Measurement method

Abstract

To effectively acquire a prism constant.SOLUTION: A laser positioning device 100 includes: an image data acquisition unit 109 for acquiring image data obtained by imaging a reflection prism device; a data storage unit 118 for storing the relation between the prism constant of the reflection prism device and the image data; and a prism constant acquisition unit 111 for acquiring the prism constant of the refection prism device on the basis of the relation.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a technique for handling a reflecting prism device for surveying.

Background Art

[0002] In surveying using light waves such as laser light, a technique using a reflecting prism device is known. In this technique, it is necessary to obtain the prism constant of the reflecting prism device to be used. The prism constant is a constant for correcting the actually measured distance value, and it varies depending on the structure, material, holding structure (the structure for holding the reflecting prism in a holder), etc. of the reflecting prism device.

[0003] Therefore, in order to ensure the distance measurement accuracy, it is important to grasp the prism constant of the reflecting prism device to be used. The prism constant is described in the catalogs and materials of the manufacturing manufacturers and sales manufacturers.

[0004] For example, a laser positioning device such as a total station has a function that can input the prism constant in advance, and before the positioning (distance measurement) work, an operation of inputting the prism constant as an initial condition is performed. In this case, correction based on the input prism constant is performed inside the laser positioning device.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] The acquisition of the prism constant needs to be consciously performed by the user, the work is complicated, and there are problems with the possibility of reading errors and input errors. Also, depending on the prism constant, the orientation of the reflecting prism device with respect to the positioning device greatly affects the positioning accuracy.

[0007] In such a background, an object of the present invention is to provide a technique for more efficiently obtaining a prism constant. Another object of the present invention is to provide a technique capable of suppressing a decrease in measurement accuracy due to the orientation of a reflection prism device with respect to a surveying instrument in relation to the obtained prism constant.

Means for Solving the Problems

[0008] The present invention is A surveying method using a light wave distance measuring device, a reflection prism device, and a terminal carried by an operator who installs the reflection prism device, wherein the light wave distance measuring device is the above-mentioned an image data acquisition unit that acquires image data obtained by photographing a reflection prism device, a storage unit that stores the relationship between the prism constant of the reflection prism device and the image data, and a prism constant acquisition unit that acquires the prism constant of the reflection prism device based on the relationship. Based on the image data, a reflection prism device orientation acquisition unit that acquires the orientation of the reflection prism device with respect to the light wave distance measuring device, and a notification unit that notifies the terminal of information on the orientation of the reflection prism device with respect to the light wave distance measuring device, and the orientation information of the terminal with respect to the reflection prism device, which is the notified information, is displayed on the terminal.

Effects of the Invention

[0015] According to the present invention, the prism constant can be obtained more efficiently. Further, according to the present invention, in relation to the obtained prism constant, a decrease in measurement accuracy due to the orientation of the reflection prism device with respect to the surveying instrument can be suppressed.

Brief Description of the Drawings

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Mode for Carrying Out the Invention

[0017] (Regarding the prism constant) First, the prism constant will be briefly explained. In FIG. 1(A), the case of a prism constant of 0 mm is shown, and in FIG. 1(B), the case of a prism constant of 30 mm is shown. Also, in FIGS. 1(A) and (B), the state where the reflection prism device is not facing the positioning device (the optical axis is not facing the positioning device) is exaggeratedly shown.

[0018] The reflection prism reflects the incident light by reversing its direction by 180°. At this time, due to the light beam traveling through a material with a high refractive index (n = about 1.5 in the case of glass) that constitutes the reflection prism, when viewed from the side of the positioning device, the optical position of the reflection point exists on the other side of the reflection prism. That is, although the actual reflection point is inside the reflection prism, since the light speed in the reflection prism becomes slower (1 / refractive index), the optical reflection point measured with the light speed assumed to be constant is at a position farther from the reflection point when viewed from the positioning device. The correction parameter for correcting this deviation is the prism constant.

[0019] For example, the case of a prism constant of 0 mm in FIG. 1(A) will be explained. Here, the reflection prism device is composed of a reflection prism and a holder that holds the reflection prism. A reference point, which is a point serving as a reference for measurement, is determined for the reflection prism device. The reflection prism device is installed so that this reference point coincides with the point where ranging (positioning) is to be performed.

[0020] For example, FIG. 5 shows a reflection prism device 200 with a prism constant of 0 mm and a reflection prism device 300 with a prism constant of 30 mm. In the reflection prism devices 200 and 300, a reference point is set on the extension line of the support column 205. The user installs the reflection prism device 200 or 300 with the support column 205 standing vertically at the point where distance measurement (position measurement) is to be performed, and performs distance measurement (position measurement).

[0021] For the reasons described above, in the reflection prism device, a deviation occurs between the position of the actual reflection point and the position of the optical reflection point. In the case of a prism constant of 0 mm, considering the above deviation, the position of the reflection prism with respect to the holder is set further forward (the position according to the side of the laser distance measuring device) than before. That is, the position of the reflection prism is set to a position shifted to the side of the measuring device from the position of the reference point.

[0022] By doing so, the actual distance from the distance measuring device to the reference point of the reflection prism device is made to match the optical distance from the distance measuring device to the reflection point.

[0023] However, in the case of a prism constant of 0 mm, the following problems become apparent. When the prism constant is 0 mm, as described above, the position of the reflection prism with respect to the holder is set to a position offset forward (a position shifted to the side of the laser distance measuring device), and the position of the reference point is deviated from the reflection point in the reflection prism.

[0024] That is, in order to align the optical positions, a physical deviation occurs in the positions of the reflection point and the reference point in the optical axis direction.

[0025] Therefore, as shown in FIG. 1(A), when the reflection prism is not facing the laser distance measuring device directly, the line segment connecting the reference point and the reflection point rotates, and a deviation occurs in the position in the direction perpendicular to the optical axis of the reference point and the reflection point. This deviation becomes a measurement error.

[0026] For example, Fig. 1(A) shows the case where the reflection prism device rotates around the reference point. In this case, when the reflection prism device rotates, the reflection point moves along the circumference around the reference point, thereby causing a measurement error. This measurement error becomes more prominent as the physical separation distance between the reflection point and the reference point increases. This measurement error mainly appears as an error in the positioning of the reflection prism device.

[0027] Therefore, when the prism constant is 0 mm, it is necessary to pay attention to the alignment of the reflection prism facing the laser positioning device (facing the front).

[0028] Next, the case where the prism constant is not 0 (30 mm in the case of Fig. 1(B)) shown in Fig. 1(B) will be described. In this case, the reflection point and the reference point can be physically made to coincide or be close to each other. That is, the physical distance from the positioning device to the reflection point and the physical distance from the positioning device to the reference point can be made to coincide or be close to each other.

[0029] On the other hand, the optical distance from the positioning device to the reflection point and the physical distance from the positioning device to the reference point will be different values. This difference is the prism constant.

[0030] That is, in the case of Fig. 1(B), even if it is intended to measure the distance to the reference point, in reality, the distance measurement is performed on a point 30 mm ahead of the reference point. Therefore, the value obtained by subtracting 30 mm from the actually measured value is the final distance measurement value.

[0031] In the case of Fig. 1(B), even if the reflection prism is not facing the laser positioning device and is tilted, there is no (or little) difference in the physical positions of the reflection point and the reference point. Therefore, the error generated is smaller compared to the case where the prism constant in Fig. 1(A) is 0 mm.

[0032] Thus, there are both cases where the prism constant is 0 mm and cases where it is not 0 mm. In either case, information on the prism constant of the reflection prism device to be used is required. Also, when the prism constant is 0 mm, attention needs to be paid to the setting of the orientation of the reflection prism device.

[0033] (Positioning device) FIG. 2 shows the appearance of the laser positioning device 100 using the invention as viewed from the front. The laser positioning device 100 is a surveying device that functions as a total station. The laser positioning device 100 measures the position of a target relative to the laser positioning device 100 by measuring the distance to the target and its direction. The laser positioning device 100 includes a base portion 151, a tripod 152 that supports the base portion 151, a horizontal rotation portion 153 that is rotatably held on the base portion 151, and a vertical rotation portion 154 that performs elevation rotation and depression rotation with respect to the horizontal rotation portion 153.

[0034] The horizontal rotation portion 153 rotates horizontally with respect to the base portion 151. The rotation is performed by a motor. The vertical rotation portion 154 rotates vertically (elevation rotation and depression rotation) with respect to the horizontal rotation portion 153. Each rotation is performed by a motor.

[0035] The vertical rotation portion 154 houses an optical system and peripheral circuits for performing laser distance measurement, and a camera for performing photography.

[0036] Although not shown in FIG. 2, the laser positioning device 100 includes a touch panel display 110 (see FIG. 3) that also serves as an operation panel and a display. Information related to the operation of the laser positioning device 100, various measured data, etc. are displayed on this touch panel display 120.

[0037] FIG. 3 shows a block diagram of the laser positioning device 100. In each functional block constituting the block diagram of FIG. 3, the part that performs calculations is realized by a computer. Of course, it is also possible to realize some or all of the functional blocks by dedicated electronic circuits.

[0038] The laser distance measuring device 100 includes a light emitting unit 101, a light receiving unit 102, a distance calculation unit 103, a direction acquisition unit 104, a wide-angle camera 105, a telescopic camera 106, a horizontal rotation drive control unit 107, a vertical rotation drive control unit 108, an image data reception unit 109, an image analysis unit 110, a prism constant acquisition unit 111, a distance measurement data correction unit 112, a position calculation unit 113, an orientation acquisition unit 114 of the reflecting prism device, a notification unit 115, a determination unit 116, an operation control unit 117, a data storage unit 118, a communication device 119, and a touch panel display 120.

[0039] The light emitting unit 101 is a part related to the emission of distance measurement light (laser light for distance measurement), and includes a light emitting device that emits distance measurement light, an optical system such as a lens, and peripheral circuits of the light emitting device. The light receiving unit 102 is a part related to the reception of the distance measurement light reflected from the object, and includes an optical system such as a lens, a light receiving device, and peripheral circuits of the light receiving device.

[0040] The distance measurement light from the light emitting unit 101 is emitted from the center of the objective lens 155 to the outside of the laser distance measuring device 100, and the reflected light of this distance measurement light is taken into the laser distance measuring device 100 from the center of the objective lens 155.

[0041] The optical system of the light emitting unit 101 and the optical system of the light receiving unit 102 are partially shared, and the optical axes of both are separated and combined by an optical system using a half mirror or the like, and the emitted light from the laser distance measuring device 100 and the incident light to the laser distance measuring device 100 are set to overlap on one optical axis.

[0042] The distance calculation unit 103 calculates the distance to the object using the principle of light wave distance measurement. For distance calculation, there are a method using the phase difference of the received distance measurement light and a method using the propagation time. In this example, distance measurement is performed using the method of using the phase difference.

[0043] In the method using the phase difference, a reference optical path is provided in the distance measuring device, and the distance to the object is calculated from the difference (phase difference) between the light reception timing of the distance measuring light that has propagated through this reference optical path and the light reception timing of the distance measuring light reflected from the object. In the method using the propagation time, the distance to the object is calculated from the time it takes for the distance measuring light to hit the object and return after reflection.

[0044] The direction acquisition unit 104 acquires the direction of the distance measurement target point. The rotation angles of the horizontal rotation unit 153 and the vertical rotation unit 154 are precisely measured by an encoder, and by measuring these angles, the direction of the distance measurement target point as seen from the laser distance measuring device 100, that is, the direction of the optical axis of the laser distance measuring device 100, is acquired.

[0045] The wide-angle camera 105 and the telephoto camera 106 are digital cameras capable of variable image magnification and can capture still images and moving images. Figure 2 shows the wide-angle camera 105. The telephoto camera 106 performs shooting through the objective lens 155. As described above, the distance measuring light is emitted and incident through the objective lens 155.

[0046] The relationship between the external calibration elements (position and orientation) of the wide-angle camera 105 and the telephoto camera 106 and the external calibration elements of the optical system for distance measurement is known. In this example, the optical axis of the telephoto camera 106 coincides with the optical axis of the distance measuring light. The optical axis of the wide-angle camera 105 does not coincide with the optical axis of the telephoto camera 106 but is set to be parallel.

[0047] The horizontal rotation drive control unit 107 drives and controls the horizontal rotation of the horizontal rotation unit 153. The vertical rotation drive control unit 108 drives and controls the vertical rotation of the vertical rotation unit 154.

[0048] The image data reception unit 109 receives the image data of the images captured by the wide-angle camera 105 and the telephoto camera 106. The image analysis unit 110 performs image analysis on the images captured by the wide-angle camera 105 and the telephoto camera 106. In this image analysis, the identification of the captured reflection prism device and the orientation of the reflection prism device with respect to the distance measurement device 100 are obtained. Details of the processing performed by the image analysis unit 110 will be described later.

[0049] The prism constant acquisition unit 111 acquires the prism constant based on the identification information of the reflection prism device obtained as a result of the image analysis in the image analysis unit 110. The distance measurement data correction unit 112 corrects the value of the distance to the reflection prism calculated by the distance calculation unit 103 using the prism constant acquired by the prism constant acquisition unit 111. This corrected value becomes the final distance measurement value.

[0050] For example, assume that the prism constant of the reflection prism device based on the identification information deduced by the image analysis unit 110 from the image is 20 mm. In this case, the distance data correction unit 112 corrects the distance calculated by the distance calculation unit 103 using the acquired prism constant to obtain the final distance measurement value. In this case, if the distance calculated by the distance calculation unit 103 is L, then L - 20 mm is obtained as the final distance measurement value.

[0051] The position calculation unit 113 calculates the three-dimensional position of the distance measurement point based on the distance measurement value and its direction. Here, if the external calibration elements (posture and position) of the laser distance measurement device 100 in the absolute coordinate system are known, the three-dimensional position of the distance measurement point in the absolute coordinate system can be obtained. The absolute coordinate system is a coordinate system used when describing GNSS or a map.

[0052] The orientation acquisition unit 114 of the reflection prism device acquires information on the orientation of the reflection prism device with respect to the laser distance measurement device 100 based on the result of the image analysis in the image analysis unit 110.

[0053] The notification unit 115 outputs, as notification information, the information regarding the orientation of the reflection prism device acquired by the orientation acquisition unit 114 of the reflection prism device. This notification information is output to the outside via the communication device 119. For example, the above notification information is transmitted to a communication terminal carried by an operator who installs the reflection prism device via a wireless LAN line.

[0054] The determination unit 116 determines whether the reflection prism device is facing the laser distance measuring device. For example, if the angle formed by the direction of the front of the reflection prism device and the line connecting the reflection prism device and the laser distance measuring device is equal to or less than a predetermined threshold value (for example, 5°), it is determined that the reflection prism device is facing the laser distance measuring device.

[0055] The operation control unit 117 controls the operation of the laser distance measuring device 100. The operation control unit 117 is constituted by, for example, a microcomputer. The data storage unit 118 stores an operation program necessary for operating the laser distance measuring device 100, various types of data, and survey data. Further, table data illustrated in FIGS. 6 and 7 is stored in the data storage unit 118.

[0056] The communication device 119 communicates with external devices. The communication is performed using optical communication, wireless LAN, a mobile phone line, etc. Communication by wire is also possible. The touch panel display 120 functions as a user interface, an operation panel of the laser distance measuring device 100, a display device for information related to operations, and a display device for various types of measured data.

[0057] (Reflection Prism Device) The reflection prism device will be described below. Fig. 4 is a front view of the reflection prism device. Fig. 5(A) is a side view of the reflection prism device 200 with a prism constant of 0 mm, and Fig. 5(B) is a side view of the reflection prism device 300 with a prism constant of 30 mm. In this example, even if the prism constants are different, when viewed from the front, the appearance of the reflection prism device looks the same (strictly speaking, the positional relationship in the depth direction of the parts is different, but since it is a minor difference, it is treated as the same appearance here). Also, since the parts that make up both reflection prism devices are the same, the same reference numerals will be used in the following description for explanation.

[0058] The reflection prism devices 200 and 300 include a reflection prism 201, a holder 202 that holds the reflection prism 201, a U-shaped arm 203 that supports the holder 202, a base portion 204 that supports the lower part of the arm 203, and a support column 205 fixed to the lower part of the base portion 204.

[0059] The reflection prism 201 can be adjusted in elevation and depression angles with respect to the arm 203. Fixing the elevation and depression angles of the reflection prism 201 with respect to the arm 203 is performed by rotating the knob 208.

[0060] The difference between the reflection prism devices 200 and 300 is the position in the optical axis direction of the reflection prism 201 with respect to the holder 202. In the reflection prism device 200, for the reason described in relation to Fig. 1(A), compared to the reflection prism 300, the reflection prism 201 is shifted to a position in the forward direction on the optical axis (the direction of the laser distance measuring device) with respect to the holder 202.

[0061] In the reflection prism devices 200 and 300, the reference point (the point serving as the reference for distance measurement) is set on the axis of the support column 205. The tip of the support column 205 is pointed, and with the support column 205 vertical, the reflection prism devices 200 and 300 are installed by bringing the tip into contact with the survey point set on the ground or floor surface.

[0062] The reflection prism devices 200 and 300 are adjusted in their horizontal directions by horizontally rotating about the support column 205. It is also possible to hold the base portion 204 in a horizontally rotatable state on a support such as a tripod instead of the support column 205.

[0063] On the front of the base portion 204, a barcode 207 indicating the prism constant is displayed. Instead of the barcode 207, code display by characters, two-dimensional barcode, and other code displays by graphic information can be used. Also, it is possible to directly display the prism constant.

[0064] (Acquisition of Prism Constant and Orientation of Reflection Prism Device) The image analysis unit 110 reads the code information corresponding to the barcode 207 from the image of the barcode 207 captured by the wide-angle camera 105 and / or the telephoto camera 106. This code information is the identification information of the reflection prism device, and the prism constant acquisition unit 111 identifies the model number of the reflection prism device with the barcode 207 from this code information and acquires the prism constant of the reflection prism device.

[0065] In this case, the data shown in FIG. 6 is stored in the data storage unit 118, and based on this data, the prism constant corresponding to the read code is acquired. The data in FIG. 6 is acquired in advance and stored in the data storage unit 118 as known data.

[0066] For example, assume that the code information read from the image is 〇△□◇○△. In this case, the model number of the reflection prism is identified from the data in FIG. 6, and the prism constant of 30 mm is acquired.

[0067] It is also possible to examine in advance the relationship between the appearance of the reflection prism device and the prism constant, and store the data in the data storage unit 118. In this case, the image analysis unit 110 identifies the reflection prism device from the appearance image of the reflection prism device captured by the wide-angle camera 105 and / or the telephoto camera 106. It is also possible to identify the reflection prism device by combining the code information and the information on the appearance of the reflection prism device.

[0068] Further, the image analysis unit 110 determines the orientation of the reflection prism device 200 (or 300) with respect to the laser ranging device 100 from the appearance image captured by the wide-angle camera 105 and / or the telephoto camera 106. The following describes this process.

[0069] The data storage unit 118 stores a three-dimensional model of the reflection prism device to be used. An example of this data is shown in FIG. 7. This three-dimensional model is 3D data composed of contour lines showing the appearance of the reflection prism device, and is obtained, for example, from the design data (3D CAD data) of each reflection prism device. The three-dimensional data of each reflection prism device may be acquired using stereophotography or laser scanning, and the data of the three-dimensional model may be obtained therefrom.

[0070] The following describes the process of determining the orientation of the reflection prism based on the image of the reflection prism device. Here, it is assumed that the reflection prism device is in the horizontal direction or a direction that can be regarded as the horizontal direction as viewed from the laser ranging device 100.

[0071] First, based on the code read from the captured image, a three-dimensional model of the target reflection prism device is acquired with reference to the data in FIG. 7.

[0072] Once the three-dimensional model of the reflection prism device is obtained, create views of this three-dimensional model as seen from the front (0° direction), from the right at a 5° diagonal, from the right at a 10° diagonal, from the right at a 15° diagonal, from the right at a 20° diagonal, from the right at a 25° diagonal, and from the right at a 30° diagonal. Similarly, create views of the three-dimensional model as seen from the left at a 5° diagonal, from the left at a 10° diagonal, from the left at a 15° diagonal, from the left at a 20° diagonal, from the left at a 25° diagonal, and from the left at a 30° diagonal.

[0073] That is, create images of the reflection prism device as seen from a plurality of different viewpoints. Hereinafter, the image of the reflection prism device for each of these viewpoints will be referred to as a model image.

[0074] Then, compare the above model images (in this case, a total of 15) of the three-dimensional model as seen from each direction with the captured images of the reflection prism taken by the wide-angle camera 105 and / or the telephoto camera 106. Through this comparison, search for the model image that most closely resembles the captured image. This search is performed using known image analysis techniques.

[0075] Then, obtain the above-mentioned angle (the angle at which the three-dimensional model is viewed) in the searched model image. For example, if the searched model image is a model image seen from a direction 10° diagonally to the right, it means that the laser range finder 100 can generally be seen from a direction approximately 10° diagonally to the right from the front direction of the reflection prism device. In this case, it means that the reflection prism device is not facing directly towards the laser range finder 100 but is facing a direction rotated 10° to the left.

[0076] Figure 8 is a top view seen from directly above. In Figure 8(A), a state where the reflection prism device 200 is facing directly towards the laser range finder 100 is shown. In Figure 8(B), a state where the reflection prism device 200 is facing slightly to the left with respect to the laser range finder 100 is shown.

[0077] Through the above processing, the orientation of the reflection prism device with respect to the laser range finder is determined. This processing is performed in the image analysis unit 110.

[0078] Here, an example in which the angle is set in 5° increments has been described, but finer settings (for example, in 2° or 3° increments) are also possible. Also, if a decrease in accuracy can be tolerated, settings with larger angle increments (for example, in 10° increments) are also possible. Further, it is also possible to create a model image of the three-dimensional model as viewed from an obliquely upward or obliquely downward direction.

[0079] (An example of the processing procedure) Hereinafter, an example of a procedure for performing positioning (distance measurement) of the reflection prism device 200 or 300 using the laser positioning device 100 will be described. The program for executing the processing described below is stored in an appropriate storage medium and executed by the CPU of a computer built into the laser positioning device 100.

[0080] The following processing starts in a state where the laser positioning device 100 is installed and an operator has installed the reflection prism device 200 (or 300) at a position where positioning is to be performed (see FIG. 11). Note that prior to the processing, the external calibration elements (position and orientation) of the laser positioning device 100 are obtained and are assumed to be known.

[0081] First, the reflection prism device 200 is photographed by the wide-angle camera 105 and / or the telephoto camera 106, and the image data obtained at that time is acquired (S101). This processing is performed by the image data reception unit 109. At the time of the above-described photographing, it is sufficient if it is approximately so, and an effort is made to ensure that the reflection prism device 200 faces the laser positioning device 100.

[0082] Next, the display of the code data (in this case, the display of the barcode 207) is detected from the photographed image of the reflection prism device 200 acquired in step S101, and the code is read (step S102).

[0083] Next, the read code is applied to the data in FIG. 6 to obtain the model number of the reflection prism device 200 targeted here, and the reflection prism device 200 is identified (step S103). The processes of steps S102 and S103 are performed by the image analysis unit 110.

[0084] Next, the code read in step S102 is applied to the table data in FIG. 6 to obtain the prism constant of the reflection prism device 200 targeted here (step S104). This process is performed by the prism constant acquisition unit 111.

[0085] Next, the model number obtained in step S103 is applied to the data in FIG. 7 to obtain a 3D model of the corresponding reflection prism device (in this example, the reflection prism device 200 in FIG. 11) (step S105). Next, the orientation of the reflection prism device 200 with respect to the laser displacement measuring device 100 using the 3D model obtained in step S105 is specified (step S106). The processes of steps S105 and S106 are performed by the orientation acquisition unit 114 of the reflection prism device.

[0086] Next, the information on the orientation of the reflection prism device 200 with respect to the laser displacement measuring device 100 obtained in step S106 is notified (step S107). In this process, the notification information related to the orientation of the reflection prism device 200 with respect to the laser displacement measuring device 100 is transmitted via the communication device 119 to the communication terminal carried by the worker who installs the reflection prism device 200.

[0087] FIG. 9 shows an example of the above notification information displayed on the display of the communication terminal 400 carried by the worker who installs the reflection prism device 200. As the communication terminal 400, a dedicated communication terminal, a smartphone, a tablet, etc. can be used.

[0088] FIG. 9(A) shows a state in which notification information indicating that the reflection prism device 200 is facing the laser distance measuring device 100 (facing the front) is displayed on the display of the communication terminal 400. FIG. 9(B) shows a state in which notification information when the front of the reflection prism device 200 is slightly turned to the left with respect to the laser distance measuring device 100 is displayed on the display of the communication terminal 400.

[0089] After step S107, it is determined whether the reflection prism device 200 is facing the laser distance measuring device 100 (step S108). This process is performed by the determination unit 116. If the reflection prism device 200 is facing the laser distance measuring device 100, the process proceeds to step S109. If not, the processes from step S106 and below are executed again.

[0090] The determination of facing is made by determining whether it is within a predetermined range such as within ±5°. Of course, it is also possible to determine the presence or absence of complete facing.

[0091] For example, the operator who sees the display in FIG. 9(B) turns the reflection prism device 200 slightly clockwise when viewed from above. Then, when the reflection prism device 200 faces the laser distance measuring device 100, or when it reaches a state where it can be considered to be facing, the determination in step S108 becomes YES, and the process proceeds to step S109.

[0092] In step S109, distance measurement of the reflection prism device 200 using the distance measurement light is performed (step S109). Next, the distance measurement value obtained in step S109 is corrected using the prism constant acquired in step S104 (step S110). This process is performed by the distance measurement data correction unit 112.

[0093] Then, the distance measurement value corrected in step S110 is determined as the distance measurement value (step S111). Thus, the distance measurement of the reflection prism device 200 in FIG. 11 (measurement of the distance from the laser distance measuring device 100) is performed.

[0094] Further, based on the obtained distance measurement value, the external calibration elements (position and orientation) of the laser positioning device 100, and the direction of the reflection prism device 200 as seen from the laser positioning device 100, the position of the reflection prism device 200 in the absolute coordinate system is calculated. That is, the positioning of the reflection prism device 200 is performed.

[0095] (Advantages) The prism constant of the reflection prism device can be automatically obtained based on the captured image, and the distance measurement value is corrected using this prism constant. The burden on the operator at this time is minimal, and the work related to setting the prism constant can be simplified. Further, it is determined whether the reflection prism device is facing the laser positioning device, and that information is notified to the operator handling the reflection prism device in real time. This makes it easy to align the reflection prism device with the laser positioning device, and high measurement accuracy can be obtained.

[0096] (Others) Here, an example of a laser positioning device has been described as an example of the light wave positioning device, but the present invention can be applied to surveying devices having a laser distance measurement function such as a laser scanner. Further, the present invention can also be applied to a positioning device using light of a form other than laser.

[0097] It is also possible to make the part that performs the process related to the automatic acquisition of the prism constant and / or the process related to the determination of the orientation of the reflection prism device function independently as a data processing device. In this case, the said part is comprised by one or a plurality of PC (personal computer), a microcomputer, and dedicated hardware. For example, at least one of the image data reception unit 109, the image analysis unit 110, the prism constant acquisition unit 111, the distance measurement data correction unit 112, the position calculation unit 113, the orientation acquisition unit 114 of the reflection prism device, the notification unit 115, the determination unit 116, and the data storage unit 118 is configured by a PC, and the PC can be used as a data processing device that performs at least a part of the process related to the automatic acquisition of the prism constant. The configuration of FIG. 3 can be regarded as a laser positioning device 100 provided with the said data processing device.

Description of Signs

[0098] 100… Laser positioning device, 105… Wide-angle camera, 151… Base part, 152… Tripod, 153… Horizontal rotation part, 154… Vertical rotation part, 155… Objective lens, 200… Reflective prism device, 201… Reflective prism, 202… Holder, 203… Arm, 204… Base part, 205… Support column, 207… Barcode, 206… Knob, 300… Reflective prism device, 400… Communication terminal.

Claims

1. A surveying method using an optical wave distance measuring device, a reflection prism device, and a terminal carried by an operator who installs the reflection prism device, comprising: The optical wave distance measuring device includes: an image data acquisition unit that acquires image data obtained by photographing the reflection prism device; a storage unit that stores the relationship between the prism constant of the reflection prism device and the image data; a prism constant acquisition unit that acquires the prism constant of the reflection prism device based on the relationship; an orientation acquisition unit of the reflection prism device that acquires the orientation of the reflection prism device with respect to the optical wave distance measuring device based on the image data; a notification unit that notifies the terminal of the orientation information of the reflection prism device with respect to the optical wave distance measuring device; and a surveying method in which the orientation information of the terminal with respect to the reflection prism device, which is the notified information, is displayed on the terminal.

Images