3D surveying device and 3D surveying device drive program

Abstract

To provide a 3D surveying device and a 3D surveying device drive program that can shorten the time required for the aiming operation of the telescope to be completed. [Solution] The 3D surveying device 4 includes a telescope unit 45 that sights the object to be measured 7 and illuminates it with a distance measuring light 455, drive motors 433 and 443 that rotate the telescope unit 45 around its axis, angle detectors 434 and 444 that detect the rotation angle of the telescope unit 45, and a control unit 46 that performs the sighting operation of the telescope unit 45 by executing PI control of the drive motors 433 and 443 based on the rotation angle detected by the angle detectors 434 and 444. During the execution of the sighting operation, the control unit 46 sets the integral term of the PI control to zero if the current angle of the rotation angle detected by the angle detectors 434 and 444 exceeds the target angle related to the sighting operation.

Description

Technical Field

[0001] The present disclosure relates to a three-dimensional surveying apparatus that acquires three-dimensional data of a measurement target, and a three-dimensional surveying apparatus driving program.

Background Art

[0002] Patent Document 1 discloses a three-dimensional surveying apparatus provided with a collimation ranging unit. The collimation ranging unit described in Patent Document 1 is, for example, called a total station, and is a surveying apparatus that measures the three-dimensional coordinates (three-dimensional data) of a measurement point with high accuracy. The collimation ranging unit irradiates a measurement target with ranging light through collimation by a telescope unit, and measures the distance to the measurement target based on the reflected ranging light obtained by reflecting the ranging light on the measurement target and internal reference light. Further, the collimation ranging unit detects the irradiation direction of the ranging light, that is, the collimation direction of the telescope unit. Thereby, the collimation ranging unit calculates the three-dimensional coordinates (three-dimensional data) of the measurement target based on the measured distance and the detected angle.

[0003] The collimation ranging unit may perform automatic collimation of the telescope unit. That is, the control unit of the collimation ranging unit may execute control for automatically collimating the measurement target by the telescope unit by executing control of a drive motor that rotates the telescope unit based on the rotation angle of the telescope unit detected by an angle detector. Alternatively, the collimation ranging unit may execute control for collimating, by the telescope unit, the measurement target present at the angle instructed by the user in response to a user's operation on an operation input unit, by executing control of the drive motor based on the rotation angle of the telescope unit detected by the angle detector.

[0004] Here, a packing is installed near the rotation axis of the telescope to prevent dust, dirt, and water from entering the inside of the device. Generally, packings installed near the rotation axis of the telescope are made of an elastic material such as rubber. Therefore, if phenomena such as stick-slip occur during the sighting operation of the telescope, it may take a relatively long time for the sighting operation to be completed.

[0005] For example, in positioning control of small angles during sighting, the difference (i.e., deviation) between the current rotation angle of the telescope detected by the angle detector and the target angle for sighting is smaller than the difference at the start of sighting. Therefore, when the control unit of the sighting distance measuring unit performs sighting of the telescope by executing PI control of the drive motor based on the rotation angle of the telescope detected by the angle detector, the proportional term, which is proportional to the deviation for each control cycle, is always small. On the other hand, the integral term, which is the integral value of the deviation, increases with time. Therefore, the output value of the PI control (i.e., the input value to the drive motor) increases with time due to the increase in the integral term.

[0006] In typical PI control for the aiming motion of the telescope, the proportional and integral gains are set to relatively small values. This suppresses vibrations of the telescope during large angular rotation movements in global search. However, in small-angle positioning control, the deviation is small, and the integral term increases over time. In addition, the load torque due to the static friction force generated by the packing installed to prevent dust, dirt, and water from entering the device changes due to changes in the shape of the packing. Therefore, when the load torque decreases, the current angle of rotation of the telescope may exceed the target angle for the aiming motion. In this case, the control unit performs control to bring the current angle closer to the target angle again. However, this may cause the current angle of rotation of the telescope to exceed the target angle for the aiming motion again. Repeated such operations can cause vibrations of the telescope during small-angle positioning control. As a result, it may take a relatively long time for the aiming motion of the telescope to be completed. [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] Japanese Patent Publication No. 2021-43154 [Overview of the project] [Problems that the invention aims to solve]

[0008] This disclosure is made in view of the above circumstances and aims to provide a three-dimensional surveying device and a three-dimensional surveying device drive program that can shorten the time required for the aiming operation of the telescope to be completed. [Means for solving the problem]

[0009] The aforementioned problem is solved by a three-dimensional surveying device for acquiring three-dimensional data of an object to be measured, comprising: a telescope unit for sighting the object to be measured and irradiating it with distance measuring light; a drive motor for rotating the telescope unit about an axis; an angle detector for detecting the rotation angle of the telescope unit; and a control unit for executing the sighting operation of the telescope unit by executing PI control of the drive motor based on the rotation angle detected by the angle detector, wherein the control unit sets the integral term of the PI control to zero when the current angle of the rotation angle detected by the angle detector exceeds the target angle related to the sighting operation during the execution of the sighting operation. [Effects of the Invention]

[0010] According to this disclosure, it is possible to provide a 3D surveying device and a 3D surveying device drive program that can shorten the time required for the aiming operation of the telescope to be completed. [Brief explanation of the drawing]

[0011] [Figure 1] This is a block diagram mainly representing the structural system of the three-dimensional surveying device according to this embodiment. [Figure 2] This is a block diagram mainly representing the control system of the 3D surveying device according to this embodiment. [Figure 3] This is a flowchart illustrating the operation of the 3D surveying device according to this embodiment. [Figure 4] This graph illustrates a specific example of the operation of the 3D surveying device according to this embodiment. [Figure 5] This graph shows an enlarged view of the specified time range in the graph shown in Figure 4. [Modes for carrying out the invention]

[0012] Preferred embodiments of the present invention will be described in detail below with reference to the drawings. The embodiments described below are preferred examples of the present invention and are subject to various technically preferred limitations. However, the scope of the present invention is not limited to these embodiments unless otherwise specified in the following description. In addition, similar components are denoted by the same reference numerals in the drawings, and detailed descriptions are omitted as appropriate.

[0013] Figure 1 is a block diagram mainly showing the structural system of the three-dimensional surveying device according to this embodiment. Figure 2 is a block diagram mainly showing the control system of the 3D surveying device according to this embodiment.

[0014] The 3D surveying device 4 according to this embodiment is a sighting and distance measuring unit, such as a total station. By sighting the telescope unit 45, it illuminates the object to be measured 7 (see Figure 2) with a distance measuring light 455. Based on the reflected distance measuring light 456 reflected by the object to be measured 7 and an internal reference light (not shown), it measures the distance to the object to be measured 7 and detects the direction of illumination of the distance measuring light 455, i.e., the direction of sighting of the telescope unit 45. As a result, the 3D surveying device 4 measures distance and angle with respect to the object to be measured 7 and acquires the 3D coordinates (3D data) of the object to be measured 7.

[0015] The 3D surveying device 4 comprises a leveling unit 41, a mounting unit 42, a horizontal rotation unit 43, a vertical rotation unit 44, a telescope unit 45, a control unit 46, an operation display unit 47, and a base unit 48. The 3D surveying device 4 may also have an automatic tracking function to automatically find the object to be measured 7.

[0016] The control unit 46 includes a calculation unit 461, a distance measurement unit 462, a horizontal rotation drive unit 463, a vertical rotation drive unit 464, and an image processing unit 469. The calculation unit 461 is, for example, a CPU (Central Processing Unit), and executes program activation, signal control processing, calculation, and drive control of the display unit 471 of the operation display unit 47 based on signals (commands) transmitted from the operation input unit 472 of the operation display unit 47. That is, the calculation unit 461 performs overall control of the three-dimensional surveying device 4, and causes the display unit 471 to display survey conditions, measurement results (distance measurement results and angle measurement results), image-processed results (image of the collimation range), and the like.

[0017] The distance measurement unit 462, the horizontal rotation drive unit 463, the vertical rotation drive unit 464, and the image processing unit 469 are realized by the calculation unit 461 executing a program stored (saved) in the storage unit 402. Note that the distance measurement unit 462, the horizontal rotation drive unit 463, the vertical rotation drive unit 464, and the image processing unit 469 may be realized by hardware, or may be realized by a combination of hardware and software.

[0018] The storage unit 402 stores, for example, a sequence program for measurement, an image processing program for image processing, a calculation program, and the like. Examples of the storage unit 402 include a semiconductor memory built into the three-dimensional surveying device 4. Alternatively, examples of the storage unit 402 include various storage media connectable to the three-dimensional surveying device 4, such as a CD (Compact Disc), a DVD (Digital Versatile Disc), a RAM (Random Access Memory), a ROM (Read Only Memory), a hard disk, and a memory card.

[0019] A program executed by a computer including the control unit 46 is an example of the "three-dimensional surveying device drive program" of the present invention. The term "computer" as used herein is not limited to a personal computer, and collectively refers to devices and apparatuses that can implement the functions of the present invention via a program, including arithmetic processing units, microcomputers and the like included in information processing equipment.

[0020] The leveling unit 41 is a portion attached to a tripod (not shown), and has, for example, three adjustment screws 411. Leveling of the leveling unit 41 is performed by adjusting the adjustment screws 411 such that a tilt sensor (not shown) provided on the cradle unit 42 detects horizontality at the surveying position. That is, the cradle unit 42 is maintained horizontal by performing leveling via the adjustment screws 411 at the surveying position.

[0021] The horizontal rotation unit 43 includes a horizontal rotation shaft 431, a bearing 432, a horizontal drive motor 433, and a horizontal angle detector (for example, an encoder) 434. The horizontal drive motor 433 of the present embodiment is an example of the "drive motor" of the present invention. The horizontal angle detector 434 of the present embodiment is an example of the "angle detector" of the present invention. The horizontal rotation shaft 431 has a vertically extending vertical axis 436, and is rotatably supported by the base unit 48 via the bearing 432. The cradle unit 42 is supported by the horizontal rotation shaft 431, and rotates integrally with the horizontal rotation shaft 431 in the horizontal direction around the vertical axis 436 by the driving force transmitted from the horizontal drive motor 433.

[0022] The rotation angle of the horizontal rotation shaft 431 relative to the base unit 48 (that is, the rotation angle of the cradle unit 42 and the telescope unit 45) is detected by the horizontal angle detector 434. The detection result of the horizontal angle detector 434 is input to the arithmetic unit 461. The driving of the horizontal drive motor 433 is controlled by the horizontal rotation drive unit 463 based on the detection result of the horizontal angle detector 434.

[0023] The vertical rotation section 44 includes a vertical rotation shaft 441, a bearing 442, a vertical drive motor 443, and a vertical angle detector (e.g., an encoder) 444. The vertical drive motor 443 in this embodiment is an example of the "drive motor" of the present invention. The vertical angle detector 444 in this embodiment is an example of the "angle detector" of the present invention. The vertical rotation shaft 441 has a horizontal axis 446 extending horizontally and is rotatably supported by the mounting section 42 via the bearing 442. One end of the vertical rotation shaft 441 protrudes into the gap 421 of the mounting section 42. The telescope section 45 is supported by one end of the vertical rotation shaft 441 protruding into the gap 421 of the mounting section 42 and rotates integrally with the vertical rotation shaft 441 in the vertical direction about the horizontal axis 446 by the driving force transmitted from the vertical drive motor 443.

[0024] The vertical angle detector 444 is located at the other end of the vertical rotation axis 441. The rotation angle of the vertical rotation axis 441 relative to the mounting section 42 (i.e., the rotation angle of the telescope section 45) is detected by the vertical angle detector 444. The detection result of the vertical angle detector 444 is input to the calculation unit 461. The drive of the vertical drive motor 443 is controlled by the vertical rotation drive unit 464 based on the detection result of the vertical angle detector 444.

[0025] As described above, the telescope unit 45 is supported by a vertical rotation axis 441 and rotates vertically around a horizontal axis 446 by a driving force transmitted from a vertical drive motor 443. The telescope unit 45 has a sighting telescope 458 that sights onto the object to be measured 7 and illuminates it with a rangefinder light 455. The rangefinder light 455 is emitted on the rangefinder optical axis of the telescope unit 45. The rangefinder optical axis of the telescope unit 45 intersects with the vertical axis 436 and is perpendicular to the horizontal axis 446. The intersection of the rangefinder optical axis of the telescope unit 45 and the vertical axis 436 may be set as the mechanical reference point of the 3D surveying device 4. In this description of the embodiment, the case in which the mechanical reference point of the 3D surveying device 4 is the intersection of the rangefinder optical axis of the telescope unit 45 and the vertical axis 436 is given as an example.

[0026] The telescope unit 45 includes a rangefinder light emitter 451, a rangefinder light receiver 452, and an aiming light receiver 453. The rangefinder light-emitting unit 451 is driven and controlled by the distance measuring unit 462. The rangefinder light-emitting unit 451 is located inside the telescope unit 45 and emits rangefinder light 455, such as laser light, in a direction perpendicular to the horizontal axis 446. The rangefinder light 455 emitted from the rangefinder light-emitting unit 451 is irradiated onto the object to be measured 7. The reflected rangefinder light 456 reflected by the object to be measured 7 is received by the rangefinder light-receiving unit 452 located inside the telescope unit 45. The rangefinder light-receiving unit 452 converts the brightness (receiving result) of the received reflected rangefinder light 456 into an electronic signal (received signal) and transmits the received signal to the distance measuring unit 462. The rangefinder light-receiving unit 452 also receives internal reference light (not shown) guided from a reference photo-optical unit (not shown), converts it into an electrical signal, and transmits it to the distance measuring unit 462.

[0027] The distance measuring unit 462 calculates the distance to the object to be measured 7 based on the received light signal transmitted from the distance measuring light receiving unit 452. That is, the reflected distance measuring light 456 and the internal reference light are converted into a reflected distance measuring optical electrical signal and an internal reference optical electrical signal, respectively, and sent to the distance measuring unit 462. The distance to the object to be measured 7 is measured based on the difference in the time interval between the reflected distance measuring optical electrical signal and the internal reference optical electrical signal. The calculation result of the distance measuring unit 462 is input to the calculation unit (CPU) 461.

[0028] The calculation unit 461 calculates the coordinates of the object to be measured 7 based on the measured distance to the object to be measured 7, the vertical angle detected by the vertical angle detector 444, and the horizontal angle detected by the horizontal angle detector 434. That is, the calculation unit 461 obtains the three-dimensional coordinates (three-dimensional data) of the measurement points related to the object to be measured 7 by measuring the distance to the object to be measured 7 and detecting the direction of irradiation of the distance measuring light 455. Alternatively, the calculation unit 461 may calculate the coordinates of the mechanical reference point of the three-dimensional surveying device 4 with respect to a predetermined position (for example, the survey start position) based on the measured distance to the object to be measured 7, the vertical angle detected by the vertical angle detector 444, and the horizontal angle detected by the horizontal angle detector 434.

[0029] The sighting and light receiving unit 453 is an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor), and receives reflected sighting light 457 in a wavelength range different from that of the reflected ranging light 456. The reflected sighting light 457 is light having a wavelength range different from that of the reflected ranging light 456, and is light reflected from the object being measured 7. That is, the sighting and light receiving unit 453 receives the reflected sighting light 457 reflected from the object being measured 7 and receives an image of the object being measured 7. Examples of reflected sighting light 457 include natural light and infrared light. However, the reflected sighting light 457 is not limited to these. The reflected sighting light 457 is received by the sighting and light receiving unit 453 located inside the telescope unit 45. The sighting and light receiving unit 453 converts the brightness (receiving result) from the reflected sighting light 457 into an electronic signal (image signal) and transmits the image signal to the image processing unit 469.

[0030] The image processing unit 469 performs image processing on the image signal transmitted from the sighting light receiving unit 453 and transmits it to the calculation unit 461 as image data signal. The calculation unit 461 performs calculations based on the image data signal transmitted from the image processing unit 469 and executes control to display the image of the sighting range by the telescope unit 45 on the display unit 471 of the operation display unit 47.

[0031] As shown in Figure 1, the first packing 438 is provided near the portion where the mounting section 42 is supported by the horizontal rotation axis 431. The second packing 448 is provided near the portion where the telescope section 45 is supported by the vertical rotation axis 441. The first packing 438 and the second packing 448 are made of an elastic material such as rubber. The first packing 438 seals the gap between the mounting section 42 and the bearing 432, preventing dust, dirt, and water from entering the interior of the 3D surveying device 4. The second packing 448 seals the gap between the telescope section 45 and the vertical rotation axis 441, preventing dust, dirt, and water from entering the interior of the 3D surveying device 4.

[0032] The operation of the 3D surveying device 4 according to this embodiment and the 3D surveying device drive program executed by the computer of the 3D surveying device 4 according to this embodiment will be described in detail below with reference to the drawings.

[0033] Figure 3 is a flowchart illustrating the operation of the 3D surveying device according to this embodiment. Figure 3 is a flowchart illustrating the 3D surveying device drive program executed by the computer of the 3D surveying device 4 according to this embodiment.

[0034] In this embodiment, the control unit 46 performs PI control of the horizontal drive motor 433 and the vertical drive motor 443 when the telescope unit 45 performs the "automatic aiming of the telescope unit" operation, in which it automatically aims at the object to be measured 7. Also, in this embodiment, the control unit 46 performs PI control of the horizontal drive motor 433 and the vertical drive motor 443 when the telescope unit 45 performs the operation to aim at the object to be measured 7 that is located at an angle instructed by the user in response to the user's operation on the operation input unit 472. The 3D surveying device 4 and the 3D surveying device drive program according to this embodiment are applicable to any of the aiming operations described above. That is, any of the aiming operations described above are included in the "aiming operation" of the present invention. In the following description, for the sake of explanation, the case in which the control unit 46 performs the "automatic aiming of the telescope unit" operation will be given as an example. Also, in the following description, for the sake of explanation, the "automatic aiming operation" may be simply referred to as "automatic aiming".

[0035] As shown in Figure 3, in step S11, the control unit 46 performs PI control of the horizontal drive motor 433 based on the horizontal angle detected by the horizontal angle detector 434. Also in step S11, the control unit 46 performs PI control of the vertical drive motor 443 based on the vertical angle detected by the vertical angle detector 444.

[0036] In this way, the control unit 46 performs PI control of the horizontal drive motor 433 and the vertical drive motor 443 to perform automatic aiming of the telescope unit 45 (step S12).

[0037] Next, in step S13, the control unit 46 sets the integral term of the PI control to zero if, while the telescope unit 45 is performing automatic aiming, the current horizontal angle detected by the horizontal angle detector 434 exceeds the target horizontal angle related to the automatic aiming of the telescope unit 45. In other words, the control unit 46 resets the integral term of the PI control.

[0038] Furthermore, in step S13, if the current vertical angle detected by the vertical angle detector 444 exceeds the target vertical angle for the automatic aiming of the telescope unit 45 while the telescope unit 45 is performing automatic aiming, the control unit 46 sets the integral term of the PI control to zero. In other words, the control unit 46 resets the integral term of the PI control.

[0039] Next, in step S14, the control unit 46 determines whether the automatic aiming of the telescope unit 45 has been completed. For example, if the current horizontal angle is within a predetermined difference (i.e., predetermined deviation) with respect to the target horizontal angle as the reference value for a predetermined time or longer, and the current vertical angle is within a predetermined difference (i.e., predetermined deviation) with respect to the target vertical angle as the reference value for a predetermined time or longer, the control unit 46 determines that the automatic aiming of the telescope unit has been completed.

[0040] Specifically, for example, if the current horizontal angle falls within the range of "target horizontal angle ±3 seconds" for 200 milliseconds (msec) or more, and the current vertical angle falls within the range of "target vertical angle ±3 seconds" for 200 milliseconds (msec) or more, the control unit 46 determines that the automatic aiming of the telescope unit 45 is complete. However, the predetermined difference (i.e., predetermined deviation) is not limited to "±3 seconds". Also, the predetermined time is not limited to 200 milliseconds.

[0041] If the control unit 46 determines that the automatic aiming of the telescope unit 45 is complete (step S14: YES), it terminates the control of the automatic aiming of the telescope unit 45. On the other hand, if the control unit 46 determines that the automatic aiming of the telescope unit 45 is not complete (step S14: NO), it executes the process described above for step S13.

[0042] In other words, the control unit 46 sets the integral term of the PI control to zero each time the current horizontal angle exceeds the target horizontal angle. Furthermore, the control unit 46 sets the integral term of the PI control to zero each time the current vertical angle exceeds the target vertical angle. Details of this will be described later.

[0043] According to the 3D surveying device 4 and the 3D surveying device drive program of this embodiment, the control unit 46 can set the integral gain of the PI control for automatic aiming of the telescope unit 45 to a larger value compared to the integral gain of the PI control set to suppress the generation of vibrations of the telescope unit during large angular rotation movements of global search. Therefore, even in a range where the difference (i.e., deviation) between the current angle of rotation of the telescope unit 45 and the target angle for automatic aiming of the telescope unit 45 is small (i.e., the range of positioning control of small angles), the integral term of the PI control becomes large in a relatively short time.

[0044] In other words, within a range where the deviation between the current rotation angle of the telescope unit 45 and the target angle for the automatic aiming of the telescope unit 45 is small, the torques of the horizontal drive motor 433 and the vertical drive motor 443 increase in a relatively short time. As a result, the control unit 46 can bring the current rotation angle of the telescope unit 45 closer to the target angle for the automatic aiming of the telescope unit 45 in a relatively short time.

[0045] At this time, if the current rotation angle of the telescope unit 45 exceeds the target angle for the automatic aiming of the telescope unit 45, the control unit 46 sets the integral term of the PI control to zero. This changes (specifically reduces) the torque of the horizontal drive motor 433 and the vertical drive motor 443. Therefore, even if the current rotation angle of the telescope unit 45 exceeds the target angle for the automatic aiming of the telescope unit 45, the control unit 46 can gradually bring the current rotation angle of the telescope unit 45 closer to the target angle for the automatic aiming of the telescope unit 45 in a relatively short time. As a result, the 3D surveying device 4 according to this embodiment can shorten the time required for the automatic aiming of the telescope unit 45 to be completed.

[0046] Next, a specific example of the operation of the 3D surveying device 4 according to this embodiment will be described with reference to the drawings. As mentioned above with respect to Figure 3, the control unit 46 sets the integral term of the PI control to zero when the current horizontal angle detected by the horizontal angle detector 434 exceeds the target horizontal angle for the automatic aiming of the telescope unit 45, and when the current vertical angle detected by the vertical angle detector 444 exceeds the target vertical angle for the automatic aiming of the telescope unit 45. Therefore, in the following explanation, we will use the case where the current vertical angle detected by the vertical angle detector 444 exceeds the target vertical angle for the automatic aiming of the telescope unit 45 as an example. Also, for the sake of convenience in the explanation, the vertical angle detected by the vertical angle detector 444 may be simply referred to as the "rotation angle," and the target vertical angle may be simply referred to as the "target angle."

[0047] Figure 4 is a graph illustrating a specific example of the operation of the 3D surveying device according to this embodiment. Figure 5 is a graph showing an enlarged view of the predetermined range of elapsed time in the graph shown in Figure 4. The upper graphs in Figures 4 and 5 illustrate the relationship between elapsed time, the current vertical angle detected by the vertical angle detector 444, and the target angle for the automatic aiming of the telescope unit 45. The lower graphs in Figures 4 and 5 illustrate the relationship between elapsed time, the proportional term, the integral term, and the output value (i.e., the input value to the vertical drive motor 443) of the PI control.

[0048] In the lower graphs shown in Figures 4 and 5, "proportional value" represents the value calculated by the proportional term of PI control. "integral value" represents the value calculated by the integral term of PI control. "PI value" represents the output value of PI control (i.e., the input value to the vertical drive motor 443).

[0049] In the graphs illustrated in Figures 4 and 5, the control unit 46 starts executing automatic aiming at timing T1. In this specific example, the control unit 46 sets the integral term of the PI control to zero at timing T1 when it starts executing automatic aiming. That is, the control unit 46 executes control to set the integral term of the PI control to zero at timing T1. As a result, the integral term of the PI control becomes zero at timing T2.

[0050] Next, at timing T3, the current vertical angle detected by the vertical angle detector 444 exceeds the target angle for automatic aiming for the first time since the start of automatic aiming. Timing T3 in this embodiment is an example of the "first timing" of the present invention.

[0051] Therefore, as shown in the lower graphs of Figures 4 and 5, the control unit 46 sets the integral term of the PI control to zero at timing T3. In other words, the control unit 46 executes control to set the integral term of the PI control to zero at timing T3.

[0052] In this embodiment, the control unit 46 sets the integral term of the PI control to zero by forcibly setting the variable portion of the integral term of the PI control to zero. Specifically, the control unit 46 sets the integral term of the PI control to zero by forcibly setting the difference (i.e., deviation) between the current vertical angle detected by the vertical angle detector 444 and the target angle related to the automatic aiming of the telescope unit 45 to zero. As a result, the integral term in the PI control becomes zero at timing T4.

[0053] Subsequently, at timing T5, after timing T1, the current vertical angle detected by the vertical angle detector 444 again exceeds the target angle for automatic aiming, and the current vertical angle exceeds a predetermined deviation range (e.g., ±3 seconds) with the target angle as the reference value. Timing T5 in this embodiment is an example of the "second timing" of the present invention.

[0054] Therefore, as shown in the lower graphs of Figures 4 and 5, the control unit 46 sets the integral term of the PI control back to zero at timing T5. That is, the control unit 46 executes control to set the integral term of the PI control back to zero at timing T5. The means for setting the integral term of the PI control back to zero is, for example, as described above. As a result, the integral term of the PI control is zero at timing T6.

[0055] Next, at timing T7, after timing T5, the current vertical angle detected by the vertical angle detector 444 again exceeds the target angle for automatic aiming. On the other hand, after timing T5, the current vertical angle does not exceed a predetermined deviation range (e.g., ±3 seconds) with the target angle as the reference value. Therefore, in this case, the control unit 46 does not set the integral term of the PI control to zero.

[0056] Next, as shown in the upper graph of Figure 4, at timing T8, when the current vertical angle is within a predetermined deviation (e.g., ±3 seconds) of the target angle for a predetermined time t2 (e.g., 200 milliseconds) or longer, the control unit 46 determines that the automatic aiming of the telescope unit 45 is complete and terminates the control of the automatic aiming of the telescope unit 45. In the graph illustrated in Figure 4, the time t1 taken from the timing T1 when automatic aiming started to the timing T8 when automatic aiming was completed is approximately 0.3 seconds.

[0057] As described above, according to the 3D surveying device 4 and the 3D surveying device drive program of this embodiment, if the current rotation angle of the telescope unit 45 exceeds the target angle for the automatic aiming of the telescope unit 45, the control unit 46 sets the integral term of the PI control to zero. In other words, the control unit 46 resets the integral term of the PI control. Therefore, the control unit 46 can set the integral gain of the PI control for the automatic aiming of the telescope unit 45 to a larger value compared to the integral gain of the PI control set to suppress the generation of vibrations of the telescope unit during large angular rotation movements of global search. This makes it possible to shorten the time required for the automatic aiming of the telescope unit 45 to be completed.

[0058] Embodiments of the present invention have been described above. 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 combined in any way different from those described above.

[0059] Some or all of the above embodiments may also be described as follows, but are not limited to the following: 1. A 3D surveying device that acquires 3D data of an object to be measured, A telescope unit that sights the object to be measured and emits a ranging light, A drive motor that rotates the telescope section around its axis, An angle detector for detecting the rotation angle of the telescope section, A control unit that performs the aiming operation of the telescope by executing PI control of the drive motor based on the rotation angle detected by the angle detector, Equipped with, The three-dimensional surveying apparatus is characterized in that, during the execution of the sighting operation, the control unit sets the integral term of the PI control to zero when the current angle of the rotation angle detected by the angle detector exceeds the target angle related to the sighting operation. 2. In the three-dimensional surveying device described in item 1 above, The control unit is characterized by setting the integral term to zero by forcibly setting the difference between the current angle and the target angle included in the integral term to zero. 3. In the three-dimensional surveying device described in 1 or 2 above, The control unit is characterized in that it sets the integral term to zero at a first timing when the current angle exceeds the target angle for the first time after the start of the sighting operation, and sets the integral term to zero again at a second timing when the current angle exceeds the target angle after the first timing and the current angle exceeds a predetermined deviation range with the target angle as the reference value. 4. A 3D surveying device drive program executed by the computer of a 3D surveying device that acquires 3D data of an object to be measured, To the aforementioned computer, The steps include: performing PI control of a drive motor that rotates the telescope unit around its axis based on the rotation angle detected by an angle detector that detects the rotation angle of the telescope unit; The steps include: executing the PI control to perform the aiming operation of the telescope unit, During the execution of the sighting operation, if the current angle of the rotation detected by the angle detector exceeds the target angle for the sighting operation, the integral term of the PI control is set to zero. A 3D surveying device drive program characterized by causing the following to be executed. [Explanation of Symbols]

[0060] 4: 3D surveying device, 7: Object to be measured, 41: Leveling unit, 42: Mounting unit, 43: Horizontal rotation unit, 44: Vertical rotation unit, 45: Telescope unit, 46: Control unit, 47: Operation display unit, 48: Base unit, 402: Memory unit, 411: Adjustment screw, 421: Gap unit, 431: Horizontal rotation axis, 432: Bearing, 433: Horizontal drive motor, 434: Horizontal angle detector, 436: Vertical axis, 438: First packing, 441: Vertical rotation axis, 442: Bearing, 443: Vertical drive motor, 444: Vertical angle detector, 446: Horizontal axis, 448: Second packing, 451: Distance measuring light emission unit, 452: Distance measuring light receiving unit, 453: Sighting and light receiving unit, 455: Range measuring light, 456: Reflected range measuring light, 457: Reflected sighting light, 458: Sighting telescope, 461: Calculation unit, 462: Distance measuring unit, 463: Horizontal rotation drive unit, 464: Vertical rotation drive unit, 469: Image processing unit, 471: Display unit, 472: Operation input unit

Claims

1. A three-dimensional surveying device that acquires three-dimensional data of an object to be measured, A telescope unit that sights the object to be measured and emits a ranging light, A drive motor that rotates the telescope section around its axis, An angle detector for detecting the rotation angle of the telescope section, A control unit that performs the aiming operation of the telescope by executing PI control of the drive motor based on the rotation angle detected by the angle detector, Equipped with, The three-dimensional surveying apparatus is characterized in that, during the execution of the sighting operation, the control unit sets the integral term of the PI control to zero when the current angle of the rotation angle detected by the angle detector exceeds the target angle related to the sighting operation.

2. The three-dimensional surveying apparatus according to claim 1, characterized in that the control unit sets the integral term to zero by forcibly setting the difference between the current angle and the target angle included in the integral term to zero.

3. The three-dimensional surveying apparatus according to claim 1, characterized in that the control unit sets the integral term to zero at a first timing when the current angle exceeds the target angle for the first time after the start of the sighting operation, and sets the integral term to zero again at a second timing when the current angle exceeds the target angle and the current angle exceeds a predetermined deviation range with the target angle as the reference value after the first timing.

4. A 3D surveying device drive program executed by the computer of a 3D surveying device that acquires 3D data of an object to be measured, To the aforementioned computer, The steps include: performing PI control of a drive motor that rotates the telescope unit around its axis based on the rotation angle detected by an angle detector that detects the rotation angle of the telescope unit; The steps include: executing the PI control to perform the aiming operation of the telescope unit, During the execution of the sighting operation, if the current angle of the rotation detected by the angle detector exceeds the target angle related to the sighting operation, the integral term of the PI control is set to zero. A three-dimensional surveying device drive program characterized by causing the following to be executed.

Images