Surveying system and method for controlling the surveying system

Abstract

To provide an art that can align a surveying machine with a prism without performing cumbersome works.SOLUTION: A surveying system 100 comprises: a target unit 8; a surveying machine 2; an eyewear display device 4 that includes a display, a relative position detection sensor and a relative direction detection sensor 46; and a data processing unit 6 that aligns the eyewear display device 4, surveying machine 2 with a coordinate space of an absolute coordinate system, and can manage a common reference point in a space with the common reference point as an origin. The surveying system is configure to: cause a measurement point to be displayed on the display, overlapping the measurement point on a landscape of a surveying site; cause the surveying machine 2 to irradiate a three-dimensional position coordinate of the measurement point P and a target position Tp installed in a measurement point calculated in consideration for a target height with range-finding light as guide range-finding light L; align an irradiation direction of the guide range-finding light L with a center T of the target actually installed in the measurement point; and cause the surveying machine to measure the center of the target.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a surveying system and a method for controlling a surveying system, and more particularly to a surveying system using an eyewear display device and a method for controlling a surveying system. [Background technology]

[0002] BACKGROUND ART Conventionally, a surveying system has been known that uses a surveying instrument with an automatic tracking function to automatically track a target held by an operator, thereby enabling one-man surveying (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-58556 Summary of the Invention [Problem to be solved by the invention]

[0004] However, even with a surveying system that tracks a target using an automatic tracking function, when measuring the first point or when automatic tracking fails, it is necessary to use a remote controller equipped with a target that scans a fan-shaped guide light vertically, detect the guide light with the guide light detection unit equipped on the surveying instrument, and point the surveying instrument toward the prism, which is a cumbersome process.

[0005] Meanwhile, in recent years, a surveying support system has been proposed that uses an eyewear display device that can communicate with a surveying instrument and manage the position and direction information acquired by the surveying instrument in a coordinate space with a common origin.

[0006] The present invention has been made in view of the above circumstances, and aims to provide a technique that enables a surveying instrument to be aligned with a prism without performing complicated work. [Means for solving the problem]

[0007] In order to achieve the above object, a surveying system according to one embodiment of the present invention comprises: a target unit having a target and a support member for supporting the target; a surveying instrument having a distance measurement light transmitting unit that transmits distance measurement light to the target along the collimation optical axis of a telescope, a distance measurement light receiving unit that receives reflected distance measurement light from the target, a rotation drive unit that rotates the telescope vertically and horizontally, and an angle measuring unit that detects the collimation direction of the telescope, and acquires three-dimensional position coordinates of the target; an eyewear display device having a display, a relative position sensor that detects position, and a relative direction sensor that detects direction; a coordinate space of information about position and direction acquired by the eyewear display device, and a coordinate system of the surveying instrument and a data processing unit that aligns the coordinate space with the coordinate space of an absolute coordinate system, enabling management in a space with a common reference point as the origin. The data processing unit is characterized in that it is equipped with a measurement point data display unit that causes the eyewear display device to display measurement points set in the coordinates of the absolute coordinate system on the display, superimposed on the scenery of the surveying site, and a target position illumination unit that causes the surveying instrument to illuminate, using the distance measuring light as a guide distance measuring light, a target position set at the measurement point, which is calculated taking into account the three-dimensional position coordinates of the measurement point and the target height, and is configured to align the illumination direction of the guide distance measuring light with the center of the target actually set at the measurement point, and cause the surveying instrument to measure the center of the target.

[0008] Another aspect of the present invention provides a method for controlling a surveying system, comprising: a target unit having a target and a support member for supporting the target; a surveying instrument having a distance measurement light transmitting unit that transmits distance measurement light to the target along the collimation optical axis of a telescope, a distance measurement light receiving unit that receives reflected distance measurement light from the target, a rotational drive unit that rotates the telescope vertically and horizontally, and an angle measuring unit that detects the collimation direction of the telescope, and that acquires three-dimensional position coordinates of the target; an eyewear display device having a display, a relative position sensor that detects position, and a relative direction sensor that detects direction; and a coordinate space of information regarding position and direction acquired by the eyewear display device. A control method for a surveying system equipped with a data processing unit that matches the coordinate space of the surveying instrument with the coordinate space of an absolute coordinate system and enables management in a space with a common reference point as the origin, characterized in that the data processing unit causes the eyewear display device to display on the display a measurement point set in the coordinates of the absolute coordinate system superimposed on a scene of the surveying site, causes the surveying instrument to use the distance measuring light as a guide distance measuring light and irradiate a target position set at the measurement point calculated taking into account the three-dimensional position coordinate of the measurement point and the target height, and aligns the irradiation direction of the guide distance measuring light with the center of the target actually set at the measurement point, so that the surveying instrument measures the center of the target. [Effects of the Invention]

[0009] According to the surveying system and the control method for the surveying system configured as described above, the surveying instrument can be aligned with the target without performing any complicated work. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing an outline of a surveying system according to a first embodiment. [Figure 2] FIG. 2 is a block diagram showing the overall configuration of the system. [Figure 3] FIG. 2 is a block diagram of the surveying instrument that constitutes the system. [Figure 4]FIG. 2 is a perspective view of the appearance of an eyewear display device that constitutes the system. [Figure 5] FIG. 2 is a configuration block diagram of the eyewear display device and the data processing device. [Figure 6] 1 is a flowchart showing the initial setup of the system. [Figure 7] FIG. 10 is a diagram for explaining an outline of the initial setting work. [Figure 8] 1 is a flowchart of a surveying method using the system. [Figure 9] 10A and 10B are diagrams showing examples of displays on an eyewear display device in the same surveying method. [Figure 10] FIG. 10 is a configuration block diagram of an eyewear display device and a data processing device that constitute a surveying system according to a second embodiment. [Figure 11] FIG. 2 is a perspective view of the appearance of the eyewear device. [Figure 12] 1 is a flowchart of a surveying method using the system. [Figure 13] 10A and 10B are diagrams illustrating a method for correcting the guide distance measuring light in the system. [Figure 14] 10A and 10B are diagrams illustrating deviations in the irradiation direction of guide distance measuring light in the system. [Figure 15] 10A and 10B are diagrams illustrating deviations in the irradiation direction of guide distance measuring light. [Figure 16] FIG. 10 is a configuration block diagram of an eyewear display device and a data processing device that constitute a surveying system according to a third embodiment. [Figure 17] FIG. 10 is a diagram showing an example of training data for generating a learning model that estimates a deviation of the guide ranging light of the system. [Figure 18] FIG. 10 is a diagram illustrating an outline of generation of a deviation estimation model using the above data. [Figure 19] 1 is a flowchart of a surveying method using the system. [Figure 20] 13A and 13B are diagrams illustrating deviations in the irradiation direction of guide distance measuring light in a modified example of the surveying system according to the third embodiment. [Figure 21]FIG. 10 is a diagram showing an example of training data for generating a learning model that estimates a deviation of the guide distance measuring light in the modified example. [Figure 22] FIG. 10 is a diagram illustrating an outline of generation of a deviation estimation model using the above data. [Figure 23] FIG. 10 is a configuration block diagram of an eyewear display device and a data processing device that constitute a surveying system according to a fourth embodiment. [Figure 24] FIG. 2 is a schematic view showing the appearance of a target unit constituting the system. [Figure 25] FIG. 10 is a diagram illustrating an example of calculation of an optimum target height in the system. [Figure 26] 1 is a flowchart of a surveying method using the system. DETAILED DESCRIPTION OF THE INVENTION

[0011] Preferred embodiments of the present invention will be described below with reference to the drawings, but the present invention is not limited thereto. In addition, in each embodiment, corresponding components are given the same names, and components having the same mechanical configuration are given the same reference numerals, and duplicated descriptions will be omitted as appropriate.

[0012] I. 1st Embodiment 1. Survey System 100 FIG. 1 shows the structure of the present invention. 1st 2 is a diagram illustrating an outline of a surveying system (hereinafter simply referred to as "system") 100 according to an embodiment, and is a configuration block diagram of the system 100. The system 100 comprises a surveying instrument 2, an eyewear display device (hereinafter simply referred to as "eyewear device") 4, a data processing device 6, and a target unit 8.

[0013] 2 Surveying instrument 2 3 is a configuration block diagram of the surveying instrument 2 that constitutes the system 100. In this embodiment, the surveying instrument 2 is a motor-driven total station. The surveying instrument 2 includes a distance measuring unit 21, a vertical rotation drive unit 22, a vertical angle detector 23, a horizontal rotation drive unit 24, a horizontal angle detector 25, a display unit 27, an operation unit 28, a memory unit 29, an external storage device 30, a communication unit 31, and a control and calculation unit 26.

[0014] As shown in Figure 1, the surveying instrument 2 is set up on a tripod at a known point K. From the outside, the surveying instrument 2 has a base 2a mounted on a leveling stand 3, a support 2b that rotates horizontally on the base 2a, and a telescope 2c that rotates vertically in the center of the support 2b. In the figure, H is the height of the collimating optical axis collimated by the telescope 2c, i.e., the height of the instrument center, which can be calculated by adding the known height from the bottom of the surveying instrument 2 inside the surveying instrument 2 to the instrument center.

[0015] The distance measuring unit 21 includes a distance measuring light transmitting unit 21a having a light-emitting element that emits distance measuring light, which is at least visible laser light, and a light-transmitting optical system; a light-receiving optical system that shares some optical elements with the light-transmitting optical system; and a distance measuring light receiving unit 21b having a light-receiving element such as an avalanche photodiode. Under the control of the control and calculation unit 26, the distance measuring unit 21 emits distance measuring light toward the target 80 along the collimation optical axis, receives distance measuring light reflected from the target 80 with the light-receiving element, and detects the distance to the target 80 based on the received light signal. Under the control of the control and calculation unit 26, the distance measuring light transmitting unit 21a also emits the distance measuring light as guide distance measuring light L that indicates the collimation direction of the surveying instrument 2. Note that the guide distance measuring light L is the same light as the distance measuring light emitted during measurement, but is referred to as guide distance measuring light L for the sake of distinction.

[0016] The vertical rotation drive unit 22 and the horizontal rotation drive unit 24 are motors, and are controlled by the control and calculation unit 26. The horizontal rotation drive unit 24 rotates the base unit 2b in the horizontal direction around the axis AA in Fig. 1, and the vertical rotation drive unit 22 rotates the telescope 2c in the vertical direction around the axis BB in Fig. 1. The vertical rotation drive unit 22 and the horizontal rotation drive unit 24 correspond to the rotation drive units in the claims.

[0017] The vertical angle detector 23 and the horizontal angle detector 25 are rotary encoders. The vertical angle detector 23 measures the vertical rotation angle of the telescope 2c, and the horizontal angle detector 25 measures the horizontal rotation angle of the support unit 2b. The vertical angle detector 23 and the horizontal angle detector 25 correspond to the angle measuring unit in the claims.

[0018] The display unit 27 is, for example, a liquid crystal display. The operation unit 28 has a power key, number keys, a decimal point key, plus / minus keys, an execution key, a scroll key, etc. The operation unit 28 is configured to enable the operator to operate the surveying instrument 2 and input information to the surveying instrument 2.

[0019] The storage unit 29 is, for example, a hard disk drive (HDD), and stores various data and programs for executing the functions of the control and calculation unit 26. Specifically, the storage unit 29 stores a survey execution program for executing a survey. The storage unit 29 also stores measurement point data 91.

[0020] The measurement point data 91 is three-dimensional position coordinate data of the measurement points P planned in the surveying work, and is data set in coordinates of an absolute coordinate system created from three-dimensional CAD (Computer Aided Design) design data of the surveying site created in the same absolute coordinate system as the coordinate system of the known points. The measurement point data 91 may include multiple measurement points P and may also include information such as the measurement order.

[0021] The external storage device 30 is, for example, a memory card, and stores survey result data and various data acquired by the survey instrument 2.

[0022] The communication unit 31 is a communication control device such as a network adapter, a network interface card, a LAN card, or a Bluetooth (registered trademark) adapter, and connects the surveying instrument 2 to the eyewear device 4 and the data processing device 6 by wire or wirelessly. The control and calculation unit 26 can send and receive information to and from the eyewear device 4 and the data processing device 6 via the communication unit 31.

[0023] The control and calculation unit 26 is a control and calculation unit including, for example, at least one processor (e.g., a CPU (Central Processing Unit)) and memory (e.g., SRAM (Static Random Access Memory), DRAM (Dynamic Random Access Memory), etc.). The processor reads necessary data and programs from the storage unit 29 into the memory and executes processing to realize the functions of the surveying instrument 2.

[0024] The control and calculation unit 26 controls the transmission of distance measurement light by the distance measurement unit 21, and calculates the distance to the target 80 from the light reception signal of the distance measurement light receiving unit 21b, specifically, for example, the phase difference between the light reflected from the target 80 and the reference light that is partially split from the distance measurement light and travels along a reference light path provided in the telescope 2c. The control and calculation unit 26 also detects the angle of the target 80 based on the detection results of the vertical angle detector 23 and the horizontal angle detector 25. As a result, the three-dimensional position coordinates of the target 80 are calculated.

[0025] The control and calculation unit 26 also controls the vertical rotation drive unit 22 and the horizontal rotation drive unit 24 to direct the collimation optical axis of the telescope 2c of the surveying instrument 2 to the center of the target 80 (hereinafter referred to as "target position Tp") when the target unit 8 is installed at the measurement point P. It also controls the distance measurement light transmitting unit 21a to irradiate and turn off the distance measurement light as guide distance measurement light L in the direction of the target 80. The control of irradiation of the guide distance measurement light L by the control and calculation unit 26 is configured to be executed, for example, by remote operation using the target position irradiator 643 of the data processing device 6.

[0026] 3. Eyewear Devices4 Fig. 4 is an external perspective view of the eyewear device 4, and Fig. 5 is a configuration block diagram of the eyewear device 4 and the data processing device 6. The eyewear device 4 is a wearable device that is worn on the head of the worker, and includes a display 41 and a control unit 43. The control unit 43 also includes a communication unit 44, a relative position detection sensor (hereinafter referred to as the "relative position sensor") 45, a relative direction detection sensor (hereinafter referred to as the "relative direction sensor") 46, a memory unit 47, an operation switch 48, and an arithmetic processing unit 49.

[0027] The display 41 is a goggle-lens type transmission display that covers both eyes of the worker when worn by the worker. As an example, the display 41 is an optical see-through display using a half mirror, and is configured to display an image received by the control unit 43 from the data processing device 6 superimposed on the site view. Alternatively, the display 41 may be a video see-through display that displays an image obtained by superimposing an image received by the control unit 43 on an image of the front view captured in real time by a camera (not shown). The projection method may be a virtual image projection method or a retinal projection method.

[0028] When the display 41 is a video see-through display, the camera is equipped with an image sensor such as a CCD (Charge-Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) and captures images of the scene in front of the eyewear device 4 in real time. The image sensor has an orthogonal coordinate system with the center of the camera as the origin, and the local coordinates of each pixel are specified. The positional relationship between the center of the camera and the center of the eyewear device 4 is known, and the calculation processing unit 49 can convert the image captured by the camera into the coordinate space of the eyewear device 4 and manage it.

[0029] The communication unit 44 is a communication control device such as a network adapter, network interface card, LAN card, Bluetooth adapter, etc. The eyewear device 4 can communicate with the surveying instrument 2 and the data processing device 6 via the communication unit 44, either wired or wirelessly, to send and receive information.

[0030] The relative position sensor 45 performs radio positioning using a GNSS (Global Navigation Satellite System) antenna, a Wi-Fi (registered trademark) access point, an ultrasonic oscillator, etc. installed at the observation site to detect the position of the eyewear device 4 within the observation site.

[0031] The relative direction sensor 46 is a combination of a triaxial acceleration sensor or gyro sensor and an inclination sensor. The relative direction sensor 46 detects the inclination of the eyewear device 4 with the up / down direction defined as the Z-axis, the left / right direction defined as the Y-axis, and the front / back direction defined as the X-axis.

[0032] The storage unit 47 is, for example, a memory card, and stores a program for the arithmetic processing unit 49 to execute functions.

[0033] The operation switch 48 is, for example, a push button provided on the outer surface of the display 41. The operation switch 48 includes, for example, a power button 48a for turning on / off the power of the eyewear device 4, and a function button 48b that cooperates with the display on the display 41 to enable selection of an operator, input of instructions, etc. In the present embodiment, as will be described later, pressing the function button 48b at a position corresponding to the display button displayed on the display 41 enables selection of an operator, confirmation, input of instructions, etc.

[0034] The arithmetic processing unit 49 is, for example, a control arithmetic unit including at least one processor (CPU) and memory (SRAM, DRAM, etc.). The arithmetic processing unit 49 outputs information on the position and direction of the eyewear device 4 detected by the relative position sensor 45 and the relative direction sensor 46 to the data processing unit 6. In addition, the arithmetic processing unit 49 displays synchronized measurement point data 91 received from the data processing unit 6 on the display 41, superimposed on the scene.

[0035] 4. Data Processing Unit 6 The data processing device 6 is an information processing device, typically a personal computer, a server computer, etc., but may also be a tablet terminal, a smartphone, etc. In the illustrated example, it is shown as a laptop computer. The data processing device 6 may be a single computer, a computer system in which multiple computers perform distributed processing, or a device that logically utilizes part of the processing resources of one or more computers. The data processing device 6 corresponds to the data processing unit in the claims. Furthermore, the data processing device 6 may be configured as part of the eyewear device 4 or as part of the surveying instrument 2. Part of the processing of the data processing device 6 may be configured to be performed by the eyewear device 4, and part of the processing may be configured to be performed by the surveying instrument 2.

[0036] The data processing device 6 includes at least a communication unit 61 , a display unit 62 , an operation unit 63 , a control and calculation unit 64 , and a storage unit 65 .

[0037] The communication unit 61 is a communication control device such as a network adapter, a network interface card, a LAN card, or a Bluetooth adapter, and enables the data processing device 6 to communicate with the surveying instrument 2 and the eyewear device 4 via a wired or wireless connection. The control and calculation unit 64 can send and receive information to and from the surveying instrument 2 and the eyewear device 4 via the communication unit 61. The data processing device 6 may be installed in a local environment and communicate with the surveying instrument 2 and the eyewear device 4, or may be realized as a so-called cloud environment and communicate with the surveying instrument 2 and the eyewear device 4 via a communication network such as the Internet.

[0038] The display unit 62 is, for example, a liquid crystal display. The operation unit 63 is, for example, a keyboard, a mouse, etc., and enables the operator to input various commands, selections, decisions, etc.

[0039] The control and calculation unit 64 is, for example, an arithmetic and control unit including at least one processor (e.g., CPU) and memory (DRAM, SRAM, etc.). The processor reads data and programs stored in the storage unit 65 into the memory and executes them, thereby enabling the functions of the functional units to be executed. The functional units may be implemented in software using programs, or at least a part of them may be implemented in hardware using dedicated circuits.

[0040] The control and calculation unit 64 includes, as functional units, a synchronous measurement unit 641, a measurement point data display unit 642, a target position irradiation unit 643, and a measurement instruction unit 644.

[0041] The synchronous measurement unit 641 receives information about the position and direction of the surveying instrument 2 and information about the position and direction of the eyewear device 4, converts the coordinate space of the surveying instrument 2 and the coordinate space of the three-dimensional position information created in the absolute coordinate system so that they coincide with the coordinate space of the eyewear device 4, which has a common reference point as its origin, and transmits the converted information to the eyewear device 4. This makes it possible to manage the information acquired by the surveying instrument 2 and the three-dimensional position information created in the absolute coordinate system in the same coordinate space as the coordinate space of the eyewear device 4.

[0042] In this specification, "synchronization" means matching the coordinate spaces of devices with different coordinate spaces, or the coordinate spaces of information regarding position and direction in measurement point data 91, as described above, and managing the relative positions and relative directions of each device in a common coordinate space with a common reference point as the origin.

[0043] The measurement point data display unit 642 displays on the display 41 the measurement points P included in the measurement point data 91 synchronized by the synchronization measurement unit 641 .

[0044] The target position irradiation unit 643 drives the rotation drive units 22, 24 and the ranging light transmitting unit 21a of the surveying instrument 2, and irradiates the ranging light as guide ranging light L along the collimation optical axis toward the target position Tp, which is calculated taking into account the three-dimensional position coordinates of the measurement point P and the target height h.

[0045] The measurement instruction unit 644 causes the surveying instrument 2 to measure the center T of the collimated target 80, acquires the position coordinates of the target 80, and calculates the coordinates of the measurement point P. The measurement instruction unit 644 also compares the coordinates of the measurement point P acquired by measurement with the coordinates of the measurement point P on the design data to determine whether the measurement result is acceptable. Specifically, coordinate If the coordinates of the measurement point P on the design data match, or if the difference is within a specified error range, it is judged as acceptable. If the measurement result is acceptable, the guide distance measurement light L is turned off and a notice is given that measurement at the measurement point P has been completed. If the result is unacceptable, the operator is notified of this and prompted to measure again.

[0046] The storage unit 65 is, for example, an HDD or SSD (Solid State Drive). The storage unit 65 stores the same measurement point data 91 as the storage unit 29 of the surveying instrument 2. The storage unit 65 also stores programs for executing the functions of each functional unit when each functional unit of the control and calculation unit 64 is realized as software. Note that the measurement point data 91 does not necessarily have to be stored in the storage unit 65; the measurement point data 91 stored in the storage unit 29 of the surveying instrument 2 may be read out via the communication unit 61 and used.

[0047] 5. Target Unit 8 Returning to Fig. 1, target unit 8 includes target 80, a support member 81 that supports target 80, and a vial 82. Target 80 is, for example, a so-called omnidirectional prism formed by radially combining multiple triangular pyramidal prisms, and retroreflects light incident from all around (360°) in the direction opposite to the incident direction.

[0048] The support member 81 is a pole that extends at a fixed length, and the target 80 is attached to it so that its central axis is concentric with the target 80. The tip 81a of the support member 81 is placed at a measurement point, and the distance from the tip 81a of the support member 81 to the center T of the target 80, i.e., the target height h, is known.

[0049] Vial tube 82 is a so-called circular vial. Vial tube 82 is attached to support member 81 or target 80, and an operator can hold target 80 vertically by holding support member 81 so that the bubble is in the center of the circle.

[0050] 6.Surveying method 6-1 Initial Settings Next, a surveying method using the system 100 will be described. First, steps S01 to S04 are performed as the initial setting of the system 100. Fig. 6 is a flowchart of the initial setting of the system 100, and Fig. 7 is a diagram showing an overview of the initial setting work. The target height h is known prior to measurement.

[0051] First, in step S01, the operator sets a reference point and a reference direction at the observation site. The reference point is selected as an arbitrary point within the site. The reference direction is set as the direction from the reference point to a characteristic point that is arbitrarily selected apart from the reference point. Alternatively, the reference direction may be set to the north direction.

[0052] Next, in step S02, the worker synchronizes the surveying instrument 2. Specifically, the worker installs the surveying instrument 2 at any point K on the site, measures the target height h and the instrument height, and registers them in the surveying instrument 2. Alternatively, the instrument height may be automatically measured by measuring the telescope 2c vertically downward. The absolute coordinates of the instrument center O of the surveying instrument 2 are determined by a measurement such as resection that includes the reference point and characteristic point selected in step S01. The surveying instrument 2 transmits the coordinate information and the target height h to the data processing device 6.

[0053] The synchronous measurement unit 641 converts the absolute coordinates of the reference point to (x, y, z) = (0, 0, 0) and recognizes the reference direction as a horizontal angle of 0°, and thereafter manages the relative position and relative direction of the surveying instrument 2 in a space with the reference point as the origin, with respect to information from the surveying instrument 2.

[0054] Next, in step S03, the worker synchronizes the eyewear device 4. Specifically, the worker installs the eyewear device 4 at the reference point, aligns the center of the display 41 with the reference direction, and sets (x, y, z) of the relative position sensor 45 to (0, 0, 0), and (roll, pitch, yaw) of the relative direction sensor to (0, 0, 0). Thereafter, the synchronization measurement unit 641 manages the relative position and relative direction of the eyewear device 4 for data acquired from the eyewear device 4 in a coordinate space shared with the surveying instrument 2, with the reference point as the origin.

[0055] Synchronization of the eyewear device 4 is not limited to the above method, and may be performed, for example, by providing the eyewear device 4 with a laser device to indicate the center and directional axis of the eyewear device 4, and using the laser as a guide to align the reference point and reference direction.

[0056] Next, in step S04, the synchronous measurement unit 641 synchronizes the measurement point data 91. Specifically, the measurement point data 91 is managed as three-dimensional position coordinate data in a coordinate space with the reference point as the origin. This enables the eyewear device 4 to display the measurement point P superimposed on the work site scenery. In other words, the worker wearing the eyewear device 4 can observe the measurement point P at a corresponding position in the work site scenery observed via the display 41.

[0057] 6-2 Surveying method 8 is a flowchart of the processing of the control and calculation unit 64 in the surveying method using the system 100. The surveying starts after the above-mentioned initial settings have been completed. Furthermore, it is assumed that a measurement point P has been selected in advance before the surveying starts.

[0058] When the surveying starts, in step S11, the eyewear device 4 displays the measurement point P on the display 41 in response to an instruction from the measurement point data display unit 642. FIG. 9(A) is a diagram showing the state in which the measurement point P is displayed on the display 41. Hereinafter, in the diagrams showing the display on the display 41, unless otherwise specified, the dashed lines indicate the scenery of the surveying site, and the solid lines indicate the image created by the data processing device 6. For ease of understanding, the field of view is shown enlarged or reduced as appropriate, and the operator is ignored when drawing.

[0059] Next, step S12 Then, in response to an instruction from the target position irradiating unit 643, the horizontal rotation driving unit 24 and the vertical rotation driving unit 22 of the surveying instrument 2 are driven to collimate the measurement point P, that is, the target position Tp.

[0060] Specifically, the target position irradiating unit 643 calculates the coordinates of the target position Tp from the coordinates of the measurement point P and the target height h, and drives the horizontal rotation drive unit 24 and the vertical rotation drive unit 22 of the surveying instrument 2 to direct the collimation optical axis of the surveying instrument 2 toward the target position Tp. The collimation instruction may be given, for example, by pressing the function button 48b that corresponds to the collimation execution button 93 displayed on the display 41.

[0061] Next, in step S13, the surveying instrument 2 irradiates the guide distance measuring light L, which is a visible laser light, along the collimation optical axis in accordance with the instruction of the target position irradiating unit 643. Specifically, the control and calculation unit 26 of the surveying instrument 2 controls the distance measuring light transmitting unit 21a to emit the guide distance measuring light L. At this time, as shown in FIG. 9(B), the guide distance measuring light L irradiated onto the scene can be observed via the display 41. Note that the target position Tp is drawn for the sake of explanation, but it is not shown on the actual display. I4 It does not need to be displayed in 1.

[0062] Next, in step S14, while checking the display 41, the operator sets the target unit 8 so that the tip 81a is aligned with the measurement point P, as shown in Fig. 9(C), and holds it vertically. At this time, the center T of the currently set target 80 coincides with the target position Tp.

[0063] Next, in step S15, in accordance with the instructions of the measurement instruction unit 644, the surveying instrument 2 measures the distance and angle to the center T of the target 80 and obtains the position coordinates of the measurement point P. Specifically, for example, when the operator presses the function button 48b of the eyewear device 4 that corresponds to the displayed measurement button 94 to send a command to perform measurement to the surveying instrument 2, the surveying instrument 2 measures the distance and angle to the center T of the target 80 and calculates the three-dimensional position coordinates of the target 80, and from this, calculates the three-dimensional position coordinates of the measurement point P.

[0064] Next, in step S16, the measurement instruction unit 644 judges whether the measurement results are acceptable. If the coordinates of the measurement point P obtained by measurement and the coordinates of the measurement point P on the design data match, or if the difference is within a predetermined error range, the result is judged to be acceptable. On the other hand, if the coordinates of the measurement point P obtained by measurement do not match the coordinates of the measurement point P on the design data, or if the difference is outside a predetermined error range, it is determined to be unacceptable.

[0065] If the measurement result is OK (OK), the process proceeds to step S17, where the surveying instrument 2, in response to an instruction from the measurement instruction unit 644, stores the acquired coordinates of the measurement point P in the external storage device 30 of the surveying instrument 2, and controls the driving of the distance measurement light transmitting unit 21a to turn off the guide distance measurement light L. At the same time, the display 41 may be configured to display "Measurement OK" or the like. Then, the measurement at the measurement point P is completed.

[0066] In step S16, if the measurement result is not acceptable (NG), the process proceeds to step S18, and as shown in Figure 9 (D), the guide distance measurement light L is not turned off, and the display 41 displays "Measurement NG", instructing the operator to set up the target unit 8 again and measure again.

[0067] Possible reasons for this failure include, for example, the target unit 8 not being installed correctly at the measurement point P, or the target unit 8 not being vertical. For this reason, the display may be configured to display a message such as "Please check that the pole is vertical, install the target unit, and measure again," along with other points to note when re-measuring. After that, the process returns to step S14, and steps S14 to S16 are repeated.

[0068] Furthermore, even in the case of the second measurement, if the measurement result is not acceptable in step S16, the process may be terminated, since it is considered that the problem is not due to the installation of the target unit 8.

[0069] According to the above configuration, the operator can aim the surveying instrument 2 at the target 80 placed at the measurement point P simply by aligning the tip of the target unit 8 with the measurement point P displayed on the display 41 while observing the guide distance measuring light L observed through the display 41. There is no need to perform complicated operations to aim the surveying instrument 2 at the target 80.

[0070] In addition, the coordinates of the measurement points obtained by the measurement are compared with the coordinates of the measurement points in the design, and it is determined whether the coordinates of the measurement points do not match the coordinates of the measurement points in the design or if the difference is within a predetermined range. outside In this case, the target unit 8 is reinstalled and the measurement is performed again, so that measurement errors due to incorrect installation of the target unit 8 can be prevented.

[0071] II. Second embodiment However, particularly when surveying outdoors, there may be a misalignment between the center T of the target 80 of the target unit 8 actually installed at the measurement point P displayed on the eyewear device 4 and the irradiation direction of the guide ranging light L due to the following reasons. (1) Due to subsidence or uplift of the ground at the measurement point location, a discrepancy occurs between the position of the measurement point P displayed on the eyewear device 4 (especially the z-coordinate component) and the actual position of the measurement point, causing the position of the target 80 of the target unit 8 installed at the actual measurement point to be lower or higher than the actual position. (2) Due to wind at the surveying site, the installed surveying instrument 2 tilts slightly back and forth and side to side like a pendulum, with the tripod as the fulcrum, causing the irradiation position to shift downward relative to the horizontal plane. (3) The temperature at the survey site causes heat haze and fluctuations, which results in the irradiation position shifting vertically relative to the horizontal plane.

[0072] In the second embodiment, such deviation in the irradiation direction of the guide distance measuring light L can be corrected.

[0073] 1.Configuration of Survey System 100A Fig. 10 is a configuration block diagram of an eyewear device 4A and a data processing device 6A of a surveying system 100A according to the second embodiment, and Fig. 11 is an external perspective view of the eyewear device 4A. Similar to the system 100, the system 100A has an overall configuration comprising a surveying instrument 2, an eyewear device 4A, a data processing device 6A, and a target unit 8.

[0074] The eyewear device 4A has substantially the same configuration as the eyewear device 4, but further includes a stereo camera 42 that captures a front image of the eyewear device 4A.

[0075] The stereo camera 42 includes two cameras 42a and 42b located at the upper left and right ends of the front surface of the eyewear device 4A. Each of the cameras 42a and 42b includes an image sensor, such as a CCD or CMOS, and a lens. Each image sensor has a vertical and horizontal Cartesian coordinate system with the camera center as the origin. By calculating the distance to all feature points within the screen based on the left-right parallax, three-dimensional position coordinates can be acquired from depth information within the screen and vertical and horizontal pixel position information. The positional relationship between the center of the stereo camera 42 and the center of the eyewear device 4A is known, and the eyewear device 4A can convert and manage images acquired by the stereo camera 42 into the coordinate space of the eyewear device 4A.

[0076] The data processing device 6A has substantially the same configuration as the data processing device 6, but differs in that the control and calculation unit 64A further includes an irradiation direction correction unit 645.

[0077] When the guide ranging light L emitted by the surveying instrument 2 via the target position irradiation unit 643 is deviated from the center T of the target 80 currently installed at the measurement point P, the irradiation direction correction unit 645 drives the rotation drive units 22, 24 of the surveying instrument 2 to correct the irradiation direction so that it matches the center T of the target 80.

[0078] 2. Surveying method FIG. 12 is a flowchart of the operation of a surveying method using the system 100A, and FIG. 13 is a diagram showing an example of what is displayed on the display of the eyewear device 4A during a surveying operation using the system 100A.

[0079] When the process starts, in steps S21 to S23, the surveying instrument 2 irradiates the guide distance measuring light L toward the target position Tp in response to a command from the target position irradiating unit 643, in the same manner as in steps S11 to S13.

[0080] Next, in step S24, the worker sets the target unit 8 vertically, aligning the tip 81a with the measurement point P displayed on the display 41. At this time, the worker checks via the display 41 whether there is any deviation between the irradiation direction of the guide distance measurement light L and the center T of the target 80. For example, in FIG. 13(A), it can be seen that the guide distance measurement light L is deviated downward from the center T of the target 80. The same is true in the horizontal direction. In FIG. 13, the explanatory diagram excluding the projected image and the site scenery is shown by a dot-dash line.

[0081] Next, in step S25, if the fact that there is a deviation is input to the control calculation unit 64A by, for example, pressing the function button 48b corresponding to the displayed deviation confirmation button 96 (Yes), the process proceeds to step S26, and the surveying instrument 2 corrects the irradiation direction of the guide distance measuring light L in accordance with an instruction from the irradiation direction correction unit 645. In step S25, if there is no deviation in the irradiation direction (No), the process proceeds to step S27.

[0082] An example of the correction of the irradiation direction will be described in detail with reference to Fig. 13. When the function button 48b corresponding to the misalignment check button 96 (Figs. 13A and 13B) is pressed to input that there is a misalignment, the irradiation direction correction unit 645 displays a correction execution button 97 (Figs. 13C and 13D) on the display 41. When the operator presses the function button 48b corresponding to the correction execution button 97, the irradiation direction correction unit 645 enables the stereo camera 42 to acquire an image including the guide distance measurement light L. In response to an instruction from the operator, the eyewear device 4A acquires an image including the guide distance measurement light L with the stereo camera 42. Next, the irradiation direction correction unit 645 extracts the guide distance measurement light L from the image by pattern matching, and calculates an equation for a straight line m1 of the guide distance measurement light L that passes through the instrument center O in a synchronized coordinate space with the reference point as the origin.

[0083] Next, the irradiation direction correction unit 645 displays a reticle in the center of the display 41, as shown in Fig. 13(C). The stereo camera 42 captures an image of this reticle, aligning it with the center T of the target 80, and calculates the position coordinates of the center T of the target 80 in the synchronized coordinate space. The irradiation direction correction unit 645 then calculates the equation of a line m2 (Fig. 13(D)) that passes through the instrument center O and the center T of the target 80 in the synchronized coordinate space with the reference point as the origin. In this way, the lines m1 and m2 intersect at the instrument center O, and can be said to be shifted horizontally and vertically around the instrument center O.

[0084] Next, the deviation of the lines m1 and m2 around the instrument center O is expressed as the horizontal angle deviation θ H and vertical angle deviation θ v The horizontal angle deviation θ H , and Fig. 14(B) shows the vertical angle deviation θ v The irradiation direction correction unit 645 corrects the calculated horizontal and vertical angle deviations θ H, θ v is used as a correction value, the rotational drive units 22 and 24 of the surveying instrument 2 are driven to correct the irradiation direction so that the guide distance measuring light L is irradiated onto the center T of the target 80.

[0085] Alternatively, although not shown in the drawings, the irradiation direction correction unit 645 may be configured to be able to remotely control the rotation drive units 22, 24 of the surveying instrument 2 from the function button 48b of the eyewear device 4A, so that the guide distance measurement light L irradiates the center T of the target 80. In this way, the operator can adjust the guide distance measurement light L so that it irradiates the center T of the target 80 by operating the function button 48b located at a position corresponding to the remote operation button while checking the guide distance measurement light L and the center T of the target 80 via the display 41.

[0086] Next, in step S27, the surveying instrument 2 measures the target 80 in accordance with the instruction from the measurement instruction unit 644, and acquires the position coordinates of the measurement point P.

[0087] Thereafter, in steps S28 to S30, similar to steps S16 to S18, the pass / fail of the measurement results is determined, and if the pass / fail is OK, the measurement is terminated. If the pass / fail is NG, the process returns to step S24, the target unit 8 is installed again, and the measurement is repeated.

[0088] According to the above configuration, even if there is a displacement between the position of the designed measurement point P and the actual measurement point P, or even if there is a deviation in the irradiation direction of the guide distance measuring light L due to environmental factors such as temperature or wind, it is possible to correct the deviation between the guide distance measuring light L and the calculated target position Tp and point the surveying instrument 2 toward the center of the target 80 actually installed at the measurement point P.

[0089] III. Third Embodiment As described in the second embodiment above, when the surveying instrument 2 irradiates the guide ranging light L toward the target position Tp based on the design coordinates of the measurement point P, the actual irradiation direction of the guide ranging light L may deviate from the target position Tp due to the influence of atmospheric fluctuations and heat haze that occur in relation to temperature. The irradiation direction may also be deviated by wind. Referring again to FIG. 15 , the guide ranging light L emitted from the instrument center O of the surveying instrument 2 indicated by the line m3 is emitted toward the target position Tp calculated from the design coordinates of the measurement point P and the target height h. However, the actual irradiation direction deviates from the target position Tp in the horizontal and vertical directions with the instrument center O as the center, as indicated by the line m4.

[0090] In the second embodiment, the surveying instrument 2 is caused to irradiate the calculated target position Tp, and the deviation between the actual irradiation direction of the guide distance measuring light L and the center T of the target 80 is confirmed using the eyewear device 4, and then the rotational drive units 22, 24 are driven to correct the deviation so as to eliminate the deviation. In contrast, in the present embodiment, the deviation that will occur is calculated in advance, and when the surveying instrument 2 is directed to the target position Tp by an instruction from the target position irradiating unit 643, the deviation is incorporated as a correction value and the rotational drive units 22, 24 of the surveying instrument 2 are driven.

[0091] 1. System 100B 16 is a configuration block diagram of an eyewear device 4B and a data processing device 6B that constitute a system 100B according to the third embodiment. Like systems 100 and 100A, system 100B includes a surveying instrument 2, an eyewear device 4B, a data processing device 6B, and a target unit 8.

[0092] The eyewear device 4B has a similar configuration to the eyewear device 4A, but differs in that it further includes an environmental sensor 51. The environmental sensor 51 includes a temperature sensor 51a, a wind speed sensor 51b, and a wind direction sensor 51c. The wind direction is measured in 360° directions with due north as the reference point, can be converted into an absolute coordinate system common to reference points, etc., and is input to the data processing device 6 as a horizontal angle with respect to the attitude of the surveying instrument 2. The environmental data acquired by the environmental sensor 51 is output by the calculation processing unit 49 to the control calculation unit 64B of the data processing device 6B via the communication unit 44. The environmental sensor 51 is not limited to the temperature sensor 51a, the wind speed sensor 51b, and the wind direction sensor 51c, and may further include a sensor for detecting environmental factors known to affect the irradiation direction of the ranging light.

[0093] In addition, the control calculation unit 64B of the data processing device 6B includes a deviation estimation unit 646 in addition to the control calculation unit 64, a target position irradiation unit 643B instead of the target position irradiation unit 643, a measurement instruction unit 644B instead of the measurement instruction unit 644, and a memory unit 65B instead of the memory unit 65.

[0094] The deviation estimation unit 646 estimates the deviation between the calculated irradiation direction of the guide distance measuring light L and the actual irradiation direction, which is caused by environmental factors.

[0095] The deviation is estimated using, for example, a deviation estimation model 92 created as follows. The deviation estimation model 92 is generated as follows, for example, using data acquired using the system 100B, using a deviation estimation model generating device (not shown), which is a computer having the same mechanical configuration as the data processing device 6. Specifically, a target 80 is placed at a known point (in this case, the calculated target center position Tp is made to coincide with the center T of the target 80), and the deviation between the calculated irradiation direction of the guide distance measurement light L and the actual irradiation direction of the guide distance measurement light L observed through the eyewear device 4A is measured under various temperature, wind speed, and wind direction conditions. Here, the deviation of the irradiation direction is calculated by calculating the deviation between the calculated irradiation direction of the guide distance measurement light passing through the instrument center O in the coordinate space synchronized with the eyewear device 4A and the straight line m4 of the actual irradiation direction passing through the instrument center O, similar to the deviation between the straight line m1 and the straight line m2 in the second embodiment, and the horizontal angle deviation φ around the instrument center O. H and the vertical angle deviation φ V In this way, an example of the training data shown in FIG. 17 is obtained.

[0096] As shown in Figure 18, the environmental data (temperature and wind speed values) are used as explanatory variables, and the horizontal angle deviation φ H and the vertical angle deviation φ V Machine learning is performed using a data set with the above as the objective variable as training data, and the temperature and wind speed values ​​acquired by the eyewear device 4B are used as input data to generate a trained model (deviation estimation model 92) that estimates the deviation in horizontal and vertical angles between the calculated irradiation direction of the guide ranging light L at that time and the actual irradiation direction as output data.

[0097] Machine learning is realized, for example, by a neural network that uses one or more layers of nonlinear units to predict an output for an input, and specifically, techniques such as DNN (Deep Neural Network), CNN (Convolutional Neural Network), and RNN (Recurrent Neural Network) can be used. Furthermore, techniques such as SVR (Support Vector Regression), random forest, or Bayesian linear regression analysis may also be used for machine learning.

[0098] The deviation estimation unit 646 receives environmental data from the eyewear device 4B and inputs it into the deviation estimation model 92, thereby calculating the deviation of the irradiation direction of the guide distance measuring light L under the environmental conditions of the site.

[0099] The deviation estimation model 92 does not necessarily have to be generated by machine learning, and a model formula for estimating deviations may be generated by a known statistical method.

[0100] The target position irradiating unit 643B adjusts the horizontal angle and vertical angle for directing the collimation direction of the surveying instrument 2 to the calculated target position Tp by the deviation amount calculated by the deviation estimating unit 646 (horizontal angle deviation φ H , vertical angle deviation φ V ), and the guide distance measuring light L is irradiated along the collimation optical axis. Specifically, when the deviation is a horizontal angle of -2" and a vertical angle of +1", the irradiation direction of the distance measuring light is displaced by a horizontal angle of +2" and a vertical angle of -1", and the guide distance measuring light L is irradiated.

[0101] The measurement instruction unit 644B causes the surveying instrument 2 to measure the center T of the target 80, acquire the position coordinates of the target 80, and calculate the coordinates of the measurement point P, taking into account the deviations in the horizontal angle and vertical angle. Specifically, if the deviation is -2" in horizontal angle and +1" in vertical angle, the horizontal angle is added -2" and the vertical angle is added +1" from the measured angle value to calculate the angle, and the position coordinates of the measurement point P are calculated.

[0102] In addition to the storage unit 65, the storage unit 65B stores a deviation estimation model 92.

[0103] 2. Surveying method FIG. 19 is a flowchart of a surveying method using the system 100B.

[0104] When the surveying is started, in step S41, the eyewear device 4B displays the measurement point P on the display 41 in response to an instruction from the measurement point data display unit 642, similar to step S11.

[0105] Next, in step S42, the deviation estimation unit 646 acquires environmental data from the eyewear device 4B and inputs it into the deviation estimation model 92, and calculates the deviation between the calculated irradiation direction and the actual irradiation direction of the guide ranging light L caused by environmental factors.

[0106] Next, in step S43, the target position irradiation unit 643B instructs the surveying instrument 2 to aim at the target position taking into account the deviation calculated by the deviation estimation unit 646 at the horizontal and vertical angles required to point the instrument at the calculated target position Tp.

[0107] Next, in step S44, the rotational drive units 22 and 24 of the surveying instrument 2 are driven in response to an instruction from the target position irradiating unit 643B, and the guide distance measuring light L is irradiated along the collimation optical axis.

[0108] Next, in step S45, the operator places the target unit 8 at the measurement point P while checking the measurement point P displayed on the display 41, and in step S46, the measurement instruction unit 644B instructs the surveying instrument 2 to measure the center T of the target 80 and calculate the position coordinates of the measurement point P taking into account the deviation in the irradiation direction.

[0109] Thereafter, in steps S47 to S49, similar to steps S16 to S18, the pass / fail of the measurement results is determined, and if the pass / fail is OK, the measurement is terminated. If the pass / fail is NG, the process returns to step S45, the target unit 8 is installed again, and the measurement is repeated.

[0110] In the above configuration, the surveying system 100B estimates in advance a deviation in the irradiation direction of the guide ranging light L due to environmental factors such as temperature, wind speed, etc., and irradiates the guide ranging light L in a direction that takes the deviation into consideration. In addition to the same effects as the system 100 according to the first embodiment, the above configuration can achieve the further effect of allowing the surveying instrument 2 to accurately collimate the target position Tp even when a deviation in the irradiation direction of the guide ranging light L occurs in advance due to environmental factors such as temperature, wind, etc.

[0111] 3. Variations As a modification of the present embodiment, a displacement estimation model 92A may be used instead of the displacement estimation model 92. In the displacement estimation model 92A, the displacement between the calculated irradiation direction and the actual irradiation direction is regarded as a displacement d in the height direction between the target position Tp and the irradiation position of the guide ranging light on the same vertical line, as shown in FIG.

[0112] Therefore, using a surveying system with a similar configuration to system 100B, the deviation in height between the calculated irradiation direction of the guide distance measuring light and the actual irradiation direction is measured under various temperature, wind speed, and wind direction conditions, and the distance to the target center T (the distance from the instrument center O to the target position Tp. The target center T set perpendicular to a known point is equal to the target position Tp) is calculated to collect data such as that shown in Fig. 21. The deviation in height can be measured using eyewear device 4A.

[0113] 22, a data set having environmental data (temperature and wind speed values) and the distance to the target center as explanatory variables and a deviation in the height direction as a response variable is used as training data to perform machine learning similar to that used to generate the deviation estimation model 92, and a trained model (deviation estimation model 92) is generated that uses the temperature and wind speed values ​​acquired by the eyewear device 4 as input data and estimates the deviation in height of the irradiation position of the guide ranging light L at that time as output data. Then, a deviation estimation unit 646B1 (not shown) calculates the distance from the device center O to the center T of the target 80, and inputs this distance and environmental data received from the environmental sensor of the eyewear device 4B into the deviation estimation model 92A to estimate the deviation in the irradiation direction. Even in this way, it is possible to achieve a configuration similar to that of the system 100B according to the third embodiment.

[0114] IV Fourth Embodiment Incidentally, when measuring with a total station, it is preferable to use a telescope with its collimation optical axis horizontal, as this makes the measurement easier. Therefore, in system 100C according to the fourth embodiment, when using a length-adjustable target unit 8C, a target height is proposed that makes the collimation optical axis of the telescope horizontal or as close to horizontal as possible.

[0115] 1. Survey System 100C Similar to system 100, system 100C has an overall configuration including a surveying instrument 2, an eyewear device 4, a data processing device 6C, and a target unit 8C. Fig. 23 is a block diagram of the configuration of the eyewear device 4 and the data processing device 6C, and Fig. 24 is a schematic diagram of the appearance of target unit 8C.

[0116] The target unit 8C has a support member 81C that is a retractable pole, and can be fixed at any target height hv.

[0117] When the surveying instrument 2 sights the target center T, the optimal target height proposal unit 647 calculates the target height hv that becomes the optimal target height ho at which the sighting direction is horizontal or as close to horizontal as possible, and displays it on the display of the eyewear device 4.

[0118] FIG. 25 is a diagram for explaining the optimal target height ho. When the target unit 8C is installed at the measurement point P, when the coordinates of the measurement point P are P(xp, yp, zp), the coordinates of the target center T can be expressed as T(xp, yp, zp + hv). Also, when the height of the sighting optical axis is H and the coordinates of the known point K are K(xk, yk, zk), the coordinates of the instrument center O can be expressed as O(xk, yk, zk + H).

[0119] The fact that the sighting optical axis is horizontal means that zy + hv = zk + H Equation (1) That is what it means. Therefore, the optimal target height ho is ho(hv) = zk + H - hv Equation (2) can be obtained. Here, if the longest length of the support member 81C of the target unit 8C is hv max , and the shortest length is hv min , then hv max < hv, then ho = hv max Equation (3) hv < hv min In the case of, ho = hv min Equation (4) That is.

[0120] Therefore, the optimal target height ho is as follows from the above hv <00000l9>≦ hv ≦ hv max In the case of, ho = zk + H - hv Equation (5) hv max < hv, then ho = hv max Equation (6) hv < hv min In the case of, ho = hv min Equation (7) It can be found by:

[0121] Furthermore, the optimum target height proposing unit 647 displays the calculated optimum target height ho on the display 41 of the eyewear device 4.

[0122] 2.Surveying method 26 is a flowchart of a surveying method using the system 100C. In this method, the maximum length hv of the support member 81C of the target unit 8C is max and the shortest length hv min is registered in advance in the control calculation unit 64C.

[0123] When the process starts, in step S51, optimal target height proposing unit 647 calculates optimal target height ho using equations (5) to (7). Next, in step S52, the optimum target height proposing unit 647 displays the optimum target height ho on the display 41. This allows the operator to adjust the length of the target unit 8C to the optimum target length ho and fix the length. Then, in steps S53 to S60, the same processing as in steps S11 to S18 is performed.

[0124] According to the above configuration, when a variable length type target unit 8C is used, the optimum target height ho is suggested on the display of the eyewear device 4, thereby significantly reducing the effort required by the worker to adjust the target height ho.

[0125] The above describes preferred embodiments of the present invention, but the above embodiments are merely examples of the present invention, and these can be combined based on the knowledge of those skilled in the art, and such forms are also included in the scope of the present invention. [Explanation of symbols]

[0126] 2:Surveying instrument 2c: telescope 4 4A 4B: Eyewear device 6 6A 6B 6C: Data processing device (data processing unit) 8 8C : Target unit 21a: Distance measurement light transmitter 21b: Distance measurement light receiver 22: Vertical rotation drive unit (rotation drive unit) 24: Horizontal rotation drive unit (rotation drive unit) 26: Control calculation section 41: Display 42: Stereo camera 45: Relative position sensor 46: Relative direction sensor 51: Environmental sensor 64, 64A, 64B, 64C: Control calculation section 80: Target 81, 81C: Support member 92: Deviation estimation model 100, 100A, 100B, 100C: Surveying system 641: Synchronous measurement unit L: Guide distance measuring light

Claims

1. a target unit having a target and a support member supporting the target; a surveying instrument having a distance measurement light transmitting unit that transmits distance measurement light to the target along the collimation optical axis of a telescope, a distance measurement light receiving unit that receives the distance measurement light reflected from the target, a rotation driving unit that rotates the telescope in vertical and horizontal directions, and an angle measuring unit that detects the collimation direction of the telescope, and acquires three-dimensional position coordinates of the target; an eyewear display device including a display, a relative position sensor for detecting a position, and a relative direction sensor for detecting a direction; a data processing unit that matches the coordinate space of the information relating to the position and direction acquired by the eyewear display device with the coordinate space of the surveying instrument and the coordinate space of the absolute coordinate system, and enables management in a space with a common reference point as the origin; a stereo camera for capturing a front image of the eyewear display device; the data processing unit includes a measurement point data display unit that displays the measurement points set by the coordinates of the absolute coordinate system on the display of the eyewear display device by superimposing the measurement points on a landscape of the surveying site; the surveying instrument is provided with a target position illuminating unit that illuminates a target position set at the measurement point calculated in consideration of the three-dimensional position coordinates of the measurement point and the target height, using the distance measuring light as a guide distance measuring light, The surveying instrument is configured to measure the center of the target by aligning the irradiation direction of the guide distance measuring light with the center of the target actually installed at the measurement point, The data processing unit includes an irradiation direction correcting unit that, when the guide ranging light is deviated from the center of the target actually installed at the measurement point, acquires an image including the guide ranging light by the stereo camera, calculates a deviation around the instrument center between a straight line of the guide ranging light passing through the instrument center of the surveying instrument and a straight line passing through the center of the target and the instrument center in a space having the common reference point as an origin, as a horizontal angle and a vertical angle deviation, drives the rotation driving unit of the surveying instrument based on the horizontal angle and the vertical angle deviation, and corrects the irradiation direction of the guide ranging light to match the center of the target. A surveying system characterized by:

2. the data processing unit includes a deviation estimation unit that estimates in advance a deviation of the guide distance measurement light from the center of the target actually installed at the measurement point, The surveying system according to claim 1, characterized in that the deviation estimation unit takes into account the estimated deviation and causes the surveying instrument to irradiate the target position set at the measurement point calculated taking into account the three-dimensional position coordinates of the measurement point and the target height, using the distance measurement light as a guide distance measurement light.

3. the eyewear display device further comprises an environmental sensor; the deviation estimation unit inputs the environmental data acquired by the environmental sensor into a deviation estimation model, and estimates deviations in horizontal and vertical angles between the calculated irradiation direction of the guide ranging light under the environmental conditions of the site and the actual irradiation direction; The surveying system according to claim 2, characterized in that the deviation estimation model is generated by machine learning using a data set as training data in which environmental data is used as an explanatory variable and the horizontal and vertical angle deviations around the instrument center between the calculated irradiation direction of the guide ranging light and the actual irradiation direction are used as target variables.

4. the eyewear display device further comprises an environmental sensor; the deviation estimation unit inputs the environmental data acquired by the environmental sensor and the calculated distance to the target position into a deviation estimation model, and estimates a deviation in a height direction between the calculated irradiation position and the actual irradiation direction of the guide ranging light under the environmental conditions of the site; The surveying system according to claim 2, characterized in that the deviation estimation model is generated by machine learning using a data set as training data, in which the environmental data and the calculated distance to the target position are explanatory variables and the deviation in the height direction between the target position and the guide ranging light is a target variable.

5. 5. The surveying system according to claim 3, wherein the environmental sensors include a temperature sensor, a wind speed sensor, and a wind direction sensor.

6. The target unit has a support member of a variable length type, The surveying system according to any one of claims 1 to 5, characterized in that the data processing unit is provided with an optimal target height proposing unit that calculates the target height that is the optimal target height for making the aiming direction horizontal or as close to horizontal as possible when the surveying instrument is aiming at the target center, and displays the calculated target height on the display.

7. a target unit having a target and a support member supporting the target; a surveying instrument having a distance measurement light transmitting unit that transmits distance measurement light to the target along the collimation optical axis of a telescope, a distance measurement light receiving unit that receives the distance measurement light reflected from the target, a rotation driving unit that rotates the telescope in vertical and horizontal directions, and an angle measuring unit that detects the collimation direction of the telescope, and acquires three-dimensional position coordinates of the target; an eyewear display device including a display, a relative position sensor for detecting a position, and a relative direction sensor for detecting a direction; A control method for a surveying system having a data processing unit that matches a coordinate space of information relating to position and direction acquired by the eyewear display device, a coordinate space of the surveying instrument, and a coordinate space of an absolute coordinate system, and enables management in a space with a common reference point as the origin, comprising: The data processing unit causing the eyewear display device to display the measurement points set by the coordinates of the absolute coordinate system on the display, superimposed on a landscape of the surveying site; The surveying instrument is caused to irradiate the distance measurement light as a guide distance measurement light onto a target position set at the measurement point, which is calculated taking into consideration the three-dimensional position coordinate of the measurement point and the target height, the direction of irradiation of the guide distance measuring light is aligned with the center of the target actually installed at the measurement point, and the surveying instrument measures the center of the target; the data processing unit, when the guide ranging light is deviated from the center of the target actually installed at the measurement point, acquires an image including the guide ranging light using a stereo camera that acquires a front image of the eyewear display device, calculates the deviation around the instrument center between the straight line of the guide ranging light passing through the instrument center of the surveying instrument and the straight line passing through the center of the target and the instrument center in a space with the common reference point as the origin, as a horizontal angle and a vertical angle deviation, and drives the rotation drive unit of the surveying instrument based on the horizontal angle and the vertical angle deviation to correct the irradiation direction of the guide ranging light to match the center of the target.

Images