Position indication device

Abstract

This disclosure aims to facilitate the identification of target locations and to enable efficient surveying work. [Solution] The position display device according to the present disclosure comprises: an indicator light irradiation unit that irradiates an indicator light whose irradiation state can be changed within a predetermined irradiable range; a design point acquisition unit that acquires design point information which is a design indication position; and a control unit that controls the indicator light irradiation unit and controls the irradiation state of the indicator light, wherein the control unit calculates a target indication position from the design point information and irradiates the indicator light in an irradiation state which has different irradiation representations depending on whether the target indication position is within the irradiable range or outside the irradiable range.

Description

Technical Field

[0001] The present disclosure relates to a position indicating device used for stakeout operations, such as determining stakeout points.

Background Art

[0002] Conventionally, there is a technique using a total station when performing surveying-related operations such as pile driving at a construction site (see Patent Document 1). In this technique, a worker (user) carries a prism pole and a tablet (portable computer), and is guided to a target stakeout point (target indication position) to perform operations such as pile driving. Specifically, since the design coordinates and the coordinates of the current position measured by the total station are displayed on the screen of the tablet, the worker moves to the target stakeout point while visually checking these pieces of information, and performs operations such as pile driving. The worker determines the pile driving position by aligning the prism pole to a position matching the design coordinates while using a spirit level to maintain the prism pole horizontal.

[0003] However, the conventional method requires a tablet and a prism pole, and the worker has to handle the tablet and the prism pole at the same time, which makes the operation not easy. Accordingly, there is a technique of using a laser marking device that uses laser light to irradiate the floor surface, wall surface, ceiling surface and the like of a construction site with laser light to indicate a target stakeout point (target indication position) (see Patent Document 2). In this technique, the laser marking device is installed at an arbitrary position (coordinate), and a surface on which surveying work is performed (surveying work surface) is indicated with laser light in accordance with pre-acquired design coordinates, whereby an appropriate stakeout point (target indication position) can be easily grasped.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

[0005] However, when using a laser leveling device for surveying, if the surveying surface indicated by the laser beam is not smooth but has irregularities, the measurement point (target indication position) may be incorrectly indicated due to these irregularities. Therefore, it was necessary for the worker to identify the accurate measurement point (target indication position) in the vicinity of the laser beam and move accordingly.

[0006] In view of the above circumstances, this disclosure aims to provide a position display device that can easily identify a target location and enable efficient measurement work. [Means for solving the problem]

[0007] The position display device according to this disclosure includes an indicator light irradiation unit that irradiates an indicator light whose irradiation state can be changed within a predetermined irradiable range, a design point acquisition unit that acquires design point information which is a design indication position, and a control unit that controls the indicator light irradiation unit and controls the irradiation state of the indicator light, wherein the control unit calculates a target indication position from the design point information and irradiates the indicator light in an irradiation state which results in different irradiation representations depending on whether the target indication position is within the irradiable range or outside the irradiable range. [Effects of the Invention]

[0008] The position display device described herein can easily identify the target location and perform surveying work efficiently. [Brief explanation of the drawing]

[0009] [Figure 1] This is an overall configuration diagram of a surveying system equipped with a position display device according to the embodiment. [Figure 2] This is a configuration diagram showing the configuration of a position display device according to an embodiment. [Figure 3]This figure shows the control configuration of the position display device according to this embodiment. [Figure 4] This is an explanatory diagram illustrating the contact state of the position display device according to this embodiment. [Figure 5] This is an explanatory diagram illustrating the control configuration of the shape information acquisition unit of the control section. [Figure 6] This is an explanatory diagram (1) illustrating the control configuration of the target position calculation unit of the control unit. [Figure 7] This is an explanatory diagram (2) illustrating the control configuration of the target position calculation unit of the control unit. [Figure 8] This is an explanatory diagram (3) illustrating the control configuration of the target position calculation unit of the control unit. [Figure 9] This is an explanatory diagram illustrating the control configuration of the irradiation control unit of the control unit. [Figure 10] This flowchart shows the control performed by the surveying system according to this embodiment. [Figure 11] This flowchart shows the procedure for performing surveying work by an operator of the surveying system according to this embodiment. [Figure 12] This is a diagram illustrating a modified configuration of a position display device. [Figure 13] A modified example of the indicator light of a position display device (1) is shown. [Figure 14] A modified example (2) of the indicator light of the position display device is shown. [Modes for carrying out the invention]

[0010] The embodiments of this disclosure will be described below with reference to the drawings. Figure 1 is an overall configuration diagram of the surveying system 1, and Figure 2 shows a configuration diagram of the position display device 3 of the surveying system 1. Figure 3 is a block diagram showing the control configuration of the position display device 3, and Figure 4 shows the contact state of the position display device 3. As shown in Figure 1, the surveying system 1 comprises a surveying device 2 and a position display device 3. In this embodiment, the explanation will be given using as an example the so-called marking work, which involves marking design points (design points Q) at a construction site, as a surveying operation.

[0011] The surveying device 2 is, for example, a total station, is installed via a leg portion 20, and has a function of performing surveying by measuring the angle and distance to a survey target (a prism in the present embodiment). Specifically, the surveying device 2 measures the distance (slant distance) from the surveying device 2 to the measurement target by emitting ranging light toward the measurement target and receiving reflected light reflected by the measurement target. The surveying device 2 includes a computer (not shown) for controlling the surveying device 2, and a communication unit (not shown) that communicates information necessary for performing layout work. The surveying device 2 of the present embodiment has a drive mechanism capable of changing the direction of the ranging light vertically and horizontally, and has a function of automatically searching for a survey target, tracking the detected survey target, and sequentially performing surveying.

[0012] As shown in Figure 2, the position display device 3 has a rod-shaped main body portion 10, a prism 11 that reflects ranging light from the surveying device 2, a contact portion 12 that comes into contact with a measurement target (including a portion related to the measurement target), an indication light irradiation unit 13 attached to the main body portion 10, and a control processing device 30.

[0013] The main body portion 10 has a pole shape, and an annular grip portion 101 for being carried by a worker (user) A is provided at the upper end. Further, two auxiliary legs 102 for self-supporting are provided on the main body portion 10 on the side of the indication light irradiation unit 13 to be described later. The position display device 3 can perform surveying in a self-supporting state by the main body portion 10 and the two auxiliary legs 102. Note that the number of the auxiliary legs 102 is not limited to two, and any number may be used as long as self-supporting is possible. Further, the auxiliary legs 102 may be detachable, or may not be provided on the main body portion 10.

[0014] The prism 11 is a prism capable of reflecting light 360° around in the horizontal direction, and is provided between the main body portion 10 and the grip portion 101. The prism 11 can reflect the light emitted from the surveying device 2 at an intensity sufficient to allow the surveying device 2 to detect the reflected light.

[0015] The contact portion 12 is a part that is brought into contact with the measurement target in the position indicating device 3. In the present embodiment, the contact portion 12 is the lower end portion of the main body portion 10, that is, the tip end portion of the pole that is brought into contact with the measurement target (the ferrule portion 121), the grip portion 101 of the main body portion 10, and the surface opposite to the surface where the indicating light irradiation unit 13 is attached to the main body portion 10 (the flat portion 122). The measurement target is, for example, a floor surface, a wall surface, a ceiling surface, or the like.

[0016] The indicating light irradiation unit 13 has a function of emitting indicating light L whose irradiation state can be changed. The indicating light irradiation unit 13 is configured to include a light source (not shown) and a beam steerer. The light source is a laser light source, an SLD (Super Luminescent Diode) light source, or the like. The beam steerer is, for example, a two-axis oscillating mirror, a galvanometer mirror, a MEMS mirror, or the like. The indicating light irradiation unit 13 can arbitrarily set the irradiable range (movable angle range) of the beam steerer, and emits the indicating light (beam light) L within the irradiable range. The irradiation state refers to the state of the indicating light L irradiated onto the measurement target, such as the irradiation direction of the indicating light L, blinking due to a change in frequency, and a projected image.

[0017] As shown in FIG. 3, the control processing device 30 includes a communication unit 31, an attitude information acquisition unit 32, a position information acquisition unit 33, a contact information acquisition unit 34, a storage unit (design point acquisition unit) 35, and a control unit 40.

[0018] The communication unit 31 has a function of performing data communication with the surveying device 2. The communication unit 31 is configured to be capable of data communication with communicable devices in addition to the surveying device 2.

[0019] The attitude information acquisition unit 32 has a function of acquiring attitude information including the inclination angle and the inclination direction of the main body portion 10 with respect to the vertical direction. The attitude information acquisition unit 32 acquires the attitude information using, for example, an IMU (Inertial Measurement Unit), a G sensor (acceleration sensor), or the like.

[0020] The location information acquisition unit 33 has the function of acquiring location information of the main unit 10. Specifically, the location information acquisition unit 33 acquires the location information of the main unit 10 measured by the surveying device 2 via the communication unit 31.

[0021] The contact information acquisition unit 34 has the function of acquiring contact information as to which contact portion 12 of the position display device 3 is in contact with the object to be measured. Figure 4 shows the state in which the contact portion 12 of the main body 10 is in contact with the object to be measured in this embodiment. In Figure 4, the upper section (Figures 4(a) to (c)) shows the state in which the tip portion 121 is in contact with the object to be measured (floor, ceiling, wall), and the lower section (Figures 4(d) and (e)) shows the state in which the flat portion 122 is in contact with the object to be measured (wall, floor). Specifically, Figure 4(a) shows the state in which the tip portion 121 is in contact with the floor surface, Figure 4(b) shows the state in which the tip portion 121 is in contact with the ceiling surface, and Figure 4(c) shows the case in which the tip portion 121 is in contact with the wall surface, and the tip portion 121 makes point contact with the object to be measured. Figure 4(d) shows the flat section 122 in contact with a wall surface, and Figure 4(e) shows the flat section 122 in contact with an inclined floor surface. The flat section 122 contacts the object to be measured in a planar or linear manner. The contact information acquisition unit 34 in this embodiment determines whether or not contact has occurred using contact sensors provided on each contact section 12. The contact sensors have the function of detecting when the contact section 12 has come into contact with the object to be measured. In other words, the contact information acquisition unit 34 acquires the detection information from the contact sensors as contact information. The contact sensors are, for example, displacement sensors or switch sensors.

[0022] In addition to the sensor, the contact information acquisition unit 34 may determine contact of the contact part 12 based on at least one of the posture information and position information. When the contact part 12 is in contact with the object to be measured, the position display device 3's posture information and position information are stable. When the position display device 3 is lifted by worker A (non-contact state), the posture information and position information of the contact part 12 will show unstable changes (movements) due to hand tremors. Therefore, the contact information acquisition unit 34 may calculate the three-dimensional coordinates of the contact part 12 based on the posture information acquired by the posture information acquisition unit 32 and the position information acquired by the position information acquisition unit 33, and determine that the contact part 12 is in contact when it determines that the result is in a stable state (for example, the change in the calculated three-dimensional coordinates within a predetermined time is within a predetermined range). The contact information acquisition unit 34 acquires the determined result as contact information.

[0023] The storage unit 35 has the function of storing various programs and data that are needed. In addition, the storage unit 35 can store design point information, which is the design-specified location (design coordinates (Qx, Qy, Qz)) at a construction site, and other design information. Furthermore, the storage unit 35 can store survey information received by the communication unit 31, position information calculated based on that survey information, and shape information calculated based on the object being measured. The storage unit 35 can be made up of various storage media such as HDD, SSD, and flash memory. The control unit 40 may also acquire design point information, etc. from an external device (not shown) via the communication unit 31. Alternatively, the design point information, etc. may be manually entered into the storage unit 35 by worker A, or stored in the storage unit 35 via an auxiliary storage device such as a memory card.

[0024] The control unit 40 controls the indicator light irradiation unit 13 by a program stored in the memory unit 35 and performs control of the irradiation state of the indicator light L. The control unit 40 may include, for example, a central processing unit (CPU), MPU, GPU, microprocessor, processor core, multiprocessor, ASIC, FPGA, etc., and each process disclosed in each embodiment may be realized by logic circuits and dedicated circuits formed on an integrated circuit. Furthermore, these circuits may be realized by one or more integrated circuits, and the multiple processes shown in each embodiment may be realized by a single integrated circuit. The control unit 40 may also include a main memory unit that temporarily stores the program read from the memory unit 35 and provides a work area. As shown in Figure 3, the control unit 40 includes a shape information acquisition unit 41, a target position calculation unit 42, and an irradiation control unit 43.

[0025] Figure 5 is an explanatory diagram illustrating the control configuration performed by the shape information acquisition unit 41. Figures 6 to 8 are explanatory diagrams illustrating the control configuration performed by the target position calculation unit 42. Figure 9 is an explanatory diagram illustrating the control configuration of the irradiation control unit 43.

[0026] The shape information acquisition unit 41 has the function of acquiring shape information of the object to be measured. Specifically, the shape information acquisition unit 41 acquires shape information of the object to be measured when it is determined that the contact part 12 is in contact with the object to be measured based on contact information from the contact information acquisition unit 34. The shape information acquisition unit 41 acquires the three-dimensional coordinates (x, y, z) of the object to be measured that the contact part 12 has come into contact with as shape information. The shape information acquisition unit 41 can calculate the three-dimensional coordinates of the object to be measured that the contact part 12 has come into contact with based on position information and orientation information. In addition, if the object to be measured is a wall, the orientation of the wall that has come into contact with it is acquired as shape information in addition to the three-dimensional coordinates. Here, the orientation of the wall is the orientation of the normal vector to the wall. The acquired three-dimensional coordinates of the object to be measured and the orientation of the wall are stored as shape information in the survey information of the storage unit 35. In the case of an inclined floor or ceiling surface, similar to a wall, the orientation of the inclined surface that has come into contact with it is acquired as shape information in addition to the three-dimensional coordinates.

[0027] Here, we will explain how to determine the orientation of a wall surface based on Figure 5. Figure 5(a) shows the case where shape information of the wall surface is acquired by the tip portion 121. Figure 5(b) shows the case where shape information of the wall surface is acquired by the plane portion 122. As shown in Figure 5(a), when the orientation of a wall surface is acquired by the tip portion 121, it is determined by acquiring three-dimensional coordinates at multiple points at arbitrary positions on the object to be measured. Specifically, the shape information acquisition unit 41 acquires three or more three-dimensional coordinates of the object to be measured using the tip portion 121. Then, the shape information acquisition unit 41 calculates the plane that minimizes the sum of the squares of the distances from each acquired point, and identifies the orientation of the wall surface by the direction of the normal vector V to the calculated plane. As shown in Figure 5(b), when the orientation of a wall surface is acquired by the plane portion 122, it is determined by making surface contact between the plane portion 122 and an arbitrary position on the object to be measured. Specifically, since the orientation of the flat surface 122 is known, by bringing the flat surface 122 into surface contact with the main body 10, the orientation of the wall surface of the object to be measured can be determined based on the positional and orientation information of the main body 10. This determined wall surface orientation is stored as shape information in the measurement information of the storage unit 35. Similarly, if the object to be measured is an inclined surface, the orientation of the inclined surface is calculated and determined.

[0028] The target position calculation unit 42 has the function of calculating the measurement point (target indicated position) R based on the design point information stored in the memory unit 35 and the acquired information (acquired information). Specifically, the target position calculation unit 42 corrects the design indicated position of the design point information based on the attitude information acquired by the attitude information acquisition unit 32, the position information acquired by the position information acquisition unit 33, and the shape information acquired by the shape information acquisition unit 41, and calculates the measurement point R. More specifically, in calculating the measurement point R, the total length of the main body 10 is a fixed value, and the length (height) from the tip 121 of the main body 10 to the indicator light irradiation unit 13 is also known. Therefore, the target position calculation unit 42 acquires attitude information from the attitude information acquisition unit 32 when the tip 121 is in contact with the object to be measured, corrects the indicated position based on the position information and shape information, and calculates the measurement point R.

[0029] Based on Figures 6 to 8, the method for calculating the measurement point R according to the object being measured will be explained.

[0030] Figure 6 shows the calculation pattern for the measurement point R when the object to be measured is the floor surface. Figure 6 is explained using a floor surface with irregularities rather than a flat surface. Note that the irregularities shown in Figure 6 are exaggerated for illustrative purposes. In explaining Figure 6, a predetermined position in Figure 6 is designated as the reference point O (e.g., a triangulation point, leveling point, position that will be the design reference height, etc.), and the surface extending horizontally (X and Y directions) from reference point O is designated as the virtual reference surface P. The design point Q is the point indicated relative to the virtual reference surface P as the design indication position (design coordinates). Furthermore, the surface extending horizontally from the position of the tip 121 is designated as the virtual contact surface S. The line extending vertically (Z direction) from the measurement point R is designated as the virtual measurement line r, and the line extending vertically from the position where the indicator light L is shone on the floor surface (irradiation point) is designated as the virtual irradiation line t.

[0031] Before calculating the measurement point R corresponding to the object to be measured, the shape information acquisition unit 41 calculates the three-dimensional coordinates of a reference point O. For example, the shape information acquisition unit 41 may calculate the reference position of the design height as the reference point O by having the tip 121 come into contact with a predetermined reference position. In other words, the shape information acquisition unit 41 calculates the three-dimensional coordinates of the reference point O based on the posture information acquired by the posture information acquisition unit 32 and the position information acquired by the position information acquisition unit 33 while the tip 121 is in contact with the reference point O. The shape information acquisition unit 41 may also store the three-dimensional coordinates of the reference point O calculated here in the storage unit 35 as reference shape information in advance. In this way, the worker A can store the design height by touching the tip 121 to the reference point O.

[0032] Figure 6(a) shows the first pattern, Figure 6(b) shows the second pattern, Figure 6(c) shows the third pattern, and Figure 6(d) shows the fourth pattern. Figure 6(a) shows the case where the floor surface is lower than the virtual reference plane P, and Figures 6(b) and (c) show the case where the floor surface is higher than the virtual reference plane P. Also, in Figures 6(a) and (b), the contact part 12 of the position display device 3 is in contact with the floor surface, and in Figure 6(c), the contact part 12 is not in contact with the floor surface. The X and Y coordinates of the measurement point R on the floor surface remain as design coordinates.

[0033] In the first pattern shown in Figure 6(a), the target position calculation unit 42 assumes that the design point Q is used as the measurement point R without any correction, and the irradiation control unit 43, described later, irradiates the indicator light L toward the measurement point R. In case (a), the indicator light irradiation unit 13 is located to the left of the measurement point R on the plane of the paper (negative X-axis side), and since the floor surface is lower than the virtual reference plane P (negative Z-axis side), it points to the floor surface to the right of the measurement point R on the plane of the paper (positive X-axis side). Therefore, the greater the distance between the floor surface and the virtual reference plane P, the larger the gap between the virtual measurement line r and the virtual irradiation line t, i.e., the indication error. In cases (b) and (c), similarly, the indicator light irradiation unit 13 is located to the left of the measurement point R on the plane of the paper (negative X-axis side), and since the floor surface is higher than the virtual reference plane P (positive Z-axis side), it points to the floor surface to the left of the measurement point R on the plane of the paper (negative X-axis side). Similar to case (i), the greater the distance between the floor and the virtual reference plane P, the greater the gap between the virtual measurement line r and the virtual illumination line t, i.e., the indication error. Thus, in the first pattern without correction, the greater the distance between the virtual measurement line r and the virtual illumination line t as the height of the floor is from the virtual reference plane P, the greater the gap between the virtual measurement line r and the virtual illumination line t, and the greater the error between the measurement point R and the actual indication point.

[0034] In the second pattern shown in Figure 6(b), the target position calculation unit 42 moves the design point Q on the virtual reference plane P vertically, calculates the position where the design point Q is on the virtual contact surface S corresponding to the height of the tip 121, and corrects the position to set it as the measurement point R. The irradiation control unit 43, which will be described later, irradiates the indicator light L toward the measurement point R set in this way. In cases (a) and (b), the indicator light L points to the measurement point R which is at approximately the same height as the actual floor surface to which the tip 121 is in contact. In case (c), since the tip 121 is separated from the actual floor surface, the indicator light L points to the right side of the paper (positive X-axis side) of the measurement point R relative to the indicator light irradiation unit 13. In the second pattern, in cases (a) and (b), the virtual measurement line r and the virtual irradiation line t are close together, and the error between the measurement point R and the indicator point is suppressed. In case (h), the larger the gap between the tip 121 and the actual floor surface (i.e., the higher the position display device 3 is raised), the larger the error between the measurement point R and the indicated point.

[0035] In the third pattern shown in Figure 6(c), the target position calculation unit 42 corrects the design point Q to the height of the tip 121 for cases (a) and (b) where the tip 121 is in contact with the actual floor surface, just as in the second pattern. On the other hand, for case (c) where the tip 121 is not in contact with the floor surface, the target position calculation unit 42 does not make any correction, just as in the first pattern, and uses the design point Q as the measurement point R. Thus, in the third pattern, the target position calculation unit 42 makes a correction when the tip 121 is in contact with the floor surface, and does not make a correction when it is not in contact. As a result, in case (c), the error of the indicated point can be made smaller than in the second pattern, regardless of the height position of the position display device 3, as long as the difference in height (vertical difference) between the actual floor surface and the virtual reference plane P is small. In addition, the worker A can avoid confusion caused by the indicated point moving depending on the height to which the position display device 3 is lifted.

[0036] In the fourth pattern shown in Figure 6(d), the target position calculation unit 42 corrects the design point Q to the height of the tip 121 for cases (a) and (b) where the tip 121 is in contact with the actual floor surface, in the same way as in the second pattern. On the other hand, for case (c) where the tip 121 is not in contact with the floor surface, the measurement point R is corrected based on the shape information stored in the memory unit 35. Specifically, the unit extracts shape information from the stored shape information that has a similar vertical height in the design coordinates and is the closest in the horizontal distance (hereinafter referred to as proximity shape information), and corrects the position of the measurement point R using the vertical height of the stored shape information as the virtual contact surface S. The proximity shape information may be shape information that has been most recently acquired and stored in the memory unit 35. For example, in (c) of Figure 6(d), the proximity shape information is the shape information in (b), and the target position calculation unit 42 corrects the virtual contact surface S to be the same as in (b). Thus, in the fourth pattern as well, the target position calculation unit 42 performs different corrections depending on whether the tip portion 121 is in contact with the floor surface or not. In particular, in case (c), by extracting proximity shape information from previously acquired shape information and performing corrections, a virtual contact surface S at a height close to the actual floor surface can be set even when the position display device 3 is floating, thereby reducing the error in the indicated point.

[0037] When the object to be measured is the floor surface, the target position calculation unit 42 calculates the measurement point R by adopting one of the first to fourth measurement point R calculation patterns described above. The operator A may be able to select the calculation pattern, or one calculation pattern may be set in the target position calculation unit 42 in advance.

[0038] Figure 7 shows the method for calculating the measurement point R when the object to be measured is a wall surface. Figure 7 is a plan view of the wall surface seen from above. In explaining Figure 7, the design indicated position (design coordinate) in Figure 7 is designated as design point Q, and the design wall surface is designated as the virtual reference plane P. The arrow extending from the actual wall surface towards the position display device 3 is designated as the normal vector V. The normal vector V indicates the orientation of the wall surface.

[0039] The target position calculation unit 42 reads shape information from the storage unit 35 and calculates the normal vector V. This shape information is previously identified by the shape information acquisition unit 41 and stored in the storage unit 35. When the tip 121 makes contact with the actual wall surface, the target position calculation unit 42 corrects the measurement point R by setting the foot of the perpendicular drawn from the design point Q to the virtual contact surface S (the same as the solid line showing the actual wall surface in Figure 7) which has the normal vector V passing through the tip 121. In other words, the target position calculation unit 42 sets the measurement point R to the intersection of the perpendicular drawn from the design point Q to the virtual contact surface S and the wall surface in contact with the tip 121. That is, the target position calculation unit 42 corrects the measurement point R to be the position closest to the design point Q on the actual wall surface. Then, the irradiation control unit 43, described later, irradiates the indicator light L toward the measurement point R, and as shown in the enlarged view A in Figure 7, in the X direction, the error relative to the design point Q can be reduced when the indicator light L is irradiated toward the corrected measurement point R, compared to the indicated position r1 when the indicator light L is irradiated toward the design point Q without correction, and r2 when the indicator light L is irradiated toward the corrected measurement point R. Although not shown, errors in the Y and Z directions can be reduced in the same way.

[0040] Furthermore, the target position calculation unit 42 may perform a process to update the normal vector V based on the shape information of the wall surface stored in the memory unit 35. Specifically, by repeatedly performing the surveying work, the number of times the tip portion 121 contacts the wall surface, that is, the shape information based on the three-dimensional coordinates of the wall surface acquired by the shape information acquisition unit 41, is accumulated in the memory unit 35. The target position calculation unit 42 uses this accumulated shape information based on the three-dimensional coordinates of the wall surface to recalculate and update the normal vector V. This improves the accuracy of the normal vector V and also improves the accuracy of the final surveying work.

[0041] Figure 8 illustrates the method for calculating the measurement point R when the object to be measured is the ceiling surface. Figure 8(a) shows the case where the indicator light emitting unit 13 is rotated approximately half a turn (180° rotation) in the circumferential direction, using the mounting part of the indicator light emitting unit 13 as a pivot axis, and the indicator light L is irradiated onto the ceiling surface. Figure 8(b) shows the case where the main body 10 of the sub-leg 102 is rotated approximately half a turn (180° rotation) using the mounting position of the main body 10 as a pivot axis, and the indicator light L is irradiated onto the ceiling surface.

[0042] In the case of a ceiling surface, worker A first brings the contact part 12 into contact with the reference point on the floor surface and the ceiling surface, and the shape information acquisition unit 41 stores the difference from the floor surface to the ceiling surface (ceiling height), which is the part related to the object to be measured (ceiling surface), as shape information in the storage unit 35. Then, worker A installs the position display device 3 with the tip part 121 in contact with the floor surface as the contact part 12, as shown in Figure 8(a), or with the gripping part 101 in contact with the floor surface as the contact part 12, as shown in Figure 8(b). The target position calculation unit 42 sets the height of the floor surface in contact with the contact part 12 as a virtual contact surface S, similar to the second to fourth patterns of measurement point R in the case of a floor surface described above, and corrects the position of the measurement point R on the ceiling surface by adding the previously acquired ceiling height from the virtual contact surface S in the vertical direction. The X and Y coordinates of the measurement point R on the ceiling surface remain as design coordinates.

[0043] The illumination control unit 43 has the function of controlling the illumination state of the indicator light L that is irradiated toward the measurement point R calculated by the target position calculation unit 42. Specifically, the illumination control unit 43 can change the illumination expression (trajectory), such as the shape and color of the indicator light L, by controlling the light source and beam steerer of the indicator light irradiation unit 13, and can also change the blinking speed by controlling the frequency of the indicator light L from the light source. In addition, the illumination control unit 43 has the function of recognizing the range that is irradiated onto the object to be measured from the movable range of the beam steerer and controlling the illumination state of the indicator light L. Specifically, it recognizes the range that is irradiated onto the object to be measured based on the irradiable range and attitude information set in the indicator light irradiation unit 13, and controls the illumination state of the indicator light L according to the range that is irradiated.

[0044] In this embodiment, the irradiation control unit 43 can change the irradiation state to an instruction expression that directly indicates the position of the measurement point R to the worker A, a guidance expression that guides the worker A in the direction of the measurement point R, and a position unknown expression that indicates the position of the measurement point R is unknown. The irradiation control unit 43 changes the instruction light L to an instruction expression if the measurement point R is within the irradiable range, changes the instruction light L to a guidance expression if the measurement point R is not within the irradiable range, and changes the instruction light L to a position unknown expression if the measurement point R cannot be calculated.

[0045] As a specific representation, Figure 9 shows an explanatory diagram illustrating the control configuration of the irradiation control unit 43 of the control unit 40. The upper part of Figure 9 shows the state in which the contact part 12 (stick part 121) is in contact with the object to be measured, and the lower part of Figure 9 shows the state in which the contact part 12 (stick part 121) is not in contact with the object to be measured (non-contact).

[0046] As shown in Figure 9, in this embodiment, in the case of an indication, the illumination control unit 43 illuminates the indicator light L toward the measurement point R within the irradiable range. In the case of a guidance, the illumination control unit 43 illuminates the indicator light L in an illumination state that traces a trajectory along the line connecting the center of the irradiable range and the measurement point R. Specifically, the illumination control unit 43 turns on the indicator light L at the edge of the irradiable range furthest from the measurement point R on the line connecting the center of the irradiable range and the measurement point R. Then, the illumination control unit 43 moves the indicator light L toward the measurement point R along that line and turns off the indicator light L at the edge of the irradiable range closest to the measurement point R. The illumination control unit 43 indicates that the measurement point is located at the destination of the indicator light L by repeatedly performing this operation from turning it on to turning it off. In the case of a position unknown, the illumination control unit 43 illuminates the indicator light L in an illumination state that traces a circular trajectory directly below the indicator light irradiation unit 13. In this embodiment, the irradiation control unit 43 emits the indicator light L in an irradiation pattern that traces a circular trajectory rotating at approximately 2 Hz. The irradiation control unit 43 can also differentiate the indication method depending on whether the contact part 12 is in contact with the object to be measured or not. For example, the indicator light L shown in the upper section of Figure 9 may be illuminated in red, and the indicator light L shown in the lower section may be blinked in blue. This allows operator A to determine whether the contact part 12 is in contact or not based on the irradiation state of the indicator light L.

[0047] The "Position Undetermined" expression is an illumination expression that notifies operator A that the position information acquisition unit 33 is unable to acquire position information. For example, in this embodiment, if the distance measuring light emitted from the surveying device 2 toward the prism 11 is temporarily blocked, the position information acquisition unit 33 of the position display device 3 will be unable to acquire position information. At this time, the position of the position display device 3 becomes undetermined, so the illumination control unit 43 changes the illumination expression to the "Position Undetermined" expression. Note that the surveying device 2 can automatically recover even if the distance measuring light is blocked and becomes undetermined, as long as it can receive reflected light from the prism again. By making operator A aware of the "Position Undetermined" state through the "Position Undetermined" expression, the recovery operation of the surveying device 2 can be encouraged.

[0048] In the surveying system 1 configured in this way, worker A performs the surveying work (marking work) according to the indicator light L of the position display device 3. When the planned surveying work is completed, worker A issues a completion signal to the position display device 3 (for example, by operating a switch), and the illumination of the indicator light L by the position display device 3 ends.

[0049] For details, the operation of the surveying work (marking work) in this embodiment will be explained in accordance with the flowcharts in Figures 10 and 11. Figure 10 is a flowchart of the operation of the surveying work in the surveying system 1 of this embodiment. Figure 11 is a flowchart of the operation procedure of the surveying work performed by worker A in this embodiment.

[0050] First, let's explain using the flowchart shown in Figure 10. Note that the flowchart in Figure 10 shows the case where the measurement target is the floor surface and the third correction pattern described above is adopted.

[0051] In step S100, the control unit 40 of the position display device 3 acquires design point information, which is the design-directed position (design coordinate), via the communication unit 31. The control unit 40 of the position display device 3 stores the acquired design point information in the storage unit 35. Note that the design point information may be acquired by operator A through manual input, or it may be acquired from an auxiliary storage device such as a memory card.

[0052] In step S101, the surveying device 2 is positioned by operator A at a location where the position display device 3 can be surveyed, and the instrument point is set up. Specifically, once the instrument point is set up, the surveying device 2 stores in the memory unit 35 the position and orientation relative to the design coordinates. After the instrument point is set up, the surveying device 2 detects the prism 11 of the position display device 3, measures the current position information of the position display device 3, and transmits the measured position information to the position information acquisition unit 33. From this point onward, the surveying device 2 tracks the prism 11 of the position display device 3 and performs sequential surveys, transmitting the position information to the position information acquisition unit 33 in real time.

[0053] In step S102, the shape information acquisition unit 41 of the control unit 40 of the position display device 3 calculates and acquires shape information of the object to be measured in advance. Specifically, when worker A brings the contact part 12 of the position display device 3 into contact with a predetermined reference position (for example, a triangulation point, a leveling point, a position that will be the reference height in the design, etc.) within the object to be measured for marking, the position display device 3 calculates the reference position of the object to be measured which will be the reference point O. The detailed calculation method is as described above and will not be explained here. The acquired shape information is stored in the storage unit 35.

[0054] In step S103, the target position calculation unit 42 of the control unit 40 of the position display device 3 determines whether the position information acquisition unit 33 can acquire position information via the communication unit 31, that is, whether or not it is in a position unknown state. If the determination result is true (Yes), that is, if the position information acquisition unit 33 can acquire position information (it is not in a position unknown state), the control unit 40 proceeds to step S104.

[0055] In step S104, the control unit 40 of the position display device 3 uses the contact information acquisition unit 34 to determine whether the tip 121 of the contact part 12 is in contact with the object to be measured, that is, whether the position display device 3 is being lifted by worker A. If the determination result is false (No), that is, if the tip 121 is not in contact with the object to be measured, the control unit 40 proceeds to step S105.

[0056] In step S105, the target position calculation unit 42 of the control unit 40 of the position display device 3 calculates the design point Q, which is the design instruction position stored in the memory unit 35, as the measurement point R. If the fourth correction pattern described above is adopted, the target position calculation unit 42 acquires the shape information stored in the memory unit 35, and corrects the design instruction position of the design point information based on the acquired shape information, the attitude information acquired by the attitude information acquisition unit 32, and the position information acquired by the position information acquisition unit 33, and calculates the measurement point R. The detailed correction method is as described above and will not be explained here.

[0057] On the other hand, if the result of the determination in step S104 is true (Yes), that is, if the tip portion 121 is in contact with the object to be measured, the control unit 40 proceeds to step S106.

[0058] In step S106, the shape information acquisition unit 41 of the control unit 40 of the position display device 3 acquires shape information of the object to be measured. Specifically, the position display device 3 acquires shape information when worker A brings the contact part 12 of the position display device 3 into contact with the object to be measured for marking. If the second correction pattern is adopted, the control unit 40 of the position display device 3 skips the determination process in step S104. If the determination result in step S103 is Yes, the process proceeds to step S106. In this case, in step S106, the shape information acquisition unit 41 of the control unit 40 of the position display device 3 acquires the shape information expected when the contact part 12 comes into contact with the object to be measured.

[0059] In step S107, the target position calculation unit 42 of the control unit 40 of the position display device 3 calculates the measurement point R based on the design point information and the acquired information. Specifically, the target position calculation unit 42 acquires shape information from the shape information acquisition unit 41, and based on the acquired shape information, the attitude information acquired by the attitude information acquisition unit 32, and the position information acquired by the position information acquisition unit 33, corrects the design-directed position of the design point information and calculates the measurement point R. The detailed correction method is as described above and will not be explained here. The shape information may be shape information acquired in real time or shape information stored in the storage unit 35.

[0060] In step S108, the irradiation control unit 43 of the control unit 40 of the position display device 3 determines whether the measurement point R is within the irradiation range of the indicator light irradiation unit 13. If the determination result is false (No), that is, if the measurement point R is not within the irradiation range, the control unit 40 proceeds to step S109. On the other hand, if the determination result is true (Yes), that is, if the measurement point R is within the irradiation range, the control unit 40 proceeds to step S110.

[0061] In step S109, the irradiation control unit 43 of the control unit 40 of the position display device 3 controls the indicator light irradiation unit 13 to irradiate the indicator light L using a guidance expression, guiding worker A in the direction of the measurement point R. At this time, the guidance expression can also be changed according to the distance from the position display device 3 to the measurement point R. After that, the control unit 40 proceeds to step S112.

[0062] In step S110, the irradiation control unit 43 of the control unit 40 of the position display device 3 controls the indicator light irradiation unit 13 to irradiate the indicator light L using an indicator expression. That is, the irradiation control unit 43 directly indicates the position of the measurement point R with the indicator light L. After that, the control unit 40 proceeds to step S112.

[0063] On the other hand, if the determination result in step S103 is false (No), that is, if the location information acquisition unit 33 is unable to acquire location information (location unknown state), the control unit 40 proceeds to step S111.

[0064] In step S111, the irradiation control unit 43 of the control unit 40 of the position display device 3 controls the indicator light irradiation unit 13 to irradiate the indicator light L in the indication of an unknown position. That is, the irradiation control unit 43 indicates to worker A by the indicator light L that the position of the measurement point R is unknown (a state in which position information cannot be obtained). After that, the control unit 40 proceeds to processing in S112.

[0065] In step S112, the control unit 40 of the position display device 3 determines whether or not it has received a termination instruction from worker A. If the determination result is false (No), i.e., if a termination instruction has been received, the control unit 40 returns to step S103 and continues the surveying work (marking work). On the other hand, if the determination result is true (Yes), i.e., if a termination instruction has been received, the surveying work (marking work) is terminated and the control unit 40 returns the flowchart.

[0066] Next, we will explain the actions (work procedure) of worker A, following the flowchart shown in Figure 11.

[0067] First, step S200 corresponds to step S100 above, in which worker A causes the position display device 3 to acquire design point information. Specifically, worker A causes the position display device 3 to acquire design point information by manually inputting it or by transferring information from an auxiliary storage device or the like to the storage unit 35 of the position display device 3. If the design point information is already stored in the storage unit of the position display device 3, worker A proceeds with the work in step S201 without operating the position display device 3.

[0068] Step S201 corresponds to step S101 above, in which worker A sets up the surveying device 2 at the instrument point and has the prism 11 of the position display device 3 survey.

[0069] The next step, S202, corresponds to step S102 above. Worker A brings the tip 121 of the contact part 12 into contact with the floor surface which serves as the reference point O, thereby causing the position display device 3 to acquire shape information (for example, a triangulation point, a leveling point, a position that serves as the design reference height, etc.). Once these settings are complete, an indicator light L is emitted from the position display device 3.

[0070] Then, in step S203, worker A determines whether the position display device 3 is emitting the indicator light L in an unexpected state. If the result of this determination is true (Yes), that is, corresponding to step S111 above, if the position display device 3 is emitting the indicator light L in an unexpected state, the work proceeds to step S204.

[0071] In step S204, worker A waits for the surveying device 2 to resume measurement until it can measure the prism 11, that is, until the position information acquisition unit 33 of the position display device 3 can acquire position information, and then returns to step S203. Alternatively, worker A may actively resume the surveying operation of the surveying device 2 by moving the position display device 3, etc.

[0072] On the other hand, if the result of the judgment in step S203 is false (No), that is, if the position display device 3 is not emitting the indicator light L due to an unexpected indication, worker A proceeds to step S205.

[0073] In step S205, worker A determines whether the position display device 3 is emitting the indicator light L in a guiding manner. If the result of this determination is true (Yes), that is, if the position display device 3 is emitting the indicator light L in a guiding manner, worker A proceeds to step S206.

[0074] In step S206, worker A moves according to the guidance of the indicator light L and returns to step S203.

[0075] On the other hand, if the judgment result in step S205 is false (No), that is, if the position display device 3 does not emit the indicator light L in a guiding expression, then the indicator light L is an indicator expression, and worker A proceeds to step S207.

[0076] In step S207, worker A brings the contact portion 12 of the position display device 3 into contact with the object to be measured, causing the position display device 3 to acquire shape information of the object to be measured. This operation corresponds to step S106, and in step S107, the indicator light L will point to the corrected measurement point R.

[0077] Then, in step S208, worker A marks the measurement point R indicated by the indicator light L on the position display device 3.

[0078] In the following step S209, worker A decides whether or not to complete the surveying work. If the result of this assessment is false (No), that is, if it is determined that there are still necessary markings remaining and the surveying work is not yet complete, proceed to step S210.

[0079] In step S210, worker A performs an operation on the position display device 3 to change the marking target to the next design point Q, and returns to step S203. On the other hand, if the result of the judgment in step S209 is true (Yes), that is, if it is determined that worker A has completed the necessary marking (surveying work), the work proceeds to step S211.

[0080] In step S211, worker A performs a completion operation on the position display device 3 and returns the flowchart. Worker A's completion operation here corresponds to the determination of the completion instruction in step S112.

[0081] As described above, the position display device 3 of this embodiment calculates the measurement point R (target indicated position) from the design point information and irradiates the indicator light L in an irradiation state that has different irradiation expressions depending on whether the calculated measurement point R is within the irradiable range or outside the irradiable range. Specifically, the irradiation control unit 43 of the position display device 3 changes the indicator light L to an indication expression if it is within the irradiable range, changes the indicator light L to a guidance expression if the measurement point R is not within the irradiable range, and changes the indicator light L to a position unknown expression if the measurement point R cannot be calculated, and irradiates the indicator light in an irradiation state corresponding to the changed irradiation expression.

[0082] In other words, if the measurement point R is within the illumination range, the position of measurement point R can be directly indicated to worker A, and if the measurement point R is outside the illumination range, worker A can be guided in the direction of measurement point R. Furthermore, if the position of the position display device 3 is unknown, it can be indicated to worker A that the position of measurement point R is unknown. This makes it easy to identify the target indication position and allows for efficient measurement work.

[0083] Next, a modified example of this embodiment will be described. In describing the modified example, components similar to those in the above embodiment will be denoted by the same reference numerals, and their descriptions will be omitted or simplified.

[0084] (Variation 1) Next, a modification 1 of this embodiment will be described. Figure 12 shows an embodiment of the sub-legs 102A of the position display device 3A in modification 1. Two sub-legs 102A are provided on the main body 10A on the side opposite to the indicator light emitting unit 13. As shown in Figure 12, the sub-legs 102A are used when the main body 10 of the position display device 3A is tilted (laid down) on the side opposite to the side where the indicator light emitting unit 13 is provided.

[0085] At this time, the irradiation control unit 43 calculates the range to be irradiated onto the object to be measured from the attitude information acquired by the attitude information acquisition unit 32 and controls the irradiation state of the indicator light L. Specifically, the irradiation control unit 43 changes the movement speed of the indicator light L according to the distance from the position display device 3 so that the irradiation trajectory of the indicator light L is drawn at a constant speed. For example, when the indicator light L indicates a straight line as in the guidance representation in Figure 9 above, the irradiation control unit 43 moves the indicator light L from the side closer to the position display device 3 to the side further away, but slows down the movement speed of the indicator light L as it moves from the side closer to the position display device 3 to the side further away, so that the indicator light L draws a straight line at a constant speed.

[0086] As shown in Modification 1, the irradiation state of the indicator light L changes physically depending on how the position display device 3 is tilted, and the irradiation control unit 43 can improve the visibility of the indicator light L by controlling the irradiation state of the indicator light L according to the tilt. Furthermore, by making the sub-leg 102A adjustable in length and orientation, the position display device 3 can be easily fixed in an upright position as in the above embodiment, or in a tilted position as in Modification 1. And by tilting the position display device 3 as in Modification 1, the range of illumination of the indicator light L can be widened.

[0087] (Modification 2) Next, a modified example 2 of this embodiment will be described. In the above embodiment, the gripping portion 101 of the position display device 3 is annular in shape, but the shape of the gripping portion is not limited to this. For example, although not shown, in the modified example 2 of the position display device, the upper part of the pole-shaped main body may be bent to form a rod-shaped gripping portion. With such a gripping portion in modified example 2, it becomes easier for the operator A to bring the tip of the gripping portion into contact with the object to be measured at a certain angle.

[0088] (Variation 3) Next, a third modification of this embodiment will be described. In the position display device 3 of the above embodiment, contact was detected by a contact sensor when the contact portion 12 made contact. However, the position display device of the third modification is equipped with a switch portion (operation portion) near the gripping portion. The switch portion has the function of receiving whether or not the contact portion 12 has made contact with the object to be measured, based on the operation of operator A. In other words, the contact information acquisition unit acquires the operation information from the switch portion as contact information. Note that the switch portion may be configured as a standalone switch capable of transmitting operation information separately from the main body of the position display device. In this case, the contact information acquisition unit 34 acquires the operation information via the communication unit 31. In this way, by having a switch portion that receives the operation of operator A, contact information can be acquired more clearly.

[0089] (Modification 4) Next, a fourth modification of this embodiment will be described. In the position display device 3 of the above embodiment, one prism 11 is fixed to the main body 10, but the number of prisms and the mounting structure are not limited to this. For example, in the position display device of the fourth modification, the prism is detachably attached to the main body. The prism may also be configured to slide from the top to the bottom of the main body. This allows the prism to be positioned in a location that is easy to measure from the surveying device.

[0090] For example, it is preferable to mount the prism near the tip of the foot. By reducing the distance between the contact point and the prism in this way, errors are reduced and the accuracy of the measurement is improved. It is also preferable to mount it on the opposite side (the other side of the circumference) from the mounting side (one side of the circumference of the main body) of the indicator light emitting unit. This prevents the indicator light emitting unit from blocking the distance measuring light from the surveying device.

[0091] Furthermore, it is preferable that the prism has a mounting base that allows it to maintain a horizontal position even when the main body 10D is in an inclined position. For example, it is preferable that the prism is supported at an obtuse angle from the tip side with respect to the axis of the pole. This makes it easier to align the prism and the surveying device even when the tip is in contact at an angle.

[0092] Furthermore, the prism may be attached using magnets or the like. Multiple locations for attaching the prism may also be provided. Moreover, multiple prisms may be attached.

[0093] (Variation 5) Next, a fifth modification of this embodiment will be described. The indicator light irradiation unit 13 of the position display device 3 in the above embodiment is configured to have a light source and a beam steerer, but the indicator light irradiation unit may be an electronic distance meter (EDM). The electronic distance meter has a laser light source that emits visible light and irradiates the visible light as indicator light L. In the indicator light irradiation unit of the fifth modification, the worker A can visually confirm the indicator light L, thereby improving work efficiency.

[0094] (Experimental variation 6) Next, a modification 6 of this embodiment will be described. In the above embodiment, the indicator light emitting unit 13 emitted a beam of light, but the indicator light emitting unit can be any device that can optically point to the measurement point. For example, in the position display device of modification 6, the indicator light emitting unit is configured as a projection device such as a projector. The projection device has the function of projecting an image (including still images and moving images) into a predetermined range (projection range) centered on the projection light axis. The indicator light emitting unit of modification 6 can realize the illumination representation of the indicator light L as a projected image, making it easier to provide more flexible indication.

[0095] (Example 7) Next, a modified example 7 of this embodiment will be described. In the irradiation control unit of modified example 7, the indicator light irradiation unit 13 is controlled to irradiate the indicator light L in an irradiation state that results in different irradiation representations depending on whether the measurement point R is within the irradiable range or outside the irradiable range. The irradiation control unit also changes the irradiation representation according to the distance from the irradiable range to the measurement point R.

[0096] Figure 13 illustrates examples of variations in the illumination representation of the indicator light when the measurement point R is outside the illumination range. Figure 114 illustrates examples of variations in changing the illumination representation depending on the distance to the measurement point R.

[0097] Figure 13(a) shows an illumination representation in which the indicator light L traces a circular trajectory. Figure 13(b) shows an illumination representation in which the indicator light L traces a trajectory along the edge of the irradiable range. Figure 13(c) shows an illumination representation in which the indicator light L traces a trajectory along the line connecting the center of the irradiable range to the measurement point R.

[0098] As shown in Figure 13(a), the irradiation control unit 43A controls the indicator light irradiation unit 13 to draw a circular trajectory with the indicator light L in the direction where the measurement point R is located and near the edge of the irradiable range. The irradiation control unit 43A changes the diameter of the circular trajectory according to the distance (guidance distance) from the center of the irradiable range to the measurement point R, and changes the frequency (i.e., the speed at which the trajectory is drawn) of the circular trajectory. For example, when the guidance distance is long, the diameter of the circle is increased and the speed at which the circular trajectory is drawn is also increased, and as the guidance distance gets closer, the diameter of the circle is decreased and the speed at which the circular trajectory is drawn is also decreased.

[0099] As shown in Figure 13(b), the irradiation control unit 43B controls the indicator light irradiation unit 13 to trace a trajectory by moving the indicator light L back and forth in an arc along the edge of the irradiable range in the direction where the measurement point R is located. The irradiation control unit 43B changes the length (width) of the arc of the arc along the edge according to the induction distance and changes the frequency at which the arc is drawn. For example, when the induction distance is far, the length (width) of the arc is increased and the speed at which the arc is drawn is also increased, and as the induction distance gets closer, the length of the arc is decreased and the speed at which the arc is drawn is also decreased.

[0100] As shown in Figure 13(c), the irradiation control unit 43C controls the indicator light irradiation unit 13 to draw a linear trajectory along the line connecting the center of the irradiable range to the measurement point R, similar to the embodiment described above. At this time, the irradiation control unit 43C first turns on the indicator light at the edge of the irradiable range furthest from the measurement point R (Figure 13(c)A1). Then, the irradiation control unit 43C moves the indicator light L along the line towards the measurement point R and turns it off at the edge of the irradiable range closest to the measurement point R (Figure 13(c)A2). The irradiation control unit 43C repeatedly performs the operation from turning on to turning off. The repetition period at this time is preferably 0.1 Hz to 5 Hz, which is easy for humans to perceive as a direction. The linear trajectory changes in length according to the induction distance and changes the frequency at which the linear trajectory is drawn. For example, if the guidance distance is long, the length of the line is increased and the speed at which the linear trajectory is drawn is also increased. As the guidance distance decreases, the length of the line is decreased and the speed at which the linear trajectory is drawn is also decreased.

[0101] Furthermore, there are, for example, two patterns for reducing the length of the linear path in the case of Figure 13(c). Here, Figure 14(a) shows a top view of the linear path when the guidance distance is short, and (b) shows a top view of the linear path when the guidance distance is long. The linear path is drawn by moving the indicator light L from the base to the tip of the arrow shown in the figure. This shows that the measurement point R is in the direction pointed to by the arrow.

[0102] First, as shown in Figure 14(a), when the guidance distance is short, the irradiation control unit 43C draws a linear trajectory that points towards the measurement point R along the line connecting the center of the irradiable range to the measurement point R. In Pattern 1, the linear trajectory becomes shorter towards the measurement point R within the irradiable range as the guidance distance decreases. Specifically, in Pattern 1, the base end (arrowhead) of the trajectory becomes shorter towards the measurement point R as the guidance distance decreases. In other words, when the guidance distance is long, the irradiation control unit 43C lights the indicator light L from the center of the irradiable range, but as the guidance distance decreases, the position where the indicator light L lights up moves towards the measurement point R. In Pattern 2, the linear trajectory becomes shorter towards the center of the irradiable range as the guidance distance decreases. Specifically, in Pattern 2, the tip (arrowhead) and base end of the trajectory become shorter as the guidance distance decreases, moving closer towards the center of the irradiable range.

[0103] Next, as shown in Figure 14(b), if the guidance distance is long, a linear trajectory pointing to the measurement point R is drawn along the line connecting the center of the irradiable range to the measurement point R, from one end of the irradiable range to the other.

[0104] In this way, when the measurement point R is outside the illumination range, the indicator light L is illuminated in a state that extends to the periphery of the illumination range, making it easy for worker A to recognize that the measurement point R is outside the illumination range. Furthermore, by setting the repetition period to 0.1Hz to 5Hz, worker A can be made aware of the illumination representation. By changing the illumination representation of the indicator light L according to the distance from the illumination range to the measurement point R, worker A can grasp the approximate distance to the measurement point R, thereby improving the efficiency of the measurement work.

[0105] Furthermore, although not shown in the diagram, the irradiation control unit may also change the irradiation expression, frequency, color, and trajectory thickness according to the induction distance. The trajectory thickness can be changed, for example, using a variable beam lens. This makes it easier for worker A to see and allows the irradiation expression to be changed according to the site environment, such as the measurement site and time of day.

[0106] This concludes the description of the embodiments of the present disclosure, but the embodiments of the present disclosure are not limited to these embodiments.

[0107] In the above embodiment, a total station was used as the surveying device 2 to acquire position information, but other devices may be used to acquire position information. For example, a GNSS (Global Navigation Satellite System) sensor, LiDAR, and IMU may be used. SLAM (Simultaneous Localization and Mapping) technology may be used to acquire position information using LiDAR, cameras, IMU, etc. When acquiring position information using other devices, the position information may become temporarily unstable. In this case, the illumination control unit changes the illumination state to a position unknown expression, indicating that the position of the survey point R is unknown, similar to the case where a total station is used, and notifies worker A that position information cannot be acquired. Note that, as in the above embodiment, surveying devices are often programmed to automatically recover from a state where position information cannot be acquired. However, by making worker A aware that position information cannot be acquired through the position unknown expression, it is possible to facilitate an earlier recovery, for example, by prompting manual recovery work.

[0108] Furthermore, the position display device 3 in the above embodiment is equipped with a switch, which allows worker A to switch to a guidance display that guides to the next design point by operating the switch (step S210). However, the means for switching the guidance destination is not limited to this. In addition to a switch, the switching means may also be sound operation, or the surveying device may be operated using a device such as a smartphone or tablet terminal.

[0109] Furthermore, in the above embodiment and its modified form, the indicator light emitting unit indicates a single measurement point R. However, by providing multiple indicator light emitting units or using a projector, the indicator light may be emitted in an illumination state that simultaneously indicates multiple target indication positions. This can further improve work efficiency.

[0110] The embodiments of the present invention have been described above with reference to the drawings, but these are merely examples of the present invention, and various other configurations can also be adopted.

[0111] Furthermore, while the flowcharts used in the above description show multiple steps (processes) in sequence, the execution order of the steps performed in each embodiment is not limited to the order in which they are described. In each embodiment, the order of the illustrated steps can be changed to the extent that it does not impede the content. Also, the above embodiments can be combined to the extent that their contents do not conflict.

[0112] Some or all of the above embodiments may also be described as follows, but are not limited to the following: 1. An indicator light irradiation unit that emits indicator light that can change the irradiation state within a predetermined irradiation range, A design point acquisition unit that acquires design point information, which is the designated location in the design, A control unit that controls the indicator light irradiation unit and controls the irradiation state of the indicator light, Equipped with, The control unit, A position display device that calculates a target indication position from the design point information and irradiates the indication light in an irradiation state that results in different irradiation representations depending on whether the target indication position is within the irradiable range or outside the irradiable range. 2. The control unit, If the target indicated position is outside the irradiable range, the indicated light is irradiated in an irradiation state that results in an irradiation representation that traces a circular trajectory. The position display device described in item 1 above. 3. The control unit, If the target indicated position is outside the irradiable range, the indicated light is irradiated in an irradiation state that results in an irradiation representation that traces a trajectory along the edge of the irradiable range. The position display device described in item 1 or 2 above. 4. The control unit, If the target indicated position is outside the irradiable range, the indicator light is irradiated in an irradiation state that results in an irradiation representation that traces a trajectory along the line connecting the center of the irradiable range to the target indicated position. A position display device as described in any one of items 1 to 3 above. 5. The illumination representation that traces a trajectory along a line, The light illuminates at the edge of the irradiable range furthest from the target indicated position on the aforementioned line, moves along the line, and turns off at the edge of the irradiable range closest to the target indicated position. The position display device described in item 4 above. 6. The control unit, The aforementioned indicator light is irradiated at a frequency of 0.1 Hz to 5 Hz. A position display device as described in any one of items 1 to 5 above. 7. The control unit, If the target indicated position is outside the irradiable range, the irradiation expression is changed according to the distance from the irradiable range to the target indicated position. A position display device as described in any one of items 1 to 6 above. 8. The control unit, If the target indication position is outside the irradiable range, the shorter the distance from the irradiable range to the target indication position, the shorter the length of the trajectory traced by the indicator light. A position display device as described in any one of items 1 to 7 above. 9. The control unit, If the target indicated position is outside the irradiable range, the length of the trajectory is shortened as the distance from the irradiable range to the target indicated position decreases, and the trajectory is set to a position close to the target indicated position within the irradiable range. A position display device as described in any one of items 1 to 8 above. 10. The control unit, If the target indicated position is outside the irradiable range, the length of the trajectory is shortened as the distance from the irradiable range to the target indicated position decreases, and the trajectory is set to the center position of the irradiable range. A position display device as described in any one of items 1 to 9 above. 11. As a type of illumination representation, at least two of the following are changed: the color of the indicator light, the irradiation frequency of the indicator light, the trajectory traced by the indicator light, the intensity of the indicator light, and the thickness of the indicator light. A position display device as described in any one of items 1 to 10 above. [Explanation of Symbols]

[0113] 1. Surveying System 2 Surveying equipment 20 Legs 3 Position display device 10 Main body 101 Gripping part 102 Accessory Leg 103C Switch section 11. Prism (object of measurement) 12 Contact area 121 Stone protrusion 122 Plane section 13 Indicator light irradiation part 30 Control Processing Unit 31 Communications Department 32 Posture information acquisition unit 33 Location information acquisition unit 34 Contact information acquisition unit 35 Storage section (design point acquisition section) 40 Control Unit 41 Shape information acquisition section 42 Target position calculation section 43 Irradiation control unit

Claims

1. An indicator light irradiation unit that emits indicator light that can change the irradiation state within a predetermined irradiation range, A design point acquisition unit that acquires design point information, which is the designated location in the design, A control unit that controls the indicator light irradiation unit and controls the irradiation state of the indicator light, Equipped with, The control unit, A position display device that calculates a target indication position from the design point information and irradiates the indication light in an irradiation state that results in different irradiation representations depending on whether the target indication position is within the irradiable range or outside the irradiable range.

2. The control unit, If the target indication position is outside the irradiable range, the indication light is irradiated in an irradiation state that results in an irradiation representation that traces a circular trajectory, as described in claim 1.

3. The control unit, If the target indication position is outside the irradiable range, the indication light is irradiated in an irradiation state that traces a trajectory along the edge of the irradiable range, according to claim 1.

4. The control unit, The position display device according to claim 1, wherein if the target indicated position is outside the irradiable range, the indicator light is irradiated in an irradiation state that traces a trajectory along a line connecting the center of the irradiable range to the target indicated position.

5. The illumination representation that traces a trajectory along a line, The position display device according to claim 4, which lights up at the edge of the irradiable range furthest from the target indicated position on the line, moves along the line, and turns off at the edge of the irradiable range closest to the target indicated position.

6. The control unit, The position display device according to claim 1, wherein the indicator light is irradiated at a frequency of 0.1 Hz to 5 Hz.

7. The control unit, The position display device according to claim 1, wherein if the target indication position is outside the irradiable range, the irradiation representation is changed according to the distance from the irradiable range to the target indication position.

8. The control unit, The position display device according to claim 1, wherein, if the target indication position is outside the irradiable range, the length of the trajectory traced by the indicator light is shortened as the distance from the irradiable range to the target indication position decreases.

9. The control unit, The position display device according to claim 1, wherein, if the target indication position is outside the irradiable range, the length of the trajectory is shortened as the distance from the irradiable range to the target indication position decreases, and the position is within the irradiable range and close to the target indication position.

10. The control unit, The position display device according to claim 1, wherein, if the target indicated position is outside the irradiable range, the length of the trajectory is shortened as the distance from the irradiable range to the target indicated position decreases, and the position is set to the center of the irradiation range.

11. The position display device according to claim 1 or claim 7, wherein the type of illumination expression involves changing at least two of the following: the color of the indicator light, the illumination frequency of the indicator light, the trajectory traced by the indicator light, the intensity of the indicator light, and the thickness of the indicator light.

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