Surveying system

Abstract

This disclosure provides a surveying system that can improve the efficiency of surveying work while reducing the workload on workers. [Solution] The surveying system according to the present disclosure comprises: a first unit having a first indicator light irradiating unit capable of irradiating a first indicator light to a work position; a second unit having a second indicator light irradiating unit capable of irradiating a second indicator light to a work position and an attitude detection unit; and a third unit capable of measuring the position information of the second unit. The second unit calculates a target indicator position based on the attitude information of the second unit detected by the attitude detection unit and the position information of the second unit measured by the third unit, irradiates the target indicator position with the second indicator light, and transmits work instruction information to the first unit after irradiating the target indicator position and meeting predetermined conditions.

Description

Technical Field

[0001] The present disclosure relates to a surveying system used for work such as stakeout operations, for example, determination of stakeout points.

Background Art

[0002] Conventionally, there is a technique using a total station when performing surveying-related work 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 indicated position) to perform work 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 confirming these pieces of information, and performs work such as pile driving. The worker determines the pile driving position by aligning the prism pole to a position that matches 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, so the work is 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, etc. of a construction site with laser light to indicate a target stakeout point (target indicated position) (see Patent Document 2). In this technique, the laser marking device is installed at an arbitrary position (coordinate), and a laser beam is used to point to the surface on which the surveying work is performed (surveying work surface) according to pre-acquired design coordinates, so that an appropriate stakeout point (target indicated 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 work surface indicated by the laser beam is not smooth but has irregularities, the laser may indicate a position that is off from the design coordinates. Therefore, the worker had to identify the accurate measurement point (target position) near where the laser beam was pointing and move accordingly. Furthermore, if the worker had to move to the next measurement point while still being able to identify the accurate measurement point (target position), it would take time to move, potentially increasing the workload of the worker.

[0006] In light of the above circumstances, this disclosure aims to provide a surveying system that can improve the efficiency of surveying work while reducing the workload on workers. [Means for solving the problem]

[0007] The surveying system according to this disclosure comprises: a first unit having a first indicator light irradiating unit capable of irradiating a first indicator light to a work position; a second unit having a second indicator light irradiating unit capable of irradiating a second indicator light to a work position and an attitude detection unit; and a third unit capable of measuring the position information of the second unit. The second unit calculates a target indicator position based on the attitude information of the second unit detected by the attitude detection unit and the position information of the second unit measured by the third unit, irradiates the target indicator position with the second indicator light, and when the irradiation of a predetermined number of work positions with the second indicator light is completed, transmits work instruction information to the first unit if predetermined conditions are met after irradiation of the target indicator position. [Effects of the Invention]

[0008] The position display device described herein can improve the efficiency of surveying work while reducing the workload on workers. [Brief explanation of the drawing]

[0009] [Figure 1] This is an overall configuration diagram of a surveying system equipped with a surveying system according to the first embodiment. [Figure 2] This is a configuration diagram showing the configuration of a portable pointer according to the first embodiment. [Figure 3] This is a block diagram showing a surveying system according to the first embodiment. [Figure 4] This is an explanatory diagram illustrating the contact state of a portable pointer according to the first 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 is a flowchart showing the control performed by the surveying system according to the first embodiment. [Figure 11] This is an overall configuration diagram of the surveying system according to the second embodiment. [Figure 12] This is a block diagram showing a surveying system according to the second embodiment. [Figure 13] This is an overall configuration diagram of the surveying system according to the third embodiment. [Figure 14] This is a block diagram showing a surveying system according to the third embodiment. [Figure 15] This is a flowchart showing the control implemented in the surveying system according to the third embodiment. [Modes for carrying out the invention]

[0010] Hereinafter, embodiments of the present disclosure will be described based on the drawings. FIG. 1 is an overall configuration diagram of a surveying system 1, and FIG. 2 shows a configuration diagram of a portable pointer 3 of the surveying system 1. FIG. 3 is a block diagram showing the hardware configuration of each device constituting the surveying system 1, and FIG. 4 shows the contact state of the portable pointer 3. As shown in FIG. 1, the surveying system 1 includes a fixed pointer (first unit) 2, a portable pointer (second unit) 3, and a position detection device (third unit) 4. In the first embodiment, a so-called marking-out work for marking a designed point (design point Q) at a construction site will be described as an example of the surveying work.

[0011] The fixed pointer 2 is fixed at a predetermined position in the work site, and has a function of emitting first indication light L1 toward a designed indication position (design coordinate). As shown in FIG. 3, the fixed pointer 2 includes a first communication unit 20 capable of communicating with the portable pointer 3, a first storage unit 21 for storing design point information and the like, a first indication light emitting unit 22, and a first control unit 23.

[0012] The first communication unit 20 communicates information necessary for executing surveying work (for example, design point information that is a designed indication position). The first communication unit 20 is, for example, a wireless communication module, and is configured to be capable of data communication with communicable devices in addition to the portable pointer 3.

[0013] The first storage unit 21 has a function of storing various required programs and various data. In addition, the first storage unit 21 can store design point information, design information and the like which are designed indication positions (design coordinates (Qx, Qy, Qz)) at a work site or the like. The first storage unit 21 can be configured by various storage media such as an HDD, an SSD, and a flash memory.

[0014] The first instruction light irradiation unit 22 is configured to be capable of emitting the first instruction light L1. The first instruction light irradiation unit 22 includes a light source (not shown) and a beam steerer. The light source is a laser light source, an SLD (Super Luminescent Diode) light source, an EDM (Electronic Distance Meter) 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, as well as a mechanism in which a laser pointer is mounted on horizontal and vertical rotary stages like the collimation light of a total station.

[0015] The first control unit 23 includes a first irradiation control unit 230, a work route calculation unit 231, and a switching determination unit 232. The first irradiation control unit 230 has a function of controlling the first instruction light irradiation unit 22 to irradiate the first instruction light L1 to a predetermined position (for example, a design coordinate (design point Q)). The work route calculation unit 231 has a function of calculating an efficient route (order) for performing work based on the acquired design point information.

[0016] The switching determination unit 232 has a function of determining whether or not to switch the target irradiation position for emitting the first instruction light L1 to the next design coordinate (design point Q) when work instruction information (for example, work completion information) is received from a portable pointer 3 to be described later via the first communication unit 20. Specifically, the switching determination unit 232 performs the determination based on the route calculated by the work route calculation unit 231. When the switching determination unit 232 determines that the next design point Q is present in the work route, the first irradiation control unit 230 switches the target irradiation position of the first instruction light L1 to the next design coordinate. Then, the first instruction light irradiation unit 22 irradiates the first instruction light L1 to the next design coordinate. On the other hand, when the switching determination unit 232 determines that there is no next design point Q in the work route, the first irradiation control unit 230 does not perform switching of the design coordinates. That is, the first irradiation control unit 230 ends the emission of the first instruction light L1.

[0017] The position detection device 4 is, for example, a total station, installed via legs 4a, and has the function of measuring the angle and distance to the object to be measured (a prism in the first embodiment) to perform the survey. Specifically, the position detection device 4 measures the distance (slant distance) from the position detection device 4 to the object to be measured by emitting a distance measuring light La toward the object to be measured and receiving the reflected light Lb reflected by the object to be measured. The position detection device 4 includes a computer (not shown) for controlling the position detection device 4 and a communication unit (not shown) for communicating information necessary to perform the survey work. The position detection device 4 in the first embodiment has a drive mechanism that can change the direction of the distance measuring light up, down, left, and right, and has the function of automatically searching for the object to be measured, tracking the detected object, and performing sequential surveys.

[0018] The portable pointer 3 is a portable unit that can be carried by worker (user) A. As shown in Figure 2, the portable pointer 3 includes a rod-shaped main body 10, a prism 11 that reflects distance-measuring light from the position detection device 4, a contact part 12 that comes into contact with the object to be measured (including parts related to the object to be measured), a second indicator light emitting part 13 attached to the main body 10, an operation part 14 that receives operations from worker A, and a control processing device 30.

[0019] The main body 10 is pole-shaped and has an annular gripping section 101 at its upper end for worker A to carry. The main body 10 also has two self-supporting sub-legs 102 on the side of the second indicator light emitting section 13, which will be described later. The portable pointer 3 can perform surveying while standing upright with the main body 10 and the two sub-legs 102. Note that the number of sub-legs 102 is not limited to two; any number is acceptable as long as it allows for self-support. The sub-legs 102 may also be detachable, or they may not be attached to the main body 10 at all.

[0020] The prism 11 is a prism capable of reflecting light in a 360° rotation in the horizontal direction, and is provided between the main body 10 and the gripping part 101. The prism 11 is capable of reflecting light emitted from the position detection device 4 with sufficient intensity to allow the position detection device 4 to detect the reflected light.

[0021] The contact portion 12 is the part of the portable pointer 3 that comes into contact with the object to be measured. In the first embodiment, the contact portion 12 consists of the lower end of the main body 10, that is, the tip of the pole that comes into contact with the object to be measured (the tip portion 121), the grip portion 101 of the main body 10, and the surface (flat portion 122) opposite to the surface on which the second indicator light irradiation portion 13 is attached to the main body 10. The object to be measured is, for example, a floor, a wall, or a ceiling.

[0022] The second indicator light irradiation unit 13 has the function of irradiating a second indicator light L2 whose irradiation state can be changed. The second indicator light irradiation unit 13 is composed of a light source (not shown) and a beam staircase. The light source is a laser light source, an SLD (Super Luminescent Diode) light source, or an EDM (Electronic Distance Meter) light source, etc. The beam staircase is, for example, a two-oscillation mirror, a galvanometer mirror, or a MEMS mirror. The second indicator light irradiation unit 13 can arbitrarily set the irradiation range (movable angle range) of the beam staircase and irradiates the second indicator light (beam light) L2 within the irradiation range. The irradiation state refers to the state of the second indicator light L2 irradiated onto the object to be measured, such as the direction of irradiation of the second indicator light L2, blinking due to changes in frequency, and projected image.

[0023] The operating unit 14 is, for example, a push-type switch sensor, and as shown in Figure 2, is provided at the upper end of the gripping unit 101. The operating unit 14 is operated by operator A when a task such as marking a position illuminated by the second indicator light L2 is started or finished.

[0024] As shown in Figure 3, the control processing unit 30 includes a second communication unit 31, an attitude information acquisition unit 32, a position information acquisition unit 33, a contact information acquisition unit 34, a work status acquisition unit 35, a second storage unit (design point acquisition unit) 36, and a second control unit 50.

[0025] The second communication unit 31 has the function of communicating data with the position detection device 4. The second communication unit 31 is, for example, a wireless communication module and is configured to communicate data not only with the position detection device 4 but also with other communicable devices such as the fixed pointer 2.

[0026] The posture information acquisition unit (posture detection unit) 32 has the function of acquiring posture information, including the tilt angle and tilt direction of the main body 10 with respect to the vertical. The posture information acquisition unit 32 acquires posture information using, for example, an IMU (Inertial Measurement Unit) or a G-sensor (accelerometer).

[0027] 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 location detection device 4 via the second communication unit 31.

[0028] The contact information acquisition unit 34 has the function of acquiring contact information as to which contact portion 12 of the portable pointer 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 the first 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 state in which the flat portion 122 is in contact with a wall surface, and Figure 4(e) shows the state in which the flat portion 122 is in contact with an inclined floor surface. The flat portion 122 contacts the object to be measured in a planar or linear manner. The contact information acquisition unit 34 of the first embodiment determines whether or not contact has occurred using contact sensors provided on each contact portion 12. The contact sensors have the function of detecting when the contact portion 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.

[0029] The work status acquisition unit 35 has the function of acquiring the operation of the operation unit 14 by worker A as work information. This work information includes information such as the start of marking work and information on the end of marking work. The work status acquisition unit 35 transmits work instruction information corresponding to the operation received by the operation unit 14 to the fixed pointer 2 via the second communication unit 31 under the control of the second control unit 50. Note that worker A's operation at the end of marking work becomes the condition for work completion (the first condition for work completion).

[0030] The second storage unit 36 ​​has the function of storing various programs and data that are needed. In addition, the second storage unit 36 ​​can store design point information, which is the design-specified position (design coordinates (Qx, Qy, Qz)) at the work site, and other design information. Furthermore, the second storage unit 36 ​​can store survey information received by the second communication unit 31, position information calculated based on that survey information, and shape information calculated based on the object being measured. The second storage unit 36 ​​can be configured using various storage media such as HDD, SSD, and flash memory.

[0031] The second control unit 50 controls the operation of each functional unit of the second control unit 50 by a program stored in the second memory unit 36. The second control unit 50 may include, for example, a central processing unit (CPU), MPU, GPU, microprocessor, processor core, multiprocessor, ASIC, FPGA, etc., and may realize each process disclosed in each embodiment by logic circuits and dedicated circuits formed on an integrated circuit. These circuits may also 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 second control unit 50 may also include a main memory unit that temporarily stores the program read from the second memory unit 36 ​​and provides a work area. As shown in Figure 3, the second control unit 50 includes a shape information acquisition unit 51, a target position calculation unit 52, and an irradiation control unit 53. The irradiation control unit 53 controls the second indicator light irradiation unit 13 and performs control of the irradiation state of the second indicator light L2.

[0032] Figure 5 is an explanatory diagram illustrating the control configuration performed by the shape information acquisition unit 51. Figures 6 to 8 are explanatory diagrams illustrating the control configuration performed by the target position calculation unit 52. Figure 9 is an explanatory diagram illustrating the control configuration of the irradiation control unit 53.

[0033] The shape information acquisition unit 51 has the function of acquiring shape information of the object to be measured. Specifically, the shape information acquisition unit 51 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 51 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 51 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 second storage unit 36. In the case of an inclined floor or ceiling, 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.

[0034] 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 an arbitrary position on the object to be measured. Specifically, the shape information acquisition unit 51 acquires three or more three-dimensional coordinates of the object to be measured using the tip portion 121. Then, the shape information acquisition unit 51 calculates the plane in which the sum of the squares of the distances from each acquired point is minimized, 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 information and orientation information of the main body 10. This determined wall surface orientation is stored as shape information in the survey information of the second storage unit 36. Similarly, if the object to be measured is an inclined surface, the orientation of the inclined surface is calculated and determined.

[0035] The target position calculation unit 52 has the function of calculating the measurement point (target indicated position) R based on the design point information stored in the second storage unit 36 ​​and the acquired information (acquired information). Specifically, the target position calculation unit 52 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 51, 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 portion 121 of the main body 10 to the second indicator light irradiation unit 13 is also known. Therefore, the target position calculation unit 52 acquires attitude information from the attitude information acquisition unit 32 when the tip portion 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.

[0036] Based on Figures 6 to 8, the method for calculating the measurement point R according to the object being measured will be explained.

[0037] 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 instruction 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 second instruction light L2 is irradiated onto the floor surface (irradiation point) is designated as the virtual irradiation line t.

[0038] Before calculating the measurement point R corresponding to the object to be measured, the shape information acquisition unit 51 calculates the three-dimensional coordinates of a reference point O. For example, the shape information acquisition unit 51 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 51 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 51 may also store the three-dimensional coordinates of the reference point O calculated here in the second storage unit 36 ​​as reference shape information in advance. In this way, the worker A can store the design height by placing the tip 121 on the reference point O.

[0039] 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, Figures 6(a) and (b) show the state where the contact part 12 of the portable pointer 3 is in contact with the floor surface, and Figure 6(c) shows the state where the contact part 12 is not in contact with the floor surface. Note that the X and Y coordinates of the measurement point R on the floor surface remain as design coordinates.

[0040] In the first pattern shown in Figure 6(a), the target position calculation unit 52 assumes that the design point Q is used as the measurement point R without any correction, and the irradiation control unit 53, described later, irradiates the second indicator light L2 toward the measurement point R. In case (a), the second indicator light irradiation unit 13 is located to the left of the measurement point R on the plane of the paper (negative X-axis), and since the floor surface is lower than the virtual reference plane P (negative Z-axis), it points to the floor surface to the right of the measurement point R on the plane of the paper (positive X-axis). 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 second indicator light irradiation unit 13 is located to the left of the measurement point R on the plane of the paper (negative X-axis), and since the floor surface is higher than the virtual reference plane P (positive Z-axis), it points to the floor surface to the left of the measurement point R on the plane of the paper (negative X-axis). 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.

[0041] In the second pattern shown in Figure 6(b), the target position calculation unit 52 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 53, which will be described later, irradiates the second indicator light L2 toward the measurement point R set in this way. In cases (a) and (b), the second indicator light L2 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 second indicator light L2 points to the right side of the paper (positive X-axis side) of the measurement point R relative to the second 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 portable pointer 3 is raised), the larger the error between the measurement point R and the indicated point.

[0042] In the third pattern shown in Figure 6(c), the target position calculation unit 52 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 52 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 52 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 portable pointer 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 portable pointer 3 is lifted.

[0043] In the fourth pattern shown in Figure 6(d), the target position calculation unit 52 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 second storage unit 36. Specifically, the unit extracts shape information (hereinafter referred to as "proximity shape information") from the stored shape information that has a similar vertical height in the design coordinates and the closest horizontal distance, 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 second storage unit 36. For example, in (c) of Figure 6(d), the proximity shape information is the shape information in (b), and the target position calculation unit 52 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 52 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 portable pointer 3 is floating, thereby reducing the error in the indicated point.

[0044] When the object to be measured is the floor surface, the target position calculation unit 52 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 52 in advance.

[0045] Figure 7 shows the method for calculating the measurement point R when the object to be measured is a wall. Figure 7 is a plan view of the wall 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 toward the portable pointer 3 is designated as the normal vector V. The normal vector V indicates the orientation of the wall surface.

[0046] The target position calculation unit 52 reads shape information from the second storage unit 36 ​​and calculates the normal vector V. This shape information is previously identified by the shape information acquisition unit 51 and stored in the second storage unit 36. When the tip 121 makes contact with the actual wall surface, the target position calculation unit 52 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 52 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 52 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 53, described later, irradiates the second indicator light L2 toward the measurement point R, so that, 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 second indicator light L2 is irradiated toward the design point Q after correction, r2, is smaller than when the second indicator light L2 is irradiated toward the design point Q without correction. Although not shown, errors in the Y and Z directions can be reduced in the same way.

[0047] Furthermore, the target position calculation unit 52 may perform a process to update the normal vector V based on the shape information of the wall surface stored in the second storage unit 36. Specifically, by repeatedly performing the surveying work, the number of times the tip portion 121 comes into contact with 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 51, is accumulated in the second storage unit 36. The target position calculation unit 52 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.

[0048] 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 second indicator light emitting unit 13 is rotated approximately half a turn (180°) in the circumferential direction, using the mounting part of the second indicator light emitting unit 13 as a pivot, and the second indicator light L2 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°) using the mounting position of the main body 10 as a pivot, and the second indicator light L2 is irradiated onto the ceiling surface.

[0049] 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 51 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 second storage unit 36. Then, worker A sets up the portable pointer 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 52 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 in the vertical direction by adding the previously acquired ceiling height from the virtual contact surface S to the measurement point R on the ceiling surface. The X and Y coordinates of the measurement point R on the ceiling surface remain as design coordinates.

[0050] The irradiation control unit 53 has the function of controlling the irradiation state of the second indicator light L2 that is irradiated toward the measurement point R calculated by the target position calculation unit 52. Specifically, the irradiation control unit 53 controls the light source and beam steerer of the second indicator light irradiation unit 13, so it is possible to change the irradiation expression (trajectory) of the second indicator light L2, such as its shape and color, or to change the blinking speed by controlling the frequency of the second indicator light L2 by the light source. In addition, the irradiation control unit 53 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 irradiation state of the second indicator light L2. 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 second indicator light irradiation unit 13, and controls the irradiation state of the second indicator light L2 according to the range that is irradiated.

[0051] The irradiation control unit 53 of the first embodiment can change the irradiation state to an instruction expression that directly indicates the position of the measurement point R to worker A, a guidance expression that guides 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 53 changes the second instruction light L2 to an instruction expression if the measurement point R is within the irradiable range, changes the second instruction light L2 to a guidance expression if the measurement point R is not within the irradiable range, and changes the second instruction light L2 to a position unknown expression if the measurement point R cannot be calculated.

[0052] As a specific representation, Figure 9 shows an explanatory diagram illustrating the control configuration of the irradiation control unit 53 of the second control unit 50. 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).

[0053] As shown in Figure 9, in the first embodiment, in the case of an instruction expression, the irradiation control unit 53 irradiates the second instruction light L2 toward the measurement point R within the irradiable range. In the case of a guidance expression, the irradiation control unit 53 irradiates the second instruction light L2 in an irradiation state that results in an irradiation expression that traces a trajectory along the line connecting the center of the irradiable range and the measurement point R. Specifically, the irradiation control unit 53 turns on the second instruction light L2 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 irradiation control unit 53 moves the second instruction light L2 toward the measurement point R along the line and turns off the second instruction light L2 at the edge of the irradiable range closest to the measurement point R. By repeatedly performing this operation from turning on to turning off, the irradiation control unit 53 indicates that the measurement point is at the destination of the second instruction light L2. In the case of an unknown position indication, the irradiation control unit 53 irradiates the second indicator light L2 with an irradiation representation that traces a circular trajectory directly below the second indicator light irradiation unit 13. In this embodiment, the irradiation control unit 43 irradiates the second indicator light L2 with an irradiation representation that traces a circular trajectory rotating at approximately 2 Hz. The irradiation control unit 53 can also differentiate the representation methods depending on whether the contact unit 12 is in contact with the object to be measured or not. For example, in Figure 9, the second indicator light L2 shown in the upper section may be illuminated in red, and the second indicator light L2 shown in the lower section may be blinked in blue. This allows operator A to determine whether the contact unit 12 is in contact or not from the irradiation state of the second indicator light L2.

[0054] 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 position detection device 4 toward the prism 11 is temporarily blocked, the position information acquisition unit 33 of the portable pointer 3 will be unable to acquire position information. At this time, the position of the portable pointer 3 becomes undetermined, so the illumination control unit 53 changes the illumination expression to the "Position Undetermined" expression. The position detection device 4 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, the recovery operation of the position detection device 4 can be encouraged.

[0055] The operation of the surveying work (marking work) in the surveying system 1 of the first embodiment will be explained in accordance with the flowchart shown in Figure 10.

[0056] First, in step S100, the fixed pointer 2 and the portable pointer 3 acquire design point information, which is the design-directed position (design coordinate), from an external source (e.g., a position detection device or a management server not shown) via the first communication unit 20 and the second communication unit 31. The first control unit 23 of the fixed pointer 2 stores the acquired design point information in the first storage unit 21. The second control unit 50 of the portable pointer 3 also stores the acquired design point information in the second storage unit 36. Note that the design point information may be stored in the first storage unit 21 and the second storage unit 36 ​​in advance. The second control unit 50 of the portable pointer 3 may also acquire design point information from the fixed pointer 2 via the second communication unit 31.

[0057] In step S101, worker A sets up the instrument point by positioning the fixed pointer 2 and position detection device 4 at a location where the portable pointer 3 can be surveyed. After setting up the instrument point, the position detection device 4 detects the prism 11 of the portable pointer 3, measures the current position information of the portable pointer 3, and transmits the measured position information to the position information acquisition unit 33. From this point onward, the position detection device 4 tracks the prism 11 of the portable pointer 3 and performs sequential surveys, transmitting the position information to the position information acquisition unit 33 in real time.

[0058] In step S102, the shape information acquisition unit 51 of the second control unit 50 of the portable pointer 3 acquires shape information of the object to be measured. Specifically, the portable pointer 3 acquires shape information by bringing the contact part 12 of the portable pointer 3 into contact with the object to be measured by worker A for marking out. If the object to be measured is a floor or ceiling surface, the three-dimensional coordinates of the object to be measured that the contact part 12 has contacted are acquired. If the object to be measured is a wall surface, the orientation of the wall surface is acquired in addition to the three-dimensional coordinates. The shape information acquired by the shape information acquisition unit 51 is stored in the second storage unit 36 ​​of the portable pointer 3. The shape information acquisition process in step S102 is carried out until the shape of the object to be measured can be recognized. For example, when acquiring shape information by bringing the tip part 121 into contact, the coordinates are acquired at least three times (three points), and when acquiring shape information by bringing the flat part 122 into contact, the shape information is acquired at least once.

[0059] In step S103, the first control unit 23 of the fixed pointer 2 controls the first indicator light irradiation unit 22 to irradiate the first indicator light L1 toward the design point Q based on the design point information. The first indicator light L1 emitted from the fixed pointer 2 does not need to be as precise as the second indicator light L2, as it only needs to guide the worker A to the vicinity of the design point Q, and it is sufficient if it irradiates the vicinity of the design point Q.

[0060] In step S104, the target position calculation unit 52 of the second control unit 50 of the portable pointer 3 calculates the measurement point R based on the design point information and the acquired information. Specifically, the target position calculation unit 52 first determines whether or not contact has occurred based on the contact information acquired by the contact information acquisition unit 34. If the target position calculation unit 52 determines that contact has occurred, it acquires shape information from the shape information acquisition unit 51, and corrects the design-directed 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. On the other hand, if the target position calculation unit 52 determines that there is no contact, it acquires shape information stored in the second storage unit 36, and corrects the design-directed 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.

[0061] In step S105, the irradiation control unit 53 of the second control unit 50 of the portable pointer 3 determines whether the measurement point R is within the irradiation range of the second indicator light irradiation unit 13. If the determination result is false (No), that is, if the measurement point R is outside the irradiation range, the process proceeds to step S106.

[0062] In step S106, the irradiation control unit 53 controls the second indicator light irradiation unit 13 to irradiate the second indicator light L2 using a guiding expression, guiding worker A in the direction of the measurement point R, and then returns to the process in step S105.

[0063] On the other hand, if the result of the determination in step S105 is true (Yes), that is, if the measurement point R is within the illumination range, the process proceeds to step S107.

[0064] In step S107, the irradiation control unit 53 controls the second indicator light irradiation unit 13 to irradiate the second indicator light L2 using an instruction expression. That is, the irradiation control unit 53 directly indicates the position of the measurement point R with the second indicator light L2.

[0065] In step S108, worker A marks the measurement point R indicated by the second indicator light L2 of the irradiation control unit 53.

[0066] In step S109, the second control unit 50 of the portable pointer 3 transmits marking completion information as work instruction information to the fixed pointer 2 if predetermined conditions are met after irradiation with the second indicator light L2. Specifically, when the work status acquisition unit 35 of the portable pointer 3 receives an operation of the operation unit 14 by worker A, the second control unit 50 of the portable pointer 3 transmits marking completion information as work instruction information to the fixed pointer 2 via the second communication unit 31.

[0067] In the next step S110, the switching determination unit 232 of the fixed pointer 2, upon receiving work instruction information from the portable pointer 3, determines whether or not to switch to the coordinates of the next design point Q. Specifically, the switching determination unit 232 determines whether or not there is a next design point Q, that is, whether or not there are still design points Q to be marked, based on the work route calculated by the work route calculation unit 231 of the first control unit 23.

[0068] If the result of step S110 is true (Yes), that is, if the switching determination unit 232 determines that there is a next design point Q (there are still design points Q to be marked), the fixed pointer 2 returns to step S103. On the other hand, if the result of step S110 is false (No), that is, if the switching determination unit 232 determines that there is no next design point Q (all design points Q on the work route have been marked), the surveying system 1 returns the flowchart.

[0069] As described above, in the surveying system 1 of the first embodiment, the fixed pointer 2 prompts worker A, who is holding the portable pointer 3, to move to the vicinity of the design point Q illuminated by the first indicator light L1. After worker A moves, the portable pointer 3 calculates the accurate measurement point R at the design point Q and illuminates the calculated measurement point R with the second indicator light L2. When the portable pointer 3 confirms that worker A has marked the measurement point R, the fixed pointer 2 illuminates the next design point Q with the first indicator light L1. In other words, even if there is distance between design point Q and the next design point Q, the worker A is prompted to move to the position of the first indicator light L1, allowing the work at the next design point Q to be performed more quickly. This reduces the workload on worker A while improving the efficiency of the surveying work.

[0070] Furthermore, by setting the predetermined conditions in step S109 to either receiving a work completion operation from worker A, or worker A lifting the portable pointer 3, it is possible to respond according to the situation at the work site.

[0071] Furthermore, the fixed pointer 2, being fixed within the work site, can stably illuminate each design point Q with the first indicator light L1.

[0072] Furthermore, because the portable pointer 3 is portable, worker A can easily make contact with and mark the object to be measured.

[0073] Furthermore, when the fixed pointer 2 obtains marking completion information as work information from the portable pointer 3, if there is a next design point Q, it can easily indicate the approximate location of the next design point Q to the worker A by shining the first indicator light L1 on the next design point Q. If there is no next design point Q, it can indicate to the worker A that there is no next design point Q by stopping the illumination of the first indicator light L1. This can further improve work efficiency.

[0074] Furthermore, the portable pointer 3 can proceed with the work at the timing of worker A by transmitting marking completion information as work instruction information to the fixed pointer 2 in response to the operation unit 14 that receives operations from worker A.

[0075] Furthermore, by making the fixed pointer 2, portable pointer 3, and position detection device 4 separate components, they can be flexibly positioned according to the conditions of the work site, thereby improving work efficiency.

[0076] Next, a modified example of the first 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.

[0077] For example, some or all of the functions of the fixed pointer 2, portable pointer 3, and position detection device 4 in the first embodiment described above may be provided by other units.

[0078] For example, the functions of the fixed pointer 2 may be provided to the portable pointer 3. Specifically, in the first embodiment described above, the first storage unit 21 of the fixed pointer 2 stores design point information and design information, but the second storage unit 36 ​​of the portable pointer 3 may store them. Also, the first control unit 23 of the fixed pointer 2 includes a work route calculation unit 231, but the second control unit 50 of the portable pointer 3 may also include one. Also, the first control unit 23 of the fixed pointer 2 includes a switching determination unit 232, but the second control unit 50 of the portable pointer 3 may also include one. In other words, in this case, the work route calculation unit of the portable pointer 3 calculates a route based on the design point information stored in the second storage unit 36. Then, the switching determination unit of the portable pointer 3 determines whether or not to switch to the next design coordinate based on the route calculated by the work route calculation unit. The determination result of the switching determination unit of the portable pointer 3 (switch to the next design coordinate or terminate irradiation) is transmitted as work instruction information by the second control unit 50 to the fixed pointer 2 via the second communication unit 31. In this case, the work instruction information is, for example, information on the next design coordinate or information on terminating irradiation.

[0079] In addition, in the first embodiment described above, the second storage unit 36 ​​of the portable pointer 3 stores survey information and stores position information calculated based on that survey information and shape information calculated based on the object to be measured. However, the first storage unit 21 of the fixed pointer 2 may store each of these pieces of information.

[0080] (modified version) Although not shown in the figure, the second control unit in a modified example further includes a work completion determination unit. The work completion determination unit has the function of determining when work is finished. Specifically, the work completion determination unit makes the determination based on contact information between the tip portion 121 of the main body 10 and the object to be measured. In other words, the work completion determination unit determines the end of the marking work (second condition for work completion) by considering the timing when the contact information acquired from the contact information acquisition unit 34 switches from a contact state to a non-contact state as the timing when the tip portion 121 separates from the object to be measured by operator A lifting the portable pointer 3. When the work completion determination unit determines that the marking work is finished, it transmits the marking work completion information as work instruction information to the fixed pointer 2 via the second communication unit 31. As a result, the fixed pointer 2 automatically shines the first instruction light L1 to the next work position without operator A having to operate the operation unit 14. Note that the work completion determination may also be performed based on the position information of the portable pointer 3 in addition to the contact information. For example, the work completion determination unit determines that the work is complete when it obtains location information from the location information acquisition unit 33 that the portable pointer 3 has moved from the measurement point R. This further reduces the workload of worker A.

[0081] Next, a second embodiment of this disclosure will be described with reference to Figures 11 and 12.

[0082] Figure 11 is an overall configuration diagram of the surveying system 200 according to the second embodiment, and Figure 12 is a block diagram of the surveying system 200 according to the second embodiment. The following description will be based on these figures. As shown in Figure 11, the surveying system 200 according to the second embodiment is configured with a portable pointer 5 and a position detection device 6, and differs from the first embodiment in that the portable pointer (second unit) and the position detection device (third unit) are configured as an integrated unit. In the configuration of the second embodiment, components that are the same as those in the configuration of the first embodiment are denoted by the same reference numerals and their description is omitted.

[0083] As shown in Figures 11 and 12, the surveying system 100 of the second embodiment comprises a fixed pointer (first unit) 2 and a portable pointer 5.

[0084] The portable pointer 5, similar to the first embodiment described above, includes a rod-shaped main body 10, a prism 11 that reflects distance-measuring light from the position detection device 4, a contact part 12 that contacts the object to be measured (including parts related to the object to be measured), a second indicator light emitting part 13 attached to the main body 10, an operation part 14 that receives operations from operator A, and a control processing device 30, and further includes a position detection device 6. In this embodiment, the prism 11 may be omitted.

[0085] The position detection device 6 is a surveying device capable of detecting the position of the portable pointer 5 in real time, and may include, for example, a GNSS (Global Navigation Satellite System) sensor, LiDAR, a camera, and an IMU. SLAM technology is used to detect the position of the portable pointer 5 using LiDAR, a camera, and an IMU. Specifically, this method involves acquiring a point cloud of the site (surrounding structures) using LiDAR or a camera, and then comparing it with the site's design drawings (BIM) to determine the position of the portable pointer 5.

[0086] As shown in Figure 12, the control processing device 30 includes a second communication unit 31, an attitude information acquisition unit 32, a position information acquisition unit 33, a contact information acquisition unit 34, a work status acquisition unit 35, a storage unit (design point acquisition unit) 36, and a second control unit 50, and is configured to communicate with the position detection device 6.

[0087] The location information acquisition unit 33 has the function of acquiring location information (coordinate information) of the portable pointer 5 from the location detection device 6. The location information acquisition unit 33 can acquire location information from the location detection device 6 at all times or periodically.

[0088] The operation of the surveying work (marking work) in the surveying system 100 of this second embodiment is the same as the flowchart of the surveying system 1 of the first embodiment shown in Figure 10, and therefore no explanation is provided.

[0089] As described above, the surveying system 200 according to the second embodiment provides the same effects as the first embodiment, and since it acquires positional information of the portable pointer 5, it does not require a prism to reflect distance measuring light. Furthermore, it does not require the installation of the position detection device 6. Because the position detection device 6 is integrated with the portable pointer 5, surveying work can be performed more easily, and work efficiency can be improved.

[0090] Next, the configuration of the third embodiment of this disclosure will be described with reference to Figures 13 and 14.

[0091] Figure 13 is an overall configuration diagram of the surveying system 200 according to the third embodiment, and Figure 14 is a block diagram of the surveying system 200 according to the third embodiment. The following explanation will be based on these figures. As shown in Figure 13, the surveying system 200 according to the third embodiment differs from the first embodiment in that a fixed pointer (first unit) and a position detection device (third unit) are integrated to constitute a surveying device. In the configuration of the third embodiment, components that are the same as those in the configuration of the first embodiment are denoted by the same reference numerals and their explanation is omitted.

[0092] As shown in Figure 13, the surveying system 200 of the third embodiment includes a portable pointer 3 (second unit) and a surveying device 9 which integrates a fixed pointer 7 and a position detection device 8.

[0093] As shown in Figure 14, the control processing unit 30 includes a second communication unit 31, an attitude information acquisition unit 32, a position information acquisition unit 33, a contact information acquisition unit 34, a work status acquisition unit 35, a second storage unit (design point acquisition unit) 36, and a second control unit 50.

[0094] The location information acquisition unit 33 has the function of acquiring location information (coordinate information) of the portable pointer 3. Specifically, the location information acquisition unit 33 acquires location information detected by the location detection device 8 in the surveying device 9, which will be described later, via the second communication unit 31.

[0095] As shown in Figure 14, the surveying device 9 includes a first communication unit 20 capable of communicating with the portable pointer 3, a first storage unit 21 for storing design point information, a first indicator light irradiation unit 22, and a first control unit 23.

[0096] The position detection device 8 of the surveying device 9 has the function of measuring (detecting) the angle and distance to the object to be measured (a prism in the third embodiment). Specifically, the position detection device 8 measures the distance (slant distance) from the position detection device 8 to the object to be measured by emitting a distance measuring light toward the object to be measured and receiving the reflected light reflected by the object to be measured.

[0097] The first control unit 23 includes a first irradiation control unit 230, a work route calculation unit 231, a switching determination unit 232, and a mode switching unit 71.

[0098] The mode switching unit 71 has the function of switching between a first mode, which prioritizes the position detection function by the position detection device 8 as the surveying device 9, and a second mode, which prioritizes the illumination of the first indicator light L1 by the fixed pointer 7. In other words, the first mode is the position detection mode, in which the position detection device 8 detects the position information of the portable pointer 3. The second mode is the design point indication mode, in which the fixed pointer 7 illuminates the design point Q with the first indicator light L1. The mode switching unit 71 is configured to switch modes based on work information received from the work status acquisition unit 35 of the portable pointer 3. For example, when the portable pointer 3 moves to a position illuminated by the fixed pointer 7 with the first indicator light L1, the operator A operates the operation unit 14 and transmits work information to the surveying device 9. The surveying device 9, having received the work information, switches to the first mode by the mode switching unit 71. Furthermore, for example, if the switching determination unit 232 of the surveying device 9 determines that the next design point Q is present, the mode switching unit 71 switches from the first mode to the second mode. In other words, during surveying work, the surveying device 9 operates in either the first mode or the second mode.

[0099] The operation of the surveying work in the surveying system 200 of the third embodiment will be explained in accordance with the flowchart shown in Figure 15. In the flowchart of the third embodiment, operations similar to those in the flowchart of the first embodiment are given the same step numbers and their explanations are omitted. In this flowchart, the mode switching unit 71 of the surveying device 9 starts in the second mode.

[0100] In the operation of the measurement work in the third embodiment, the process of step S200 is performed between the operations of step S103 and step S104. That is, after the first indicator light L1 is irradiated in step S103, the process proceeds to step S200.

[0101] In step S200, the mode switching unit 71 of the surveying device 9 switches to the first mode by receiving work information from the work status acquisition unit 35 of the portable pointer 3. In other words, when worker A reaches the vicinity of the design point Q guided by the first indicator light L1 and operates the operation unit 14, work information is transmitted from the portable pointer 3 to the surveying device 9, causing the mode switching unit 71 of the surveying device 9 to switch its function as a surveying device 9 from the second mode to the first mode. After switching to the first mode, the position detection device 8 of the surveying device 9 measures the prism 11 of the portable pointer 3 and transmits the position information of the portable pointer 3 to the portable pointer 3.

[0102] Furthermore, in the operation of the measurement work of the third embodiment, if the determination result of step S110 is true (Yes), that is, if the switching determination unit 232 determines that there is the next design point Q, the fixed pointer 7 proceeds to step S201.

[0103] In step S201, the mode switching unit 71 of the surveying device 9 switches from the first mode to the second mode. When the first control unit 23 of the surveying device 9 switches to the second mode, it returns to step S103.

[0104] As described above, the surveying system 200 according to the third embodiment provides the same effects as the first embodiment, and also allows for the integrated installation of the fixed pointer 7 and the position detection device 8, thereby improving work efficiency. Furthermore, by switching between the first mode using the position detection device 8 and the second mode using the fixed pointer 7 using the mode switching unit 71, unnecessary position detection processing and irradiation processing of the first indicator light L1 can be reduced.

[0105] This concludes the description of each embodiment of the present disclosure, but the embodiments of the present disclosure are not limited to these embodiments.

[0106] For example, the control unit may be provided separately from the portable pointer instead of being located on the main body. Furthermore, the control unit may be operated not only by a push-button switch sensor, but also by sound, or via a second communication unit using a device such as a smartphone or tablet.

[0107] 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.

[0108] 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.

[0109] Some or all of the above embodiments may also be described as follows, but are not limited to the following: 1. A first unit having a first indicator light emitting unit capable of irradiating a first indicator light onto a work position, A second unit having a second indicator light irradiation unit capable of irradiating a second indicator light onto the work position, and an attitude detection unit, A third unit capable of measuring the position information of the second unit, A surveying system having, The second unit is, Based on the attitude information of the second unit detected by the attitude detection unit and the position information of the second unit measured by the third unit, the target instruction position is calculated, and the second instruction light is shone on the target instruction position. After irradiating the target indicated position, if predetermined conditions are met, work instruction information is transmitted to the first unit. Surveying system. 2. The aforementioned predetermined conditions are when a termination operation is received from the user, or when the second unit is lifted. The surveying system described in 1. 3. The surveying system according to 1 or 2, wherein the first unit is a fixed pointer that is fixed within the work site. 4. The surveying system according to any one of items 1 to 3, wherein the second unit is a portable pointer that can be carried by the user. 5. The surveying system according to any one of items 1 to 4, wherein the first unit, upon acquiring the work instruction information from the second unit, irradiates the first instruction light onto the work position at the next work site using the first instruction light irradiation unit, or stops irradiating the first instruction light. 6. The surveying system according to any one of items 1 to 5, wherein the second unit has an operating unit that receives operations from a user, and transmits the work instruction information to the first unit in response to the operations received by the operating unit. 7. The surveying system according to any one of claims 1 to 6, wherein the second unit has a work completion determination unit that determines the completion of work, and transmits the work instruction information to the first unit in accordance with the determination of the work completion determination unit. 8. The surveying system described in any one of items 1 to 7, wherein the first unit, the second unit, and the third unit are separate entities. 9. The surveying system described in any one of items 1 to 7, wherein the first unit and the third unit are integrated. 10. The surveying system according to any one of claims 1 to 7, wherein the first unit or the third unit is integrated with the second unit. [Explanation of Symbols]

[0110] 1, 100, 200 Surveying System 2.7 Fixed pointer (first unit) 3.5 Portable pointer (second unit) 4, 6, 8 Position detection device (3rd unit) 9 Surveying equipment 4a Legs 10 Main body 101 Gripping part 102 Accessory Leg 11. Prism (object of measurement) 12 Contact area 121 Stone protrusion 122 Plane section 13 Second indicator light irradiation section 14 Control section 20. First Communications Department 21 1st memory section 22 1st indicator light irradiation section 23 First Control Unit 230 First Irradiation Control Unit 231 Work Route Calculation Unit 232 Switching determination unit 30 Control Processing Unit 31. Second Communications Department 32. Posture Information Acquisition Unit (Posture Detection Unit) 33 Location information acquisition unit 34 Contact information acquisition unit 35. Work Status Acquisition Unit 36 2nd memory section (design point acquisition section) 50 Second Control Unit 51 Shape information acquisition section 52 Target position calculation section 53 Irradiation control unit 70 Position detection unit 71 Mode switching section

Claims

1. A first unit having a first indicator light emitting unit capable of irradiating a first indicator light onto a work position, A second unit having a second indicator light irradiation unit capable of irradiating a second indicator light onto the work position, and an attitude detection unit, A third unit capable of measuring the position information of the second unit, A surveying system having, The second unit is, Based on the attitude information of the second unit detected by the attitude detection unit and the position information of the second unit measured by the third unit, the target instruction position is calculated, and the second instruction light is shone on the target instruction position. After irradiating the target indicated position, if predetermined conditions are met, work instruction information is transmitted to the first unit. Surveying system.

2. The aforementioned predetermined conditions are when a termination operation is received from the user, or when the second unit is lifted. The surveying system according to claim 1.

3. The surveying system according to claim 1, wherein the first unit is a fixed pointer that is fixed within the work site.

4. The surveying system according to claim 1, wherein the second unit is a portable pointer that can be carried by the user.

5. The surveying system according to claim 1, wherein the first unit, upon acquiring work instruction information from the second unit, irradiates the first instruction light onto the work position at the next work site using the first instruction light irradiation unit, or stops irradiating the first instruction light.

6. The surveying system according to claim 1, wherein the second unit has an operation unit that receives operations from a user, and transmits the work instruction information to the first unit in response to the operations received by the operation unit.

7. The surveying system according to claim 1, wherein the second unit has a work completion determination unit that determines the completion of work, and transmits the work instruction information to the first unit in accordance with the determination of the work completion determination unit.

8. The surveying system according to claim 1, wherein the first unit, the second unit, and the third unit are separate entities.

9. The surveying system according to claim 1, wherein the first unit and the third unit are an integrated unit.

10. The surveying system according to claim 1, wherein the first unit or the third unit is integrated with the second unit.

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