Measuring device, measuring method, and measurement program

Abstract

To provide a technique capable of improving efficiency in survey work using a light reflection target.SOLUTION: A surveying device 200 for surveying a reflection prism 101 installed on an installation surface while being separated by specific distance includes: a survey data reception part for receiving survey data of the reflection prism 101 by laser beams; a control part for performing a survey of at least three points on an installation surface on which the reflection prism 101 is installed by using laser beams; a determination part for determining whether a position of the reflection prism 101 is surrounded by at least the three points when considering on a horizontal surface; a plane calculation part for calculating a surface of the installation surface on the basis of survey data of at least the three points when a position of the reflection prism 101 is surrounded by at least the three points when considering on a horizontal surface; and a position calculation part for calculating an intersection between a straight line toward the surface from a position of the reflection prism 101 and the surface as an installation position of the reflection prism 101 on the installation surface.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a surveying technique using a reflection target.

Background Art

[0002] At a construction site, work is carried out to identify points specified on a drawing at the site. In this work, a surveying instrument such as a total station (TS) is used to identify points specified in data on the actual site, and work such as marking or driving a pile is carried out there. In addition, there is also work to perform surveying of the positions where marks are made and piles are driven at the site.

[0003] In these operations, an optical reflection target such as a reflection prism device is used. For example, the reflection prism device has a structure in which a reflection prism is fixed to a pole. In the work, the tip of the above pole is brought into contact with a point to be surveyed on the ground or floor (this point is called a surveyed point), and surveying using the laser light of the reflection prism is performed by a surveying instrument in that state.

[0004] Ultimately, the desired surveying value is the coordinates of the surveyed point on the ground or floor surface where the tip of the pole has contacted. Therefore, it is necessary to accurately obtain the position of the reflection prism on the pole in advance. This work is complicated, and the work efficiency has been impaired. There has also been a problem of obtaining incorrect numerical values.

[0005] A technique that eliminates the above work is described in Patent Document 1. In this technique, the position of the ground directly below the reflection prism is obtained from a laser scan.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] The method of Patent Document 1 assumes that the laser scan is performed along a vertical plane. However, in actual laser scanning, while the vertically rotating optical system is further rotated in the horizontal plane, it is performed along a slightly oblique line. Therefore, an error occurs when obtaining the coordinates of the point directly below the reflection prism.

[0008] Against such a background, an object of the present invention is to provide a technique that enables the efficiency of surveying work using an optical reflection target.

Means for Solving the Problems

[0009] The present invention is a surveying apparatus that performs surveying of an optical reflection target installed at a specific distance on an installation surface, and includes a positioning data reception unit that receives positioning data of the optical reflection target by laser light, a control unit that performs positioning using laser light on three or more points on the installation surface where the optical reflection target is installed, a determination unit that determines whether or not the position of the optical reflection target is surrounded by the three or more points in terms of horizontal coordinates, a plane calculation unit that calculates the plane of the installation surface based on the positioning data of the three or more points when the position of the optical reflection target is surrounded by the three or more points in terms of horizontal coordinates, and a position calculation unit that calculates the intersection of the straight line from the position of the optical reflection target toward the plane and the plane as the installation position of the optical reflection target on the installation surface.

[0010] In the present invention, examples of the mode in which the optical reflection target is supported by a linear member and the straight line is obtained based on the result of laser scanning of the linear member. In the present invention, when the position of the optical reflection target is not surrounded by the three or more points in terms of horizontal coordinates, examples of the mode in which re-positioning using laser light on three or more points on the installation surface where the optical reflection target is installed is performed based on the difference between the positions in the height direction of the three or more points and the position in the height direction of the optical reflection target.

[0011] In the present invention, considering the horizontal coordinates, when the position of the optical reflection target is not surrounded by the three or more points, based on the relationship between the positions of the three or more points in the horizontal direction and the position of the optical reflection target in the horizontal direction, there is an aspect in which re-positioning using laser light is performed on three or more points on the installation surface where the optical reflection target is installed.

[0012] In the present invention, in a plurality of points Pi (i is a natural number of 3 or more) obtained as a result of positioning using laser light on three or more points on the installation surface where the optical reflection target is installed, the distribution of the positions in the height direction is obtained, and a point at a height position deviated from the distribution is preferably removed.

[0013] In the present invention, in a plurality of points Pi (i is a natural number of 3 or more) obtained as a result of positioning using laser light on three or more points on the installation surface where the optical reflection target is installed, by comparing the distribution of the positions of the plurality of points Pi expected on a specific horizontal plane with the distribution of the positions of the plurality of points Pi obtained as a result of the positioning, or by comparing the distance measurement values of the plurality of points Pi expected on a specific horizontal plane with the distance measurement values of the plurality of points Pi obtained as a result of the positioning, an aspect of removing, as abnormal points, points that are not suitable for use in the determination from among the plurality of points Pi is preferable.

[0014] In the present invention, there is an aspect in which laser scanning is performed below the optical reflection target, and the head portion of a pile driven into the installation surface is detected by the laser scanning.

[0015] The present invention is a surveying method for surveying optical reflection targets installed at a specific distance on an installation surface, which receives positioning data of the optical reflection targets by laser light, performs positioning using laser light on three or more points on the installation surface where the optical reflection targets are installed, and horizontally determines whether the position of the optical reflection targets is surrounded by the three or more points. Horizontally, when the position of the optical reflection targets is surrounded by the three or more points, based on the positioning data of the three or more points, the plane of the installation surface is calculated, and the intersection point of the straight line from the position of the optical reflection targets to the plane and the plane is calculated as the installation position of the optical reflection targets on the installation surface. It can also be understood as a surveying method.

[0016] The present invention is a program for causing a computer to execute processing related to surveying optical reflection targets installed at a specific distance on an installation surface, which causes the computer to receive positioning data of the optical reflection targets by laser light, perform positioning using laser light on three or more points on the installation surface where the optical reflection targets are installed, horizontally determine whether the position of the optical reflection targets is surrounded by the three or more points, horizontally, when the position of the optical reflection targets is surrounded by the three or more points, calculate the plane of the installation surface based on the positioning data of the three or more points, and calculate the intersection point of the straight line from the position of the optical reflection targets to the plane and the plane as the installation position of the optical reflection targets on the installation surface in a surveying program.

Effects of the Invention

[0017] According to the present invention, it is possible to improve the efficiency of surveying work using optical reflection targets.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0019] 1. First Embodiment (Overview) FIG. 1 shows a surveying device 200 that performs position measurement (surveying) using laser light, a reflection prism device 100 that is a light reflection target for surveying by the surveying device 200, and a worker 110 who installs and holds the reflection prism device 100.

[0020] The reflection prism device 100 has a pole 102 having a rod-shaped structure with a longitudinal shape and a reflection prism 101 fixed above the pole 102. The lower end of the pole is pointed. By bringing the tip of the pointed pole 102 into contact with the survey point on the ground or floor surface and making the pole 102 vertical, the reflection prism device 100 is installed at the survey point.

[0021] The surveying device 200 measures (surveys) the position of the reflection prism 101 of the reflection prism device 100 and surveys the ground on which the reflection prism 100 is installed using laser light. This survey of the ground is to detect the reflected light from the ground and is non-prism measurement without using a reflection prism. Then, the operations described later are performed to calculate the coordinates of the point (survey point) where the tip of the pole 102 is in contact with the ground.

[0022] Specifically, first, the surveying of the reflection prism 101 is performed by the surveying device 200. Next, the surveying of three or more points Pi (i = 3, 4, 5, 6...) on the ground at the location where the reflection prism device 100 is installed is performed by the surveying device 200. At this time, the survey point is surrounded by Pi.

[0023] Next, using Pi, calculate the plane of the ground where the reflection prism device 100 is installed. Specifically, calculate the equation of the plane that mathematically describes the surface of the ground. Then, the position where the extension line of this plane intersects the pole 102, or the position where the vertical line passing through the reflection prism 109 intersects the above plane, is calculated as the survey point.

[0024] (Surveying instrument) The surveying instrument 200 is a total station and has functions of distance measurement and positioning using laser light, and capturing and tracking the object to be surveyed. FIG. 2 is a perspective view (A) and (B) of the surveying instrument 200. (A) is a perspective view seen from the front side, and (B) is a perspective view seen from the back side.

[0025] The surveying instrument 200 includes a base portion 222 fixed on a tripod 221, a horizontal rotation portion 223 that can rotate horizontally on the base portion 222, and a vertical rotation portion 224 that is held on the horizontal rotation portion 223 in a state where vertical rotation (elevation angle control and depression angle control) is possible.

[0026] The horizontal rotation and vertical rotation are performed by a motor. The horizontal angle of the horizontal rotation portion 223 (the pointing direction in the horizontal direction of the optical axis of the telescope 225) and the vertical angle of the vertical rotation portion 224 (the elevation angle or depression angle of the optical axis of the telescope 225) are precisely measured by an encoder.

[0027] On the front surface of the vertical rotation portion 224, a telescope 225, an optical portion 229 for capture and tracking laser light, and a wide-angle camera 201 are arranged, and on the back surface, a landing portion 226 of the telescope 225 and a touch panel display 228 are arranged. The telescope 225 also serves as the optical system of the telescopic camera 202 shown in FIG. 3.

[0028] Through the objective lens of the telescope 225, distance - measuring laser light (distance - measuring light) for performing distance measurement is irradiated outward, and the reflected light is received. That is, the optical axis of the telescope 225 (the optical axis of the telescopic camera 202) and the optical axis of the distance - measuring light are set on the same axis. Also, the optical axis of the wide - angle camera 201 and the optical axis of the optical unit 229 of the capture - and - tracking laser light are set in the same direction as the optical axis of the telescope 225.

[0029] The touch - panel display 228 is an operation panel and display of the surveying device 200. Various information related to the operation of the surveying device 200 and information related to the surveying results are displayed on the touch - panel display 228.

[0030] (Block diagram of the surveying device) Figure 3 is a functional block diagram of the surveying device 200. The surveying device 200 includes a wide - angle camera 201, a telescopic camera 202, a drive control unit 303, a target capture - and - tracking unit 204, a positioning unit 205, a data storage unit 207, a communication device 208, a touch - panel display 228, and a data processing device 400.

[0031] The wide - angle camera 201 takes a wide - angle image. The telescopic camera 202 takes a telescopic image. The drive control unit 203 controls the direction of the optical axis of the surveying device 200 (the optical axis of the telescope 225). Specifically, the drive control unit 203 controls the horizontal rotation of the horizontal rotation unit 223 and the vertical rotation of the vertical rotation unit 224.

[0032] The drive control unit 203 performs the optical - axis control of the positioning light in the processes of steps S101, S102, and S105 of FIG. 5 described later.

[0033] The target capture - and - tracking unit 204 performs processes related to the capture and tracking of a target using the capture - and - tracking laser light. A reflector such as a reflecting prism is used as the target. In this example, the reflecting prism 101 is the target.

[0034] The laser light for capture and tracking has a fan-shaped beam shape, and the direction of the target is searched by detecting the reflected light. At this time, the direction of the optical axis of the surveying device 200 is finely adjusted under the control of the drive control unit 203. Specifically, the optical axis is finely adjusted so as to swing the head up, down, left, and right, and the target is searched. This technology is described, for example, in Japanese Patent Application Laid-Open No. 2009-229192.

[0035] Through the above search, the target is captured on the optical axis (optical axis of the telescope 225) of the surveying device 200. This is the state where the target is captured. Once the target is captured, the control of the optical axis of the surveying device 200 is performed in real time so that the state is maintained. This is the tracking of the target. As a result, even if the target moves, the direction of the optical axis is controlled to follow the direction, and the state of capturing the target is maintained.

[0036] If the target is lost while the target is being captured, the search for the target is started. In this way, control is performed so as to be in a state of capturing the target as much as possible.

[0037] The positioning unit 205 performs positioning using laser light. The positioning is calculated from the distance to the object (in this case, the reflecting prism that is the target) measured by the distance measuring light (laser light for distance measurement) and the direction of the optical axis of the distance measuring light. The distance is calculated using the principle of light wave distance measurement. For calculating the distance, there are a method using the phase difference of the received distance measuring light and a method using the propagation time. In this example, distance measurement is performed using the method of using the phase difference.

[0038] In the method using the phase difference, a reference optical path is provided in the surveying device, and the distance to the object is calculated from the difference (phase difference) between the reception timing of the distance measuring light that has propagated through this reference optical path and the 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 until the distance measuring light hits the object and is reflected back.

[0039] The direction of the distance measurement point as seen from the measuring device 200 (the direction of the optical axis of the distance measurement light) is obtained by measuring the rotation angles of the horizontal rotation unit 223 and the vertical rotation unit 224. The rotation angles of the horizontal rotation unit 223 and the vertical rotation unit 224 are precisely measured by an encoder.

[0040] The data storage unit 207 stores data and programs necessary for the operation of the measuring device 200 and data of the measurement results. The data processing device 400 processes data related to the processing of FIG. 5 described later.

[0041] (Block diagram of data processing device) FIG. 4 shows a block diagram of the data processing device 400. The data processing device 400 is an embedded computer equipped with a CPU, various arithmetic units, a memory, and an interface. The data processing device can also be configured using a general-purpose computer, for example, a PC (personal computer).

[0042] Each functional unit shown in FIG. 4 of the data processing device 400 is realized by causing a computer to read and execute application software for realizing the corresponding function. Part or all of the functional units in FIG. 4 can also be realized by dedicated hardware. Also, in a server connected to the Internet line, part or all of the functions of the data processing device 400 can be realized.

[0043] The data processing device 400 includes a positioning data acquisition unit 401, a scan data processing unit 402, a virtual point setting unit 403, an abnormal point removal unit 404, a determination unit 405, a ground calculation unit 406, a survey point calculation unit 407, and a data storage unit 408.

[0044] The positioning data acquisition unit 401 performs the processing of step S101 described later. In this processing, the positioning data obtained by the measuring device 200 is acquired.

[0045] The scan data processing unit 402 processes the scan data obtained by the laser scan performed by the surveying device 200. The scan data processing unit 402 performs the process of step S103 in FIG. 5.

[0046] The virtual point setting unit 403 performs the process of step S104 in FIG. 5. The abnormal point removal unit 404 performs the process of step S106 in FIG. 5. The determination unit 405 performs the process of step S107 in FIG. 5. The ground calculation unit 406 performs the process of step S108 in FIG. 5. The survey point calculation unit 407 performs the process of step S109 in FIG. 5. The data storage unit 408 stores data necessary for the operation of the data processing device 400, operation programs, data processed by the data processing device 400, and the like.

[0047] (An example of the processing procedure) FIG. 5 is a flowchart showing the processing procedure performed by the data processing device 400. The program for executing the process of FIG. 5 is stored in an appropriate storage medium and executed by the CPU of the computer constituting the data processing device 500. It is also possible to store the program for executing the process of FIG. 5 in a server and download and use it.

[0048] Here, it is assumed that the operator 110 holds the reflection prism device 100 in his hand and the tip of the pole 102 is in contact with the point on the ground (survey point) where the positioning is to be performed, and the surveying device 200 performs the positioning of the reflection prism 101 (see FIG. 1).

[0049] Prior to the work, it is assumed that the distance H0 from the tip of the pole 102 to the center of the reflection prism 101, that is, the ground height H0 of the reflection prism when the pole 102 is vertically erected on the ground, is unknown. Of course, an approximate value of this ground height H0 may be known. Here, it is assumed that the user performs the work without being aware of the value of H0.

[0050] In the above state, the process is started. When the process is started, first, the surveying device 200 measures the position of the reflecting prism 101 (step S101). The position measurement is performed using the laser positioning function of the surveying device 200. This process is the same as the position measurement of a normal reflecting prism.

[0051] Next, a laser scan is performed on the pole 102 of the reflecting prism device 100 (step S102). The laser scan of the pole 102 is performed using the laser scan function of the surveying device 200. This laser scan is performed by moving the optical axis of the surveying device 200 and irradiating the laser distance measuring light (laser positioning light) point by point.

[0052] The above laser scan for the pole 102 is performed on a range centered vertically below the center of the reflecting prism 101. For example, a laser scan is performed on a fan-shaped range that opens downward with the center of the reflecting prism 101 as the vertex. Here, the apex angle of the fan-shaped vertex is, for example, 15°.

[0053] At this time, a telescopic image taken through the telescope 125 may be used. The optical axis of the laser distance measuring light and the telescope 125 is on the same line, and the center of the captured image of the telescopic camera 102 is the distance measuring point. Utilizing this principle, the pole 102 is detected from the telescopic image by image recognition, and the above laser scan is performed by aiming at it.

[0054] For example, from the telescopic image captured by the telescopic camera 102, the extension direction of the pole 102 is detected, and the center of the telescopic image is aimed along the extension line to perform a laser scan.

[0055] The above process is automatically performed using image recognition technology. Of course, a form in which the user operating the surveying device 200 manually aims is also possible.

[0056] After step S102, the process proceeds to step S103. In step S103, based on the laser scan data obtained in step S102, the axial direction of the pole 102 is calculated.

[0057] In step S102, a laser scan point cloud obtained by measuring the pole 102 as data of a plurality of points is acquired. In this laser scan point cloud, points measured linearly along the pole 102 are distributed at intervals. A straight line that fits the laser scan point cloud of this pole 102 is obtained, and its extension direction is obtained. This process is performed in step S103.

[0058] After step S103, the process proceeds to step S104. In step S104, a point where the pole 102 of the reflection prism device 100 contacts the ground is assumed as a virtual point.

[0059] In this process, first, the position P0 = (X1, Y1, Z1) of the reflection prism 101 measured in step S101 is acquired. Next, the height H0 of the reflection prism 101 from the ground is tentatively assumed to be 1 m, and the position (X1, Y1, Z1 - 1 m) is set as the virtual point (step S104). This virtual point is the position of the point assuming that the pole 102 is in contact with the ground. Therefore, there is no guarantee that the ground exists there. Note that if the tentatively set value of H0 is a common sense value, it may be another value such as 1.5 m.

[0060] Next, a plurality of three or more points that surround the virtual point of step S104 on the horizontal plane are set. Then, laser positioning is performed by aiming at the set plurality of points. By this positioning, a plurality of measurement points Pi (i is a natural number of 3 or more) are obtained (step S105).

[0061] The plurality of three or more points on the horizontal plane surrounding the above virtual point are selected from within a range of a circle with a radius of 1 m centered on the virtual point. The plurality of three or more points surrounding this virtual point are points assuming that there is a reflection point there, and there is no guarantee that there is a reflection from there. Therefore, there is no compensation for the sighted point to match Pi.

[0062] The plurality of points Pi are located somewhere on the line connecting the points (three or more points surrounding the virtual point) that are collimated with the optical origin of the surveying device 200. However, as described above, there is no guarantee that they are actually at the initially assumed positions.

[0063] Next, abnormal points are removed (step S106). The abnormal points are selected from among the obtained plurality of points Pi as the points whose values in the height direction (Z direction) differ by a threshold value or more. Specifically, the distribution of the plurality of points Pi in the height direction is calculated, and the points that are separated from the upper side by a threshold value or more are removed as abnormal values.

[0064] When the positioning light is reflected from the worker supporting the pole 102, the position of the reflection point in the Z direction deviates from the reflection point on the ground (survey point). Utilizing this, the positioning light reflected from the worker is excluded.

[0065] For example, assume that there are five points P1 to P5 as Pi, P1 to P4 are distributed within a range of ±1 cm or less, and the Z value of P5 is 6 cm greater than the average value of the Z values of P1 to P4. In this case, since P5 may be the reflection point from the leg of the worker 110 or the like, it is determined as an abnormal point.

[0066] For example, by looking at the distribution of the Z values, three times the width of the variation of the majority group is set as the threshold value, and the points whose Z values are separated by more than that are determined as abnormal points.

[0067] Also, abnormal points can be detected as follows. In this case, the distribution of the horizontal positions of the initially collimated Pi (the distribution of the (X, Y) coordinate values of each point on the horizontal plane including the virtual point) is compared with the distribution of the horizontal positions of the actually obtained Pi. In the case of reflection from the ground, although there are differences due to scale changes and some distortions between the former and the latter, similarity can be seen in the distribution.

[0068] However, if there is reflection from outside the ground (for example, reflection from the leg of the worker 110), the horizontal position of the reflection point deviates from the distribution of the horizontal positions of the initially collimated Pi. That is, a deviation occurs in the relative positional relationship with other points. By examining the degree of this deviation, the points with a deviation of more than the threshold value are set as abnormal points.

[0069] For example, if there is a reflection point on the leg of the operator 110, the ranging value at that point will be shorter compared to the case where there is no leg. For example, assuming there are five points P1 to P5, and P1 to P4 have reflection points on the ground and are extended by approximately Amm compared to the initially predicted ranging value based on the virtual point. Here, assume that P5 is derived from the reflection from the operator 110. In this case, the ranging value of P5 will be shorter compared to the case where there is no such leg (because there is a leg in the front). That is, only the ranging value of P5 becomes (A - B)mm. By determining the degree of this B, P5 is detected as an abnormal point.

[0070] Next, considering the position in the horizontal direction (the coordinates of (X, Y)), it is determined whether there is a P0 at a position surrounded by a plurality of points Pi from which abnormal points have been excluded (step S107). For example, assume there are three points P1, P2, and P3 as Pi. In this case, ignoring the Z value and considering the (X, Y) coordinates, it is determined whether P0 is surrounded by P1, P2, and P3. That is, considering P0 and the points obtained by projecting P1, P2, and P3 onto the horizontal plane, it is determined whether P0 is surrounded by P1, P2, and P3 on this projection plane.

[0071] Considering in the horizontal direction, if there is a P0 at a position surrounded by a plurality of points Pi, the process proceeds to step S108; otherwise, the processing below step S104 is performed again. In the second execution of the processing below step 104, the height H0 of the reflection prism 101 from the ground is set as follows.

[0072] In this case, assuming the average value Za of the Z values of Pi from which abnormal points have been excluded as the position of the ground, H0 = Z1 - Za is reset for H0, and the processing below step S104 is repeated.

[0073] Alternatively, it may be as follows. First, calculate the position of the centroid of Pi in the horizontal plane from which abnormal points have been excluded. Then, when viewed from the surveying device 200, if the position of this centroid is farther from the virtual point set in step 104, set a larger value for H0 than the previous time. On the other hand, if the position of the centroid is closer to the virtual point set in step 104, set a smaller value for H0 than the previous time.

[0074] For example, when H0 = 1 m in the first time, as viewed from the surveying device 200, if the position of the above-mentioned center of gravity is farther from the virtual point, set H0 = 1.5 m and perform the processing below step 104 of the second time again.

[0075] When the ground height of the actual reflecting prism 102 is higher than the assumed value H0, the virtual point is set at a position with a height from the ground. Therefore, the horizontal position of Pi becomes farther as viewed from the surveying device 200. That is, as viewed from the surveying device 200, the position of the center of gravity of Pi is farther than the horizontal position of the reflecting prism 101. In this case, by setting the value of H0 in step S104 to be larger than the previous time, the value of the center of gravity of Pi can be made closer to the horizontal position of the reflecting prism 101.

[0076] When the ground height of the actual reflecting prism 102 is lower than the assumed value H0, the reverse tendency occurs.

[0077] When the determination in step S107 is YES, calculate the ground on which the reflecting prism device 100 is installed (step S108). In this process, obtain the equation of the plane that fits to the plurality of points Pi acquired in step S105 and from which abnormal points are removed in step S106. Obtain the plane represented by this plane equation as the ground on which the reflecting prism device 100 is installed.

[0078] Next, calculate the coordinates of the contact point between the pole 102 and the ground (step S109). In this process, calculate the coordinates of the intersection point of the straight line obtained in step S103 and the plane obtained in step S108. This point becomes the coordinates of the survey point.

[0079] (Advantages) According to this technique, in laser surveying using a reflector, prior to the survey, accurate numerical setting regarding the position of the target in the target device is not required. Further, even if the target device is tilted, the coordinates of the survey point can be accurately obtained. Therefore, the burden related to the handling of the target is reduced.

[0080] 2. Second Embodiment If the laser scan in step S102 is further performed downward, the scan will eventually reach the tip of the pole 102, and then shift to the laser scan of the ground. At this time, the position of the scan changes horizontally from a certain point. This changing point is set as the virtual point in step S104. The processing from step S105 onward is the same as in the case of the first embodiment.

[0081] 3. Third Embodiment In the survey point, a pile may be driven, and as shown in FIG. 6, its head (pile head) 601 may be visible. In the surveying work, with the tip of the pole 102 of the reflecting prism device 100 in contact with the center of this pile head, the reflecting prism device 100 is set up, and the positioning of the reflecting prism 101 by the surveying device 200 is performed.

[0082] In the laser scan of step S102, the pile head 601 may be detected and its position may be set as the virtual point in step S104.

[0083] 4. Fourth Embodiment When the reflecting prism device 100 is installed vertically, that is, when the pole 102 is installed vertically, the processing of steps S102 and S103 can be omitted. For example, in the case of a reflecting prism device having a structure in which the verticality of the pole 102 is maintained by a gimbal mechanism or a structure equipped with an electronic level to promote the maintenance of the vertical state, the processing of steps S102 and S103 can be omitted.

[0084] Also, there is a reflecting prism device in which the area directly below the reflecting prism is laser - marked so that the reflecting prism is located on the vertical line passing through the survey point. In this case as well, since the reflecting prism and the survey point are located on the vertical line, the processing of steps S102 and S103 can be omitted.

[0085] 5. Fifth Embodiment In step S107, if there is a Pi(Xi, Yi) at a position (a position below a predetermined threshold value) that is sufficiently close to the prism position P0(X0, Y0) ignoring the Z value, the position of Pi may be used as a survey point. For example, when the required accuracy is 3 cm, the above threshold value is set to 3 cm. And when the positions of P1, P2, and P3 are measured as Pi, considering the XY coordinates, assume that P1 is the closest to P0 and the separation distance is 2 cm. In this case, the coordinates of P1 are acquired as the coordinates of the survey point.

[0086] 6. Others The surveying device is not limited to the total station shown in FIG. 2, and a laser scanner or a total station with a laser scanner that can be used as a laser positioning device can also be used. As the target, a reflector having retroreflective characteristics other than a reflecting prism can also be used. The field where the surveying is performed is not limited to the ground, and may be the floor surface of a building or a facility.

Description of Reference Numerals

[0087] 100… Reflecting prism device, 101… Reflecting prism, 102… Pole, 110… Operator, 200… Surveying device, 201… Wide-angle camera, 202… Telephoto camera, 221… Tripod, 222… Base part, 223… Horizontal rotating part, 224… Vertical rotating part, 225… Telescope, 226… Shore part of the telescope, 228… Touch panel display.

Claims

1. A surveying device for surveying optical reflection targets installed at a specific distance on an installation surface, comprising: a positioning data receiving unit that receives positioning data of the optical reflection target by laser light; a control unit that performs positioning using laser light on three or more points on the installation surface where the optical reflection target is installed; a determination unit that determines whether the position of the optical reflection target is surrounded by the three or more points in terms of horizontal coordinates; a plane calculation unit that calculates the plane of the installation surface based on the positioning data of the three or more points when the position of the optical reflection target is surrounded by the three or more points in terms of horizontal coordinates; a position calculation unit that calculates the intersection of the straight line from the position of the optical reflection target to the plane and the plane as the installation position of the optical reflection target on the installation surface. A surveying device comprising the above components.

2. The optical reflection target is supported by a linear member, and the surveying device according to claim 1, wherein the straight line is obtained based on the result of a laser scan on the linear member.

3. The surveying device according to claim 1, wherein the straight line is a vertical line.

4. When considering horizontal coordinates and the position of the optical reflection target is not surrounded by the three or more points, based on the difference between the positions in the height direction of the three or more points and the position in the height direction of the optical reflection target, re-positioning using laser light is performed on three or more points on the installation surface where the optical reflection target is installed. The surveying device according to any one of claims 1 to 3.

5. When considering horizontal coordinates and the position of the optical reflection target is not surrounded by the three or more points, based on the relationship between the positions in the horizontal direction of the three or more points and the position in the horizontal direction of the optical reflection target, re-positioning using laser light is performed on three or more points on the installation surface where the optical reflection target is installed. The surveying device according to any one of claims 1 to 3.

6. Among a plurality of points Pi (i is a natural number of 3 or more) obtained as a result of positioning using laser light on three or more points on the installation surface where the optical reflection target is installed, the distribution of positions in the height direction is obtained, and points at height positions deviated from the distribution are removed. The surveying device according to any one of claims 1 to 5.

7. At a plurality of points Pi (i is a natural number of 3 or more) obtained as a result of positioning using laser light with respect to three or more points on the installation surface where the optical reflection target is installed, By comparing the distribution of the positions of the plurality of points Pi expected on a specific horizontal plane with the distribution of the positions of the plurality of points Pi obtained as a result of the positioning, or by comparing the distance measurement values of the plurality of points Pi expected on a specific horizontal plane with the distance measurement values of the plurality of points Pi obtained as a result of the positioning, a surveying device according to any one of claims 1 to 5, which removes points that are not suitable for use in the determination as abnormal points from among the plurality of points Pi.

8. Laser scanning is performed on the lower side of the optical reflection target, A surveying device according to any one of claims 1 to 6, wherein the head portion of a pile driven into the installation surface is detected by the laser scanning.

9. A surveying method for performing surveying of optical reflection targets installed at a specific distance apart on an installation surface, comprising: Receiving positioning data of the optical reflection target by laser light, Performing positioning using laser light with respect to three or more points on the installation surface where the optical reflection target is installed, Determining, in the horizontal direction, whether the position of the optical reflection target is surrounded by the three or more points, When, in the horizontal direction, the position of the optical reflection target is surrounded by the three or more points, calculating the plane of the installation surface based on the positioning data of the three or more points, A surveying method for calculating an intersection of a straight line from the position of the optical reflection target toward the plane and the plane as an installation position of the optical reflection target on the installation surface.

10. A program for causing a computer to execute processing related to surveying of optical reflection targets installed at a specific distance apart on an installation surface, comprising: Causing the computer to Receive positioning data of the optical reflection target by laser light, Perform positioning using laser light with respect to three or more points on the installation surface where the optical reflection target is installed, Determine, in the horizontal direction, whether the position of the optical reflection target is surrounded by the three or more points, When, in the horizontal direction, the position of the optical reflection target is surrounded by the three or more points, calculate the plane of the installation surface based on the positioning data of the three or more points, A surveying program that calculates the intersection point of the straight line from the position of the optical reflection target toward the surface and the surface as the installation position of the optical reflection target on the installation surface.

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