Measuring device

Abstract

To suppress generation of Coriolis force generating upon implementing a scan of a surveying device in which a scanning part of range-finding light has a rotor, stabilize a posture of the surveying device and achieve stabilization of measurement.SOLUTION: A surveying device comprises: a range-finding unit 2 that emits range-finding light 21 on a range-finding optical axis 15, and receives reflection range-finding light 22 from a measurement object to perform range-finding; an optical axis deflection unit 9 that deflects the range-finding light with respect to a reference optical axis; a posture detection device 6; a measurement direction detection unit 7 that detects an emission direction with respect to the reference optical axis of the range-finding light; and a computation control unit that is configured to control deflection of a range-finding optical axis via the optical axis deflection unit, implement range-finding by the ranging-finding unit, and perform synchronization control of the range-finding unit, posture detection device and optical axis deflection unit. The optical axis deflection unit is provided with a pair of disc prisms 17 and 18 constituting an optical prism, and configured to deflect the range-finding optical axis by respective rotation and relative rotation of the pair of disc prisms. The computation control unit is configured to drive the optical axis deflection unit via an optical axis deflection motor driver, cause the range-finding light to scan with a prescribed scan pattern, and reversely rotate one of the disc prisms with respect to other so as to suppress generation of Coriolis force.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a surveying device that scans distance - measuring light to acquire point - cloud data.

Background Art

[0002] Generally, a surveying device (laser scanner) for acquiring point - cloud data has a continuously rotating part for scanning distance - measuring light, is large - sized and heavy, and is thus installed on a support device having rigidity such as a tripod.

[0003] On the other hand, with the spread of laser scanners, miniaturization and weight reduction have been achieved, and a laser scanner that can acquire point - cloud data in a state carried by an operator (hand - held state) has been put into practical use.

[0004] Also, as one of the laser scanners for acquiring point - cloud data, there is a device that relatively rotates a pair of prisms and scans distance - measuring light by the mutual deflection action of the two prisms. Such a laser scanner can be miniaturized and lightweight, and enables measurement in a hand - held state.

[0005] In this laser scanner, the scanning of the distance - measuring light is performed by the continuous rotation of the prism. As the prism rotates, a Coriolis force is generated, and this Coriolis force may affect the support posture of the laser scanner in an unstable support such as being hand - held, and may affect the stability of the measurement.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

[0007] The present invention aims to suppress the generation of Coriolis force that occurs during scanning in a surveying device having a rotating body as the scanning unit for distance measuring light, thereby stabilizing the orientation of the surveying device and ensuring stable measurements. [Means for solving the problem]

[0008] The present invention comprises a distance measuring unit that emits distance measuring light onto a distance measuring optical axis and receives reflected distance measuring light from a measurement target to perform distance measurement; an optical axis deflection unit provided on the reference optical axis of the distance measuring unit and deflecting the distance measuring light relative to the reference optical axis; an optical axis deflection motor driver that drives the optical axis deflection unit; an attitude detection device; a measurement direction detection unit that detects the direction of emission of the distance measuring light relative to the reference optical axis; a storage unit; and a system that controls the deflection of the distance measuring optical axis via the optical axis deflection unit, performs distance measurement by the distance measuring unit, and synchronizes the distance measuring unit, the attitude detection device, and the optical axis deflection unit. The present invention relates to a surveying device comprising a calculation control unit configured to perform control, wherein the optical axis deflection unit comprises a pair of disk prisms composed of optical prisms, and is configured to deflect the distance measuring optical axis by the individual rotation and relative rotation of the pair of disk prisms, and the calculation control unit drives the optical axis deflection unit via the optical axis deflection motor driver to scan the distance measuring light in a predetermined scan pattern and to rotate one of the disk prisms in the opposite direction to the other in order to suppress the generation of a Coriolis force.

[0009] Furthermore, the present invention relates to a surveying device configured such that the calculation control unit controls the drive of the optical axis deflection unit such that the mass × angular velocity of one of the pair of disk prisms is equal to or approximately equal to the mass × angular velocity of the other disk prism.

[0010] Furthermore, the present invention relates to a surveying device configured such that the calculation control unit controls the drive of the optical axis deflection unit so that the ratio of the mass × rotation speed of the two disk prisms is 0.7 to 1.5.

[0011] The present invention further comprises a posture detection device for detecting the posture of a surveying device, and the calculation control unit is configured to acquire three-dimensional point cloud data in a horizontally referenced scan pattern based on the detection result of the posture detection device, the distance measurement result of the distance measurement unit, and the detection result of the measurement direction detection unit.

[0012] Furthermore, the present invention further comprises a posture detection device for detecting the posture of the surveying device, and the calculation control unit is configured to acquire three-dimensional measurement data of the horizontal reference of the object to be measured based on the detection result of the posture detection device, the distance measurement result of the distance measuring unit, and the detection result of the measurement direction detection unit. [Effects of the Invention]

[0013] According to the present invention, the present invention comprises a distance measuring unit that emits distance measuring light onto a distance measuring optical axis and receives reflected distance measuring light from a measurement target to measure distance; an optical axis deflection unit provided on the reference optical axis of the distance measuring unit and deflecting the distance measuring light relative to the reference optical axis; an optical axis deflection motor driver that drives the optical axis deflection unit; an attitude detection device; a measurement direction detection unit that detects the direction of emission of the distance measuring light relative to the reference optical axis; a storage unit; and a calculation control unit configured to control the deflection of the distance measuring optical axis via the optical axis deflection unit, perform distance measurement by the distance measuring unit, and synchronize the distance measuring unit, the attitude detection device, and the optical axis deflection unit. The optical axis deflection unit comprises a pair of disc prisms composed of optical prisms, and is configured to deflect the distance measuring optical axis by the individual rotation and relative rotation of the pair of disc prisms. The calculation control unit drives the optical axis deflection unit via the optical axis deflection motor driver, scanning the distance measuring light in a predetermined scan pattern, and is configured to rotate one of the disc prisms in the opposite direction to the other to suppress the generation of Coriolis force. This suppresses the generation of Coriolis force, stabilizes the attitude of the surveying device, and provides the excellent effect of ensuring stable measurements.

Brief Description of the Drawings

[0014] [Figure 1] It is a schematic configuration diagram of a surveying device according to an embodiment of the present invention. [Figure 2] (A) and (B) are explanatory diagrams showing the relationship between the operation of the optical axis deflection unit and the scan pattern in the surveying device. [Figure 3] It is an explanatory diagram showing an example of the scan pattern in the surveying device. [Figure 4] (A) is a diagram showing the relationship between the scan pattern and the horizontal direction with respect to the image in the measurement direction, (B) is a diagram showing the state where the scan pattern is corrected based on the horizontal reference, and (C) is a diagram showing the images in the measurement direction and the scan pattern in chronological order when the surveying device moves. [Figure 5] (A) is a diagram showing the part where the distance measurement values are the same when scanning the measurement object, (B) is a diagram obtained by extracting the part where the distance measurement values are the same, and a diagram showing the relationship between the previous scan and the current scan when the surveying device moves.

Modes for Carrying Out the Invention

[0015] Hereinafter, embodiments of the present invention will be described while referring to the drawings.

[0016] FIG. 1 shows a surveying device 1 to which the present embodiment is applied, and the surveying device 1 has a function as a laser scanner.

[0017] The surveying device 1 is portable and can be supported by hand (handheld) or by a single leg. It can also be mounted on a moving vehicle, an aircraft, etc.

[0018] The surveying device 1 mainly includes a distance measurement unit 2, a measurement direction imaging unit 3, an arithmetic control unit 4, a storage unit 5, an attitude detection device 6, a measurement direction detection unit 7, an optical axis deflection motor driver 8, an optical axis deflection unit 9, and a display unit 10. These are housed in a housing 12 and integrated.

[0019] The distance measuring unit 2 emits distance measuring light 21 on the distance measuring optical axis 15, receives the reflected light from the measurement target, and performs distance measurement based on the round-trip time of the distance measuring light 21. The imaging unit 3 in the measurement direction acquires an image in the emission direction (measurement direction) of the distance measuring light 21.

[0020] As the arithmetic control unit 4, a CPU specialized for this embodiment, a general-purpose CPU, an embedded CPU, etc. are used, and the arithmetic control unit 4 incorporates a time measuring means. Further, as the storage unit 5, a semiconductor memory or the like is used.

[0021] The arithmetic control unit 4 controls the optical axis deflection unit 9 via the optical axis deflection motor driver 8. Further, the arithmetic control unit 4 controls the deflection of the distance measuring optical axis 15 via the optical axis deflection unit 9, executes distance measurement by the distance measuring unit 2, and further performs synchronous control of the distance measuring unit 2, the imaging unit 3 in the measurement direction, the attitude detection device 6, the optical axis deflection unit 9, etc.

[0022] The storage unit 5 stores various programs for executing this embodiment, such as a distance measurement program, an image processing program, an optical axis deflection control program, an arithmetic program for calculating the driving conditions of the optical axis deflection unit 9 for reducing the Coriolis force, a program for controlling the optical axis deflection motor driver 8, a program for data processing, etc. The arithmetic control unit 4 develops and executes the stored programs. Further, the storage unit 5 stores various data such as measurement data and image data.

[0023] The attitude detection device 6 detects in real time the attitude of the surveying device 1, that is, the tilt angle, tilt direction, horizontal rotation angle with respect to the horizontal or vertical of the surveying device 1, or the tilt angle, tilt direction, horizontal rotation angle with respect to the horizontal or vertical of the reference optical axis O (described later), and outputs the detection result to the arithmetic control unit 4.

[0024] Here, as the attitude detection device 6, the attitude detection device disclosed in Patent Document 1 can be used. Alternatively, an inertial sensor composed of an acceleration sensor and a gyro sensor can also be used.

[0025] The optical axis deflection unit 9 is positioned on the distance measuring optical axis 15. The straight optical axis passing through the center of the optical axis deflection unit 9 is the reference optical axis O. The reference optical axis O coincides with the distance measuring optical axis 15 when it is not deflected by the optical axis deflection unit 9, and is in a predetermined relationship with respect to the housing 12.

[0026] Furthermore, the optical axis deflection unit 9 can be one of those disclosed in Patent Documents 2, 3, and 4.

[0027] The optical axis deflection unit 9 comprises a pair of disc prisms 17 and 18 composed of optical prisms. Each of the disc prisms 17 and 18 is a disc shape (or a polygon circumscribed around a circle) with a mass and diameter appropriate for its application, and is arranged concentrically on the distance measuring optical axis 15, perpendicular to the distance measuring optical axis 15, and parallel to each other at a predetermined interval.

[0028] The disk prisms 17 and 18 are each rotatable (coaxially rotatable) around the reference optical axis O, and each disk prism 17 and 18 is configured to be rotated individually and independently by a motor, which is driven by the optical axis deflection motor driver 8.

[0029] The rangefinder light 21 that passes through the optical axis deflection section 9, that is, the rangefinder light 21 that passes through the disk prisms 17 and 18, is deflected by the optical action of the disk prisms 17 and 18, and is further deflected in any direction by the rotation and relative rotation of the disk prisms 17 and 18.

[0030] The deflection and scanning of the distance measuring light are performed by driving the optical axis deflection unit 9 by the optical axis deflection motor driver 8.

[0031] Furthermore, the measurement direction detection unit 7 has an angle detector such as an encoder, and based on the signal from the angle detector, it detects the rotation angle and rotation direction of the disc prisms 17 and 18, and the measurement direction, i.e., the direction of emission of the distance measuring light, and these detection results are input to the calculation control unit 4. The calculation control unit 4 is configured to control the rotation angle, rotation direction, rotation speed, rotation ratio, etc. of the disc prisms 17 and 18 via the optical axis deflection motor driver 8 based on the detection results from the measurement direction detection unit 7.

[0032] By controlling the rotation of the disk prisms 17 and 18, the distance measuring optical axis (i.e., distance measuring light) 15 can be deflected to any angle from 0° to the maximum deflection angle (e.g., ±30°) with respect to the reference optical axis O. Furthermore, the calculation control unit 4 can scan the distance measuring light in any pattern by individually controlling the disk prisms 17 and 18, and perform distance measurement in any scan pattern.

[0033] Furthermore, by irradiating the distance measuring light 21 while performing relative rotation and integrated rotation of the disk prisms 17 and 18, the distance measuring light 21 can be scanned in any direction and any scan pattern.

[0034] For example, as shown in Figure 2(A), if the relative rotation angle between the disk prisms 17 and 18 is θ, and the individual deflections by the disk prisms 17 and 18 are A and B, then the actual trajectory 20 becomes the combined deflection C, and the magnitude of the deflection angle is determined by the relative rotation angle θ. Therefore, when the disk prisms 17 and 18 are rotated synchronously in forward and reverse directions at a constant speed, the distance measuring optical axis 15 (the distance measuring light 21) is scanned linearly back and forth in the direction of the combined deflection C, and the scan pattern becomes a straight line. Furthermore, by changing the rotation timing (rotation phase) of the disk prisms 17 and 18 via the optical axis deflection motor driver 8, the straight-line scan pattern can be rotated, so that the entire range of the deflection range centered on the reference optical axis O can be scanned with a straight-line scan pattern and point cloud data can be acquired.

[0035] Furthermore, with the relative positions of the disk prism 17 and the disk prism 18 fixed (with the deflection angle obtained by the disk prism 17 and the disk prism 18 fixed), when the optical axis deflection motor driver 8 rotates the disk prism 17 and the disk prism 18 together, the distance measuring optical axis 15 (the distance measuring light 21) is scanned in a circle centered on the reference optical axis O (see Figure 1).

[0036] Furthermore, as shown in Figure 2(B), if the disk prism 18 is rotated at a slower rotational speed than the disk prism 17, the angle difference θ gradually increases as the distance measuring light 21 rotates. Consequently, the scan trajectory of the distance measuring light 21 becomes spiral-shaped.

[0037] Furthermore, by controlling the rotation direction, rotation speed, and rotation speed ratio SR of the disk prism 17 and the disk prism 18, various two-dimensional scan patterns can be obtained for the scanning trajectory of the distance measuring light 21, centered on the reference optical axis O.

[0038] Furthermore, by rotating one of the disk prisms 17 and 18 25 times and the other disk prism 18 5 times in the opposite direction (rotation ratio 5 / 25), a petal-shaped two-dimensional closed-loop scan pattern 24 (intratrochoidal curve) is obtained, as shown in Figure 3.

[0039] Furthermore, by rotating the disk prism 17 and the disk prism 18 in opposite directions and making their rotation ratios approximately equal, a two-dimensional closed-loop scan pattern 24 as shown in Figure 4 can be obtained.

[0040] The distance measuring unit 2 functions as an optical distance meter, emitting a distance measuring light 21 along the distance measuring optical axis 15 towards the measurement point or object to be measured, receiving the reflected distance measuring light 22 from the measurement point or object to be measured, and performing optical distance measurement based on the round-trip time (time of flight) of the distance measuring light. The distance measurement result of the distance measuring unit 2 is input to the calculation control unit 4.

[0041] The calculation control unit 4 can continuously irradiate the distance measuring light 21 and control the disk prisms 17 and 18 to rotate continuously at a predetermined rotation ratio, thereby scanning the distance measuring light 21 in a two-dimensional pattern. Furthermore, by pulse-emitting the distance measuring light 21 and measuring the distance for each pulse, point cloud data along the scan trajectory can be acquired.

[0042] In this case, when the measurement by the surveying device 1 involves movement of the surveying device 1 itself, the movement of the surveying device 1 generates a Coriolis force on the continuously rotating disk prisms 17 and 18.

[0043] Therefore, if the surveying device 1 is used in an unstable support state, for example, if the surveying device 1 is handheld, supported on a single leg, or mounted on a mobile vehicle, aircraft, etc., the Coriolis force will be generated, causing instability in the measurement.

[0044] Therefore, in this embodiment, the optical axis deflection unit 9 is controlled by the calculation control unit 4 to suppress the generation of the Coriolis force.

[0045] Generally, the Coriolis force of a rotating body is expressed as the mass of the rotating body × the rotational speed (or mass × angular velocity). Therefore, the calculation control unit 4 controls the rotation of the disk prisms 17 and 18 so that the Coriolis forces generated by the rotation of the disk prisms 17 and 18 cancel each other out.

[0046] The mass and rotation speed of each disc prism 17 and 18 are set so that the mass × rotation speed (or mass × angular velocity) of the disc prism 17 and the mass × rotation speed (or mass × angular velocity) of the disc prism 18 are approximately equal, that is, the inertia force ratio is (0.7 to 1.5), and then they are rotated in opposite directions.

[0047] The calculation control unit 4 has the masses of the disk prisms 17 and 18 pre-set and inputted. By setting the conditions for acquiring point cloud data (scan conditions), such as the point cloud density, the calculation control unit 4 calculates the scan pattern and the rotational speed of the disk prisms 17 and 18 so that the inertia force ratio of the disk prisms 17 and 18 is (0.7 to 1.5). The calculation control unit 4 rotates the disk prism 17 at the calculated rotational speed and rotates the disk prism 18 in the opposite direction at the calculated rotational speed.

[0048] This control allows the Coriolis force generated by the rotation of the disk prism 17 and the Coriolis force generated by the rotation of the disk prism 18 to be canceled out, and measurements can be performed while the Coriolis force generated by the rotation of the disk prisms 17 and 18 of the optical axis deflection unit 9 is suppressed.

[0049] The measurement direction detection unit 7 detects the rotation angles of the disk prisms 17 and 18, and detects the measurement direction (direction of emission of the distance measuring light) of the distance measuring optical axis 15, that is, the deflection angle and deflection direction of the distance measuring optical axis 15 with respect to the reference optical axis O, in real time. Therefore, the angle and direction of the distance measuring optical axis 15 with respect to the reference optical axis O at each measurement point during scanning can be detected (angle measured) in real time.

[0050] The measurement direction detection result (angle measurement result with respect to the reference optical axis O) from the measurement direction detection unit 7 is input to the calculation control unit 4 in association with the distance measurement result, and the calculation control unit 4 stores the distance measurement result, angle measurement result, and the detection result from the attitude detection device 6 in association with each other in the storage unit 5.

[0051] The measurement direction imaging unit 3 has a known relationship with the reference optical axis O; that is, the imaging optical axis 23 of the measurement direction imaging unit 3 is parallel to the reference optical axis O and the distance between the optical axes is known. Furthermore, the measurement direction imaging unit 3 is a camera with a field of view larger than the maximum deflection angle (e.g., ±30°) of the optical axis deflection unit 9, and acquires image data that includes the maximum deflection range of the optical axis deflection unit 9. In addition, the measurement direction imaging unit 3 can acquire moving images or continuous images. The image data acquired by the measurement direction imaging unit 3 is input to the calculation control unit 4.

[0052] The pixels of the measurement direction imaging unit 3 are a CCD or CMOS sensor, which is a collection of pixels, and the position of each pixel on the image element can be determined. For example, the pixels have an orthogonal coordinate system with the imaging optical axis 23 as the origin, and the position of each pixel is determined by the pixel coordinate in this orthogonal coordinate system. Furthermore, the pixel coordinate is converted into an angle in relation to the field of view (pixel position × field of view / number of vertical and horizontal pixels corresponding to the field of view), and is associated with the measurement direction detection result of the measurement direction detection unit 7. Note that one axis of the orthogonal coordinate system (for example, the pixel y-axis) coincides with the vertical when the measurement direction imaging unit 3 is in a horizontal position, and the other orthogonal axis (for example, the pixel x-axis) coincides with the horizontal.

[0053] The calculation control unit 4 determines the tilt angle (vertical angle) and horizontal rotation angle of the reference optical axis O and the imaging optical axis 23 with respect to the horizontal, based on the detection results of the attitude detection device 6. This allows the three-dimensional coordinates of each measurement point in the point cloud data along the scan trajectory to be determined based on the horizontal reference, and also allows the three-dimensional coordinates of the point cloud data to be associated with the pixel coordinates.

[0054] Therefore, even if the surveying device 1 is used in an unstable support state (for example, a handheld support state), the generation of the Coriolis force is suppressed, and even if the surveying device 1 is not supported horizontally (not leveled), it is possible to obtain horizontally referenced 3D measurement data in a stable measurement state.

[0055] The display unit 10 displays images acquired by the measurement direction imaging unit 3, the scan trajectory, measurement status, measurement results, etc. The display unit 10 may also be used as a touch panel and serve as the operation unit.

[0056] Figures 4(A), 4(B), and 4(C) show the image 25 displayed on the display unit 10, which is a composite image of the image acquired by the measurement direction imaging unit 3 and the scan trajectory (scan pattern 26). The x-axis and y-axis of pixels are displayed in the image 25 as needed, and the vertical and horizontal lines obtained from the detection results of the attitude detection device 6 are also shown.

[0057] In Figure 4(A), the pixel y-axis is rotated to the left with respect to the vertical line, indicating that the image 25 was acquired with the surveying device 1 tilted to the left with respect to the vertical (or horizontal).

[0058] The inclination angle of the surveying device 1 with respect to the vertical (or horizontal) is detected by the attitude detection device 6.

[0059] The orientation (direction) of the scan pattern 26 shown in Figure 4(A) coincides with the pixel x-axis and pixel y-axis of the pixels.

[0060] Therefore, the scan pattern 26 is rotated to the left with respect to the vertical line (or horizontal line).

[0061] The calculation control unit 4 can change the orientation of the scan pattern 26 by changing the rotation timing (rotation phase) of the disk prisms 17 and 18 via the optical axis deflection motor driver 8.

[0062] Figure 4(B) shows the state in which the arithmetic control unit 4 determines the relationship between the pixel y-axis and the inclination (rotation) of the vertical line, rotates the scan pattern 26 to the right, and controls the orientation of the scan pattern 26' so that the orientation (attitude) of the scan pattern 26 matches that of the vertical line.

[0063] Figure 4(C) shows superimposed images 25a, 25b, and 25c acquired in time series while the surveying device 1 was moving, and also shows scan patterns 26a, 26b, and 26c obtained by performing a scan in synchronization with the image acquisition.

[0064] This indicates that the detection results of the attitude detection device 6 at the time of acquiring the images 25a, 25b, and 25c were obtained in real time, and the orientation of the scan pattern 26 executed at the time of acquiring the images 25a, 25b, and 25c was corrected based on the detection results, thereby always performing a scan based on the vertical line and acquiring the scan pattern 26 in a direction that coincides with the vertical line.

[0065] Figure 5 shows an example of calculating the moving position by mounting the surveying device 1 on a mobile vehicle (not shown).

[0066] As shown in Figure 5(A), the reference optical axis O of the distance measuring optical axis is pointed in the forward direction, and the scan is repeated at predetermined time intervals (Ts). In one scan, distance measuring portions 27 (scanning areas such as vertical walls in the figure where the distance measured is equal, i.e., the scan trajectory portion (e.g., distance measuring line portion 28)) are extracted, which are approximately equidistant.

[0067] Next, as shown in Figure 5(B), with respect to the distance measuring section 27, the difference (ΔL) between the previously measured equidistant line section 28 and the current equidistant line section 28' is calculated, and the moving speed (ΔL / Ts) of the surveying device is determined using this difference (ΔL) and the time interval (Ts).

[0068] The positional difference between any measurement point in the previous equidistant line section 28 and the corresponding measurement point in the current equidistant line section 28' (i.e., points in the equidistant line section 28 and the equidistant line section 28' where the deflection direction detected by the measurement direction detection unit 7 is the same) is approximately the same ΔL, and the movement speed (ΔL / Ts) for the measurement points in the equidistant line section 28 is approximately the same. Therefore, by calculating (ΔL / Ts) for all measurement points in the equidistant line section 28, or a predetermined number of measurement points, and averaging the movement speeds, accuracy and reliability can be improved.

[0069] Furthermore, the movement position can be determined by continuously calculating the vertical and horizontal angles based on the output of the attitude detection device 6.

[0070] Furthermore, the correspondence between the scan trajectories associated with movement is obtained by determining the previous scan position and the current scan position based on the detection results of the attitude detection device 6, and then comparing the previous scan position and the current scan position. When determining the correspondence between the scan trajectories associated with movement, the acquired images may also be used in conjunction.

[0071] In the embodiment of the surveying device 1 described above, the inclination relative to the horizontal and the horizontal rotation angle are obtained from the detection results of the attitude detection device 6, and the distance is obtained from the distance measurement results of the distance measuring unit 2. However, for the position information of the surveying device 1, a GNSS may be provided with the surveying device 1, and the position information from the GNSS may be combined with the detection results of the attitude detection device 6. [Explanation of Symbols]

[0072] 1 Surveying equipment 2 Ranging section 3. Measurement direction imaging unit 4. Calculation Control Unit 5 Storage section 6. Attitude detection device 7. Measurement direction detection unit 8. Optical axis deflection motor driver 9 Optical axis deflection section 10 Display section 15 Ranging optical axis 17 Disc Prism 18 Disc Prisms

Claims

1. A distance measuring unit that emits distance measuring light onto the distance measuring optical axis and receives reflected distance measuring light from the object to be measured to perform distance measurement; an optical axis deflection unit provided on the reference optical axis of the distance measuring unit and deflecting the distance measuring light relative to the reference optical axis; an optical axis deflection motor driver that drives the optical axis deflection unit; an attitude detection device; a measurement direction detection unit that detects the direction of emission of the distance measuring light relative to the reference optical axis; a storage unit that controls the deflection of the distance measuring optical axis via the optical axis deflection unit and performs distance measurement by the distance measuring unit, the attitude detection device and the optical axis deflection unit A surveying device comprising a calculation control unit configured to perform periodic control, wherein the optical axis deflection unit comprises a pair of disk prisms composed of optical prisms, and is configured to deflect the distance measuring optical axis by the individual rotation and relative rotation of the pair of disk prisms, and the calculation control unit drives the optical axis deflection unit via the optical axis deflection motor driver to scan the distance measuring light in a predetermined scan pattern and to rotate one of the disk prisms in the opposite direction to the other in order to suppress the generation of a Coriolis force.

2. The surveying apparatus according to claim 1, wherein the calculation control unit is configured to control the drive of the optical axis deflection unit such that the mass × angular velocity of one of the pair of disk prisms is equal to or substantially equal to the mass × angular velocity of the other disk prism.

3. The surveying apparatus according to claim 1, configured to control the drive of the optical axis deflection unit so that the ratio of the mass × rotation speed of the two disk prisms is 0.7 to 1.

5.

4. The surveying apparatus according to any one of claims 1 to 3, further comprising an attitude detection device for detecting the attitude of the surveying apparatus, wherein the calculation control unit is configured to acquire three-dimensional point cloud data in a horizontally referenced scan pattern based on the detection result of the attitude detection device, the distance measurement result of the distance measuring unit, and the detection result of the measurement direction detection unit.

5. The surveying apparatus according to any one of claims 1 to 3, further comprising an attitude detection device for detecting the attitude of the surveying apparatus, wherein the calculation control unit is configured to acquire three-dimensional measurement data of the horizontal reference of the object to be measured based on the detection result of the attitude detection device, the distance measurement result of the distance measuring unit, and the detection result of the measurement direction detection unit.

Images