem]

[0009] The present invention provides A surveying system comprising a height measuring device and a height measuring device including a measurement object having retroreflective properties, for measuring the unevenness of a pouring surface or a leveled surface relative to a horizontal reference plane, wherein the height measuring device is a total station that is set at a known height, has a TS communication unit capable of transmitting measurement results, and has a tracking function for tracking the measurement object, and the height measuring device comprises the measurement object measured by the height measuring device, a distance measuring sensor that is set in a known relationship with the measurement object and measures the distance to the construction surface, a projection device that projects height information, a terminal communication unit that can receive the measurement results from the TS communication unit, an arithmetic and control unit, and a terminal communication unit that is set up. a movable support that can be mounted on the total station, wherein the total station measures the object to be measured while tracking the object to be measured and transmits the measurement results to the elevation measurement device via the TS communication unit; the calculation control unit sets the height of the construction finish surface relative to the known height; the calculation control unit acquires height information of the object to be measured via the terminal communication unit, calculates the height of the measurement reference position of the distance measuring sensor relative to the construction finish surface based on the height information of the object to be measured and the known height, and calculates elevation information of the construction surface relative to the construction finish surface based on the measurement results of the distance measuring sensor; and the projection device is configured to project the elevation information onto the construction surface in real time. This relates to:

[0010] The present invention also relates to a surveying system in which the elevation measuring device further comprises an inclination sensor, and the calculation control unit is configured to correct the elevation information based on the detection results of the inclination sensor.

[0011] The present invention also relates to a surveying system in which the elevation measuring device further comprises an inclination sensor and is configured as a handheld type, and the calculation control unit is configured to correct the elevation information based on the detection results of the inclination sensor.

[0012] The present invention also relates to a surveying system in which the distance measuring sensor is a distance measuring camera.

[0013] The present invention also relates to a surveying system in which the distance measuring sensor is a parallax camera.

[0014] The present invention also relates to a surveying system in which the distance measuring sensor is configured by a projector that projects a distance measuring pattern and a camera that is provided so as to generate parallax with respect to the projector.

[0015] Furthermore, the present invention provides a surveying system configured such that the distance measuring sensor is composed of a laser distance measuring device and an LED illuminator, the optical axis of the laser distance measuring device and the optical axis of the LED illuminator are parallel or approximately parallel, the LED illuminator is capable of irradiating illumination light of a plurality of different colors, and the calculation control unit selects the color of illumination light to be irradiated according to elevation information and causes the LED illuminator to irradiate in real time; This relates to: [Effects of the Invention]

[0016] According to the present invention, A surveying system comprising a height measuring device and a height measuring device including a measurement object having retroreflective properties, for measuring the unevenness of a pouring surface or a leveled surface relative to a horizontal reference plane, wherein the height measuring device is a total station that is set at a known height, has a TS communication unit capable of transmitting measurement results, and has a tracking function for tracking the measurement object, and the height measuring device comprises the measurement object measured by the height measuring device, a distance measuring sensor that is set in a known relationship with the measurement object and measures the distance to the construction surface, a projection device that projects height information, a terminal communication unit that can receive the measurement results from the TS communication unit, an arithmetic and control unit, and and a movable support on which a distance measuring unit is provided, wherein the total station measures the object to be measured while tracking the object to be measured and transmits the measurement results to the elevation measuring device via the TS communication unit, the arithmetic and control unit sets the height of the construction finish surface relative to the known height, the arithmetic and control unit acquires height information of the object to be measured via the terminal communication unit, calculates the height of the measurement reference position of the distance measuring sensor relative to the construction finish surface based on the height information of the object to be measured and the known height, and calculates elevation information of the construction surface relative to the construction finish surface based on the measurement result of the distance measuring sensor, and the projection device is configured to project the elevation information onto the construction surface in real time.Therefore, the measurement information and elevation information of the site are directly projected, making it easy to visually check the unevenness of the surface to be measured, and it has the excellent effect of enabling construction work such as pouring or leveling work to be carried out in parallel with the measurement of the unevenness. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a schematic diagram of a surveying system according to a first embodiment. [Figure 2] FIG. 1 is a schematic diagram illustrating the configuration of a laser level planar. [Figure 3] FIG. 2 is a schematic diagram of a height measurement device. [Figure 4] FIG. 10 is an explanatory diagram of measurement of unevenness. [Figure 5] 10 is a flowchart of the unevenness measurement work. [Figure 6] FIG. 10 is a schematic diagram showing a modification of the first embodiment. [Figure 7] FIG. 10 is a schematic diagram of a surveying system according to a second embodiment. [Figure 8] 1A is a diagram showing an example of a pattern when distance measurement is performed using parallax, and FIG. 1B is a diagram showing a projected image in which an unevenness image is superimposed on the pattern. [Figure 9] FIG. 10 is a schematic diagram of a surveying system according to a third embodiment. [Figure 10] FIG. 10 is a schematic configuration diagram of a total station according to a third embodiment. [Figure 11] FIG. 10 is a schematic diagram of a height measuring device according to a third embodiment. [Figure 12] FIG. 10 is an explanatory diagram of measurement of unevenness in the third embodiment. [Figure 13] FIG. 10(A) is a schematic diagram of a surveying system according to a fourth embodiment, and FIGS. 10(B) and 10(C) are explanatory diagrams for measuring unevenness. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0019] Fig. 1 shows an outline of a surveying system according to the first embodiment, which is mainly composed of a height measuring device 1 and an elevation measuring device 2. In Fig. 1, reference numeral 4 denotes an unevenness map (described later).

[0020] In the first embodiment, a laser level planar 3 is used as the height measuring device 1.

[0021] The laser level planer 3 forms a horizontal reference plane at a predetermined height using a laser beam. The horizontal reference plane may be formed by rotating the laser beam onto a horizontal plane, or by horizontally irradiating a fan-shaped laser beam. In the following explanation, we will explain the case where the horizontal reference plane O is formed by rotating the laser beam onto a horizontal plane.

[0022] The laser level planar 3 will be outlined with reference to FIG.

[0023] The laser level planer 3 is installed at a required position via a support device such as a tripod. The laser level planer 3 mainly includes a control unit 5, a first tilt sensor (tilt sensor) 6, a laser beam irradiation unit 7, a leveling unit 8, a horizontal rotation drive unit 9, an operation unit 11, and a display unit 12.

[0024] The first tilt sensor 6 detects the tilt of the laser level planer 3 relative to the horizontal, that is, the tilt of the irradiated laser beam relative to the horizontal. The detection result of the first tilt sensor 6 is input to the control unit 5.

[0025] The control unit 5 drives the leveling unit 8 based on the detection result of the first tilt sensor 6 to adjust the laser level planer 3 to be horizontal. The control unit 5 causes the laser beam application unit 7 to apply a laser beam, and causes the horizontal rotation drive unit 9 to rotate the laser beam application unit 7, thereby rotating and applying the laser beam so that a horizontal reference plane O is formed.

[0026] The laser level planar 3 is installed so that the horizontal reference plane O is at a known height. For example, the height of the horizontal reference plane O from the reference floor surface is known by actual measurement or from the specifications of the laser level planar 3. By forming a known horizontal reference plane O, it is possible to measure the height of the object to be measured based on the horizontal reference plane O.

[0027] An ON / OFF command for the operation of the laser level planar 3, settings of operating conditions, etc. are inputted from the operation unit 11, and the operating state, etc. are displayed on the display unit 12.

[0028] The elevation measuring device 2 will be described with reference to FIG.

[0029] The elevation measuring device 2 comprises a pole 14, a light receiver 15 as a measurement object provided at a required height on the pole 14, a distance measuring sensor 16 provided at the top end of the pole 14, a projector 17, a second tilt sensor 18, and an arithmetic and control unit 19. The light receiver 15 and the distance measuring sensor 16 are provided in a known positional relationship.

[0030] The light receiver 15 has a light receiving sensor 21 that extends in the vertical direction and has a predetermined length, and the light receiving sensor 21 detects the laser beam and emits a detection signal. The light receiving sensor 21 has a light receiving reference position (for example, the vertical center of the light receiving sensor 21 or the lower end of the light receiving sensor 21), and the light receiving reference position is a known position in the elevation measuring device 2. For example, the distance between the light receiving reference position and the lower end of the pole 14 is known.

[0031] The detection signal includes the light receiving signal as well as detection position information. The detection position information includes deviation from the light receiving reference position, etc. Therefore, based on the detection signal, the height of the light receiving reference position relative to the horizontal reference plane O can be measured. The detection signal is input to the calculation control unit 19.

[0032] The distance measurement sensor 16 is directed downward and measures the distance to the ground surface. Various types of distance measurement sensor 16 can be used. One example is a distance measurement camera 22. The distance measurement camera 22 has an image sensor consisting of a large number of pixels, and emits distance measurement light for each pixel, receives reflected light, and measures distance using TOF (Time Of Flight), acquiring distance measurement data over a plane like an image. Alternatively, the distance measurement light may be scanned at high speed to perform area measurement. The distance data is input to the calculation control unit 19.

[0033] The distance measuring camera 22 has a measurement reference position, and the distance measured by the distance measuring camera 22 is the distance from the measurement reference position. The distance from the measurement reference position to the bottom end of the pole 14 is also known. In addition, the relationship between the measurement reference position of the distance measuring camera 22 and the light receiving reference position of the light receiving sensor 21 is known, and the vertical distance between the measurement reference position and the light receiving reference position is also known.

[0034] Therefore, by measuring the height of the horizontal reference plane O with the light receiving sensor 21, the height of the measurement reference position relative to the horizontal reference plane O can be obtained.

[0035] The relationship between the measurement reference position and the reference point of the projection optical system of the projector 17 is known, and furthermore, the optical axis of the distance measuring camera 22 and the optical axis of the projector 17 are parallel or approximately parallel, and the distance between the two optical axes is also known.

[0036] The second tilt sensor 18 detects the tilt of the distance measuring camera 22 with respect to the horizontal, or the tilt of the optical axis of the distance measuring camera 22 with respect to the vertical, or the tilt of the pole 14 with respect to the vertical. The tilt detection result of the second tilt sensor 18 is input to the arithmetic control unit 19.

[0037] The optical axis of the distance measuring camera 22 is set parallel to the pole 14. When the second tilt sensor 18 is configured to detect the tilt of the pole 14 with respect to the vertical, the optical axis of the distance measuring camera 22 is tilted at a known angle with respect to the pole 14.

[0038] The second tilt sensor 18 may be built into the arithmetic control unit 19. As the second tilt sensor 18, various IMU sensors such as an acceleration sensor and a gyro sensor can be used.

[0039] The arithmetic control unit 19 includes an arithmetic processing unit 24 and a memory unit 25. The arithmetic processing unit 24 may be a CPU specialized for this embodiment, or a general-purpose CPU, an embedded CPU, a microprocessor, etc. The memory unit 25 may be a semiconductor memory such as RAM, ROM, Flash ROM, or DRAM, or a magnetic recording memory such as an HDD.

[0040] The arithmetic processing unit 24 develops various programs stored in the storage unit 25 and executes required processing and operations.

[0041] Various programs for executing this embodiment are stored in the storage unit 25. The programs include, for example, a control program for integrated control of the distance measuring camera 22 and the projector 17, such as synchronization, a distance measuring program for causing the distance measuring camera 22 to capture images and measure distances, a calculation program for calculating three-dimensional data based on distance measurement data, and a program for calculating a video signal based on the three-dimensional data.

[0042] The storage unit 25 also stores threshold values ​​for determining the elevation state, or measurement results, image data, etc. Hereinafter, the elevation state includes the state of deviation of the measurement target surface from the set height, the state of unevenness (unevenness) relative to the set surface, and the state of inclination relative to the horizontal plane. Furthermore, the elevation information includes information on the deviation of the measurement target surface from the set height, information on unevenness relative to the set surface, and the state of inclination relative to the horizontal plane.

[0043] The case of measuring the unevenness will be described with reference to FIG.

[0044] In FIG. 4, reference numeral 27 denotes a floor surface that serves as a reference, and the laser level planar 3 is installed at a known height relative to the floor surface 27, forming a horizontal reference surface O at a known height relative to the floor surface 27.

[0045] It is assumed that concrete is poured onto a construction floor surface 28 that is lowered a predetermined distance from the floor surface 27, and the construction finish surface is designated as 28a.

[0046] The measurer, for example, abuts the pole 14 against the construction floor surface 28 and supports the elevation measuring device 2 vertically or approximately vertically. The vertical state of the elevation measuring device 2 is detected by the second tilt sensor 18.

[0047] The following description will be given on the assumption that the elevation measuring device 2 is supported vertically.

[0048] In the drawing, O1 indicates a horizontal line passing through the measurement reference position of the distance measuring camera 22, and O2 indicates a horizontal line passing through the light receiving reference position of the light receiving sensor 21. The construction finishing surface 28a is set to a height difference D from the horizontal reference surface O so as to achieve a predetermined pouring thickness.

[0049] As described above, the measurement reference position and the light-receiving reference position have a known relationship, and the distance between O1 and O2 is a known value d. Also, let Δ be the deviation between the laser beam receiving position of the light-receiving sensor 21 and the light-receiving reference position (i.e., the deviation Δ between the horizontal reference plane O and the light-receiving reference position), and let S be the distance measurement value of the construction surface (concrete pouring surface) 28b by the distance measuring camera 22 (i.e., the distance from the measurement reference position of the distance measuring camera 22 to the construction surface 28b).

[0050] The unevenness ΔF of the construction surface 28b with the construction finish surface 28a as the reference can be calculated by the following formula.

[0051] ΔF=D+(d-Δ)-S…(equation 1)

[0052] Here, Δ indicates + above the light receiving reference position and - below. In addition, for the unevenness ΔF, + indicates a convex state from the construction finish surface 28a, and minus indicates a concave state.

[0053] The height difference D and the distance d between the measurement reference position and the light receiving reference position are set in advance in the calculation control unit 19, and the distance measurement results of the distance measuring camera 22 and the detection signal of the light receiving sensor 21 are input to the calculation control unit 19, which calculates the unevenness ΔF based on the height difference D, distance d, the distance measurement results, and the detection signal.

[0054] In addition, the ranging camera 22 is capable of measuring distances in pixel units of the image sensor, and the calculation control unit 19 calculates the unevenness ΔF in pixel units, thereby obtaining the unevenness ΔF distribution over the entire field of view of the ranging camera 22.

[0055] Furthermore, the calculation control unit 19 can create an unevenness map 4 by classifying the unevenness ΔF according to threshold values ​​set in the storage unit 25 .

[0056] For example, if the unevenness ΔF is positive relative to the construction finished surface 28a, the color is warm, and the density or color tone becomes darker for every 3 mm increase, for example. Furthermore, if the unevenness ΔF is negative relative to the construction finished surface 28a, the color is cool, and the density or color tone becomes darker for every 3 mm decrease, for example. In the unevenness map 4 shown in Figure 1, the unevenness state is indicated by shades of gray.

[0057] The threshold for classification is not limited to 3 mm, but can be set appropriately to 5 mm, 1 cm, etc. Furthermore, classification may be displayed only by shading in one color.

[0058] The calculation control unit 19 inputs the created unevenness map as a video signal to the projector 17, and the unevenness map 4 is projected onto the construction surface 28b by the projector 17. The position and range of the projected unevenness map 4 match the position and distance measurement range measured by the distance measurement camera 22, and unevenness information of the construction surface 28b is accurately displayed by the unevenness map 4. Furthermore, the worker can visually confirm the unevenness state of the construction surface 28b from the projected unevenness map 4. The projection of the unevenness map 4 may be continuous or flashing.

[0059] When the unevenness map is projected onto the construction surface 28b while the concrete is being poured, the worker can check the unevenness of the concrete in real time and correct the unevenness in real time. Therefore, the concrete pouring work can be carried out while correcting the unevenness.

[0060] Furthermore, when the unevenness map is projected onto the construction surface 28b on which concrete has already been poured, the finished state and finishing accuracy of the construction surface 28b can be confirmed.

[0061] In the above explanation, the elevation measuring device 2 is described as being supported vertically, but in reality, it is possible that the elevation measuring device 2 may tilt or swing. The elevation measuring device 2 is equipped with a second tilt sensor 18, which detects the tilt of the elevation measuring device 2 (the optical axis of the pole 14 or the distance measuring camera 22) in real time, and the tilt detection result is input to the calculation control unit 19 in real time.

[0062] The calculation control unit 19 corrects the measurement results (measured distance, measured position) of the distance measuring camera 22 in real time based on the distance from the bottom end of the pole 14 to the measurement reference position and the tilt detection result. Therefore, even if the elevation measuring device 2 tilts or sways, a corrected unevenness map is projected, allowing the measurer to confirm accurate elevation information.

[0063] Next, the unevenness measurement work will be described with reference to FIG.

[0064] STEP 01: The height measuring device 1 (in this embodiment, a laser level planer 3) is installed at a predetermined position, and after leveling, the height of the emitted laser beam from the reference position (in this embodiment, the position of the floor surface 27) is measured and made known.

[0065] STEP 02: Rotate the laser beam to form a horizontal reference plane O.

[0066] STEP 03: The horizontal reference plane O is detected by the light receiver 15. From the light receiving position of the light receiving sensor 21, the height of the measurement reference position of the distance measuring sensor 16 (the distance measuring camera 22 in this embodiment) relative to the horizontal reference plane O is obtained.

[0067] STEP 04: The distance measuring sensor 16 measures the construction surface.

[0068] STEP 05: The second tilt sensor 18 detects the tilt of the optical axis of the distance measuring sensor 16.

[0069] STEP 06: The measurement result of the distance measuring sensor 16 is corrected based on the tilt detection result.

[0070] STEP 07: Based on the corrected measurement result (hereinafter referred to as the corrected measurement result) and the height of the measurement reference position relative to the horizontal reference plane O, the height of the construction surface 28b relative to the horizontal reference plane O is calculated.

[0071] STEP 08: The difference in height between the preset construction finish surface 28a and the construction surface 28b is calculated to obtain elevation information.

[0072] STEP:09 Create a map image of unevenness based on elevation information and preset thresholds.

[0073] STEP 10: Based on the positional relationship between the distance measurement sensor 16 and the projector 17 and the corrected distance measurement result, the distance from the projector 17 to the projection surface (construction surface 28b) is calculated, and an unevenness map image is projected.

[0074] If the measurement position is changed and the measurement is continued, STEP: 02 to STEP: 10 are repeated.

[0075] FIG. 6 shows a modification of the first embodiment.

[0076] In FIG. 6, the same components as those shown in FIG. 1 are designated by the same reference numerals and their explanations are omitted.

[0077] A target plate 31 for distance calibration is provided at a required position on the pole 14. The distance between the target plate 31 and the reference position of the distance measuring camera 22 is actually measured or is made known from a drawing, and the known distance is used as the actual measurement value.

[0078] When measuring the floor surface (finished construction surface 28a, construction surface 28b) with the distance measuring camera 22, the target plate 31 is measured before, after, or simultaneously, and the distance measurement result of the target plate 31 by the distance measuring camera 22 is compared with the actual measurement value to calibrate the distance measuring camera 22. By calibration, errors in the distance measuring camera 22 are corrected, improving measurement accuracy.

[0079] Fig. 7 shows an outline of a surveying system according to the second embodiment, which is mainly composed of a height measuring device 1 and an elevation measuring device 2. In Fig. 1, 4 indicates a projected unevenness map.

[0080] 7, the same components as those shown in Fig. 1 are denoted by the same reference numerals and the description thereof will be omitted. Note that the laser level planar 3 is not shown in Fig. 7.

[0081] In the second embodiment, the distance measurement sensor 16 is composed of a projector 17 and a camera 33 .

[0082] The optical axis of the projector 17 and the optical axis of the camera 33 are parallel, and are spaced a predetermined distance apart, the distance being known and being a distance p that provides sufficient parallax to measure the floor surface. Therefore, the projector 17 and the camera 33 function as a distance measuring sensor 16 that measures distance using parallax.

[0083] When measuring the distance to the floor, the projector 17 projects an image containing a distance measurement pattern 34 (FIG. 8(A)). Although a grid-like pattern is shown in FIG. 8(A), any pattern that allows for confirmation of displacement due to parallax may be used, and for example, a dot-like pattern distributed vertically and horizontally at a predetermined interval may also be used.

[0084] The pattern 34 projected onto the floor surface is captured by the camera 33 .

[0085] In the image captured by the camera 33, the intersections (black circles) of the pattern 34 are displaced to the positions of white circles. The amount of displacement corresponds to the magnitude of the unevenness, so if the amount of displacement of each intersection across the entire pattern 34 is calculated, the state of unevenness can be measured based on the amount of displacement.

[0086] Based on this unevenness state, an unevenness map 4 can be created, as in the above embodiment. This unevenness map 4 may be projected superimposed on the pattern 34 (see FIG. 8(B)), or only the unevenness map 4 may be projected.

[0087] As a modification of the second embodiment, the distance measurement sensor 16 may be configured with two cameras (parallax cameras) having a predetermined parallax.

[0088] The third embodiment will be described with reference to FIGS.

[0089] 9 and 12 show an outline of a surveying system according to the third embodiment, and similar to the first embodiment, the surveying system is mainly composed of a height measuring device 1 and an elevation measuring device 2.

[0090] In the third embodiment, an optical distance measuring device with a tracking function, such as a total station 37, is used as the height measuring device 1. Examples of measuring devices with a tracking function include image tracking using an image sensor and shape tracking using a laser scanner.

[0091] In FIG. 9, the same components as those shown in FIG. 1 are designated by the same reference numerals and their explanation will be omitted.

[0092] The total station 37 is installed in a required position and leveled horizontally. The total station 37 is installed at a known height. That is, the total station 37 has a survey reference point, and is installed so that the three-dimensional coordinates of the survey reference point, at least the height coordinate (height position), are known. For example, referring to FIG. 12, assuming that the total station 37 is installed on a floor surface 27, and the floor surface 27 is the survey reference height, the height D from the floor surface 27 to the survey reference point is known.

[0093] The height measurement device 2' has a prism 35 with retroreflective properties as a measurement object for measuring height. There is a known relationship between the optical center of the prism 35 and the measurement reference position of the distance measuring camera 22. A reflective sheet may also be used as the measurement object.

[0094] The total station 37 has a telescope unit (not shown) that aims at the prism 35 as the measurement target, emits tracking light through the telescope unit to track the prism 35, and also emits distance measuring light through the telescope unit, receives reflected light from the prism 35, and performs optical distance measurement for the prism 35.

[0095] The general configuration of the total station 37 will be described with reference to FIG.

[0096] The total station 37 mainly has an arithmetic control unit 38, a TS communication unit 42, a memory unit 43, a distance measurement unit 44, a tracking unit 45, a horizontal angle detector 47, a vertical angle detector 48, a horizontal rotation drive unit 49, a vertical rotation drive unit 50, a display unit 51, and an operation unit 52.

[0097] The arithmetic and control unit 38 performs individual control as well as integrated control of the TS communication unit 42, distance measurement unit 44, tracking unit 45, horizontal rotation drive unit 49, vertical rotation drive unit 50, and display unit 51, including drive control and synchronization control.

[0098] The TS communication unit 42 communicates data with the elevation measurement device 2, and the tracking unit 45 emits tracking light and performs tracking by receiving reflected light from the prism 35. In parallel with tracking by the tracking unit 45, the distance measurement unit 44 emits distance measurement light and receives reflected light from the prism 35, and performs distance measurement with the prism 35 as the measurement target.

[0099] The horizontal angle detector 47 has a reference point and is designed to detect the horizontal angle of the optical axis of the telescope relative to this reference point, while the vertical angle detector 48 is designed to detect the elevation angle relative to the horizontal.

[0100] The horizontal rotation drive unit 49 and the vertical rotation drive unit 50 rotate the telescope vertically and horizontally so as to track the prism 35. The horizontal angle detector 47 and the vertical angle detector 48 detect the horizontal angle and vertical angle during distance measurement. Therefore, the distance to the measurement object is measured and the three-dimensional coordinates of the measurement object are measured.

[0101] The TS communication unit 42 transmits the measured three-dimensional coordinates to the elevation measurement device 2 in real time.

[0102] The operation unit 52 inputs ON / OFF of the operation of the total station 37, settings of the operating conditions, etc., and the display unit 12 displays the operating state of the total station 37, etc.

[0103] Figure 11 shows an outline of the elevation measuring device 2' of the third embodiment. The elevation measuring device 2' in the third embodiment has a configuration that is approximately similar to that of the elevation measuring device 2 in the first embodiment, and is provided with the prism 35 instead of the photodetector 15, and is equipped with a terminal communication unit 53 for data communication with the total station 37.

[0104] In FIG. 11, the distance measuring camera 22 is shown as the distance measuring sensor 16, but as shown in the second embodiment, the distance measuring sensor 16 may be configured by the projector 17 and the camera 33 or a parallax camera.

[0105] The measurement of unevenness in the third embodiment will be described with reference to Fig. 12. In Fig. 12, the same components as those shown in Fig. 4 are given the same reference numerals, and the description thereof will be omitted.

[0106] The prism 35 is measured by the total station 37, and the three-dimensional coordinates of the prism 35 are transmitted as measurement data from the TS communication unit 42 to the terminal communication unit 53 of the elevation measurement device 2'. The terminal communication unit 53 inputs the received three-dimensional data into the calculation control unit 19.

[0107] The three-dimensional data is further input to the arithmetic processing unit 24, which obtains the height of the prism 35, that is, the height of the irradiation position of the distance measurement light of the total station 37, from the three-dimensional data.

[0108] The height of the irradiation position of the acquired distance measurement light is the height of the prism 35 (the height of the optical center of the prism 35) with the floor surface 27 (see FIG. 4) as the reference.

[0109] Furthermore, the calculation processing unit 24 can obtain the height of the ranging camera 22 relative to the floor surface 27 from the known relationship between the optical center of the prism 35 and the measurement reference position of the ranging camera 22 and the height of the prism 35.

[0110] Thus, the unevenness of the construction surface 28b can be measured from the measurement results of the distance measuring camera 22.

[0111] The creation of the unevenness map 4 and the projection of the unevenness map image onto the construction surface 28b are the same as in the first embodiment, and therefore a description thereof will be omitted.

[0112] The fourth embodiment will be described with reference to FIGS. 13(A) to 13(C).

[0113] In the fourth embodiment, the distance measuring sensor 16 is composed of a laser distance measuring device (not shown) that emits a single beam and an LED illuminator 55. The optical axes of the laser distance measuring device and the LED illuminator 55 are parallel or approximately parallel, and the distance between the optical axes is also known. The illumination light emitted by the LED illuminator 55 is set to have different wavelengths (different colors) in visible light. For example, the colors of the illumination light emitted from the LED illuminator may be red, blue, or green.

[0114] The LED illuminator 55 may be individual LEDs of different colors with their optical axes aligned, or it may be a single LED illuminator 55 that can emit illumination light of multiple colors and switch between different colors. To facilitate visibility, the illumination light may have a desired spread. For example, the diameter of the illuminated surface may be 5 cm. The spread of the illumination light may be changeable as needed depending on the work conditions.

[0115] The LED illuminator 55 has a function as a projector, and the projector 17 is omitted in the fourth embodiment.

[0116] In the fourth embodiment, a laser level planar 3 is used as the height measuring device 1, but it goes without saying that the present invention can also be implemented if a total station 37 is used.

[0117] The light receiving sensor 21 of the receiver 15 detects the horizontal reference plane O, thereby determining the height of the measurement reference position of the laser length measuring instrument, and the amount of unevenness of the construction surface 28b (see Figure 4) can be measured from the measurement results of the laser length measuring instrument.

[0118] The calculation control unit 19 switches the color of the illumination light from the LED illuminator 55 in accordance with the amount of unevenness, and selects the color of the illumination light. By changing the color of the illumination light irradiated onto the construction surface 28b in accordance with the amount of unevenness, the unevenness of the measurement point can be visually confirmed.

[0119] For example, when the deviation is within the appropriate range (e.g., ±3 mm from the construction finish surface 28a (see Figure 4)), green illumination light G is irradiated (Figure 13(A)), when the deviation exceeds the appropriate range and is convex, red illumination light R is irradiated (Figure 13(B)), and when the deviation exceeds the appropriate range and is concave, blue illumination light B is irradiated (Figure 13(C)).

[0120] The color of the illuminating light to be projected can be changed by mixing the illuminating lights. Therefore, by the arithmetic and control unit 19 controlling the mixing of the illuminating lights in accordance with the amount of unevenness, it is possible to project a more detailed image of the unevenness.

[0121] When a total station 37 is used as the height measuring device 1 and the height measuring device 2 is made to perform tracking measurements, the height measuring device 2 can be made a handheld type rather than being installed on the construction floor surface 28.

[0122] The height of the elevation measuring device 2 (i.e., the height of the prism 35) is measured in real time by a total station 37, and furthermore, the tilt of the elevation measuring device 2 (tilt of the distance measuring sensor 16) is detected in real time by a second tilt sensor 18, so that the accurate height of the distance measuring sensor 16 can be obtained by correcting the measured height of the elevation measuring device 2 with the detected tilt. Therefore, the amount of unevenness can be accurately measured from the measurement value of the distance measuring sensor 16.

[0123] It goes without saying that the unevenness map that is projected is corrected in real time.

[0124] Next, when the elevation measuring device 2 is a handheld type and the distance measuring sensor 16 includes the LED illuminator 55 shown in the fourth embodiment, when the elevation measuring device 2 is swung within a required range and illuminated with light, the color of the illuminated light changes according to the unevenness of the ground. Therefore, by waving the elevation measuring device 2 at a speed and within a visible range, the illumination by the illuminated light can be recognized as an unevenness map.

[0125] In addition, the elevation measuring device can have casters for movement or can be mounted on a mobile body and can be moved by remote control or program while irradiating. The above explanation has been about measuring the unevenness of the measurement target surface or construction surface, but it goes without saying that it can also measure the deviation of the measurement target surface or construction surface from the set height (finished construction surface), or the inclination of the construction surface from the horizontal by measuring multiple points on the construction surface. [Explanation of symbols]

[0126] 1 Height measuring device 2 Height measurement device 3 Laser Level Planer 4 Uneven Map 5. Control section 15 Receiver 16 Distance measurement sensor 17 Projector 18 Second tilt sensor 19 Calculation control unit 21 Light receiving sensor 22 Range finding camera 33 Camera 34 patterns 35 Pris M 55 LED illuminator

Claims

1. A surveying system comprising a height measuring device and a height measuring device including a measurement object having retroreflective properties, for measuring the unevenness of a pouring surface or a leveled surface relative to a horizontal reference plane, wherein the height measuring device is a total station that is set at a known height, has a TS communication unit capable of transmitting measurement results, and has a tracking function for tracking the measurement object, and the height measuring device comprises the measurement object measured by the height measuring device, a distance measuring sensor that is set in a known relationship with the measurement object and measures the distance to the construction surface, a projection device that projects height information, a terminal communication unit that can receive the measurement results from the TS communication unit, an arithmetic and control unit, and a communication unit that is provided with the arithmetic and control unit, the measurement object, the distance measuring sensor, the projection device, and the terminal communication unit. and a movable support that can be moved by a total station, wherein the total station measures the object to be measured while tracking it and transmits the measurement results to the elevation measuring device via the TS communication unit, the calculation control unit sets the height of the construction finish surface relative to the known height, the calculation control unit acquires height information of the object to be measured via the terminal communication unit, calculates the height of the measurement reference position of the ranging sensor relative to the construction finish surface based on the height information of the object to be measured and the known height, and calculates elevation information of the construction surface relative to the construction finish surface based on the measurement results of the ranging sensor, and the projection device is configured to project the elevation information onto the construction surface in real time.

2. A surveying system as described in claim 1, wherein the object to be measured is a prism.

3. A surveying system as described in claim 1, wherein the object to be measured is a reflective sheet.

4. 2. The surveying system according to claim 1, wherein the elevation measuring device further comprises an inclination sensor, and the calculation control unit is configured to correct the elevation information based on the detection result of the inclination sensor.

5. The surveying system according to claim 1, wherein the elevation measuring device further comprises an inclination sensor and is configured as a handheld type, and the calculation control unit is configured to correct the elevation information based on the detection result of the inclination sensor.

6. The surveying system according to claim 1 , wherein the distance measurement sensor is a distance measurement camera.

7. The surveying system according to claim 1 , wherein the distance measuring sensor is a parallax camera.

8. 2. The surveying system according to claim 1, wherein the distance measuring sensor comprises a projector that projects a pattern for distance measurement and a camera that is provided so as to generate parallax with respect to the projector.

9. The surveying system of claim 1, wherein the distance measuring sensor is composed of a laser length measuring device and an LED illuminator, the optical axis of the laser length measuring device and the optical axis of the LED illuminator are parallel or approximately parallel, the LED illuminator is capable of irradiating illumination light of a plurality of different colors, and the calculation control unit selects the color of illumination light to be irradiated according to elevation information and causes the LED illuminator to irradiate in real time.

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