Surveying system

Abstract

To provide a survey system that can easily measure the deviation from a preset height of a measurement target surface or an uneven state, and allows construction work such as installation work or ground leveling work in parallel with the measurement of the height of a setting target surface or the uneven state.SOLUTION: A survey system comprises a height measuring device and an unevenness measuring device 2 including a measurement target 35 having retroreflective characteristics, and measures an installation surface with respect to a horizontal reference surface or an uneven state of a leveled surface. The height measuring device is a total station 37 that tracks the measurement target 35, and is configured to perform measurement of the measurement target 35 and transmit a result to the unevenness measuring device 2, set the height of a construction finished surface, acquire height information of the measurement target, calculates the height of a measurement reference position of a distance measuring sensor with respect to the construction finished surface on the basis of the height information of the measurement target and a known height, and calculate unevenness information of a construction surface with respect to the construction finished surface on the basis of a measurement result from the distance measuring sensor. A projection device is configured to project the unevenness information on the construction surface in real time.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present invention relates to a surveying system for measuring the unevenness of a measurement target surface.

Background Art

[0002] In concrete placement work or ground leveling work, it is desired to eliminate the unevenness (concave and convex state) of the placement surface or the leveling surface and construct it to a set height.

[0003] Conventionally, for example, in concrete placement work, a measuring rod was inserted into the placed concrete at the placed part, and the height of the placed concrete was actually measured at predetermined intervals.

[0004] After actually measuring the thickness, when unevenness occurred, corrective work such as adding concrete to the concave part or removing concrete from the convex part was performed.

[0005] The conventional method has problems such as individual height measurements being manual work and the workability of unevenness measurement being poor, and also has problems such as the work efficiency being poor because concrete placement work, height measurement work, and corrective work are separate processes.

[0006] Also, in ground leveling work, after leveling, a thread was stretched to a predetermined height to measure the leveling height (unevenness state), and when there were deviations or unevenness with respect to the set height, filling and removal corrections were performed.

Prior Art Documents

Patent Documents

[0007]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

[0008] The present invention provides a surveying system that can easily measure the deviation from a set height or the unevenness of a surface to be measured, and that enables construction work such as concrete pouring or ground leveling to be carried out in parallel with the measurement of the height or unevenness of the surface to be measured. [Means for solving the problem]

[0009] The present invention A surveying system comprising a height measuring device and a height-difference measuring device including a measurement target having retroreflective properties, for measuring the unevenness of a concrete surface or leveled ground relative to a horizontal reference plane, wherein the height measuring device is a total station having a TS communication unit installed at a known height and capable of transmitting measurement results, and has a tracking function for tracking the measurement target, the height-difference measuring device comprises the measurement target measured by the height measuring device, a distance measuring sensor installed in a known relationship with the measurement target and measuring the distance to the construction surface, a projection device for projecting height information, a terminal communication unit capable of receiving measurement results from the TS communication unit, a calculation control unit, and the calculation control unit, the measurement target, the distance measuring sensor, the projection device, and the terminal communication unit are installed together. A surveying system comprising a movable support that can be moved, wherein the total station tracks the object to be measured and measures the object, transmits the measurement results to the height measuring device via the TS communication unit, the calculation control unit sets the height of the finished construction surface relative to the known height, the calculation control unit acquires height information of the object to be measured via the terminal communication unit, calculates the height of the measurement reference position of the distance measuring sensor relative to the finished construction surface based on the height information of the object to be measured and the known height, calculates the height information of the construction surface relative to the finished construction surface based on the measurement results of the distance measuring sensor, and the projection device is configured to project the height information onto the construction surface in real time. This relates to the matter.

[0010] Furthermore, the present invention relates to a surveying system in which the elevation measuring device further comprises a tilt sensor, and the calculation control unit is configured to correct the elevation information based on the detection result of the tilt sensor.

[0011] Furthermore, the present invention relates to a surveying system in which the elevation measuring device further comprises a tilt sensor and is configured as a handheld type, and the calculation control unit is configured to correct the elevation information based on the detection result of the tilt sensor.

[0012] Furthermore, the present invention relates to a surveying system in which the distance measuring sensor is a distance measuring camera.

[0013] Furthermore, the present invention relates to a surveying system in which the distance measuring sensor is a parallax camera.

[0014] Furthermore, the present invention relates to a surveying system in which the distance measuring sensor comprises a projector that projects a distance measuring pattern and a camera that is positioned to create parallax with respect to the projector.

[0015] Furthermore, the present invention also states The distance measuring sensor is composed of a laser measuring device and an LED illuminator, the optical axis of the laser measuring device and the optical axis of the LED illuminator are parallel or substantially parallel, the LED illuminator is capable of emitting illumination light of multiple different colors, and the calculation control unit is configured to select the color of the illumination light to be emitted according to the height information and to emit it in real time onto the LED illuminator. This relates to the matter. [Effects of the Invention]

[0016] According to the present invention, A surveying system comprising a height measuring device and a height-difference measuring device including a measurement target having retroreflective properties, for measuring the unevenness of a concrete surface or leveled ground relative to a horizontal reference plane, wherein the height measuring device is a total station having a TS communication unit installed at a known height and capable of transmitting measurement results, and has a tracking function for tracking the measurement target, the height-difference measuring device comprises the measurement target measured by the height measuring device, a distance measuring sensor installed in a known relationship with the measurement target and measuring the distance to the construction surface, a projection device for projecting height information, a terminal communication unit capable of receiving measurement results from the TS communication unit, a calculation control unit, the calculation control unit, the measurement target, the distance measuring sensor, the projection device, and the terminal communication unit. The total station comprises a movable support body provided with a section, and the total station tracks the object to be measured and measures the object, transmits the measurement results to the height measuring device via the TS communication unit, the calculation control unit sets the height of the finished construction surface relative to the known height, the calculation control unit acquires height information of the object to be measured via the terminal communication unit, calculates the height of the measurement reference position of the distance measuring sensor relative to the finished construction surface based on the height information of the object to be measured and the known height, and calculates height information of the construction surface relative to the finished construction surface based on the measurement results of the distance measuring sensor, and the projection device is configured to project the height information onto the construction surface in real time.Therefore, since the on-site measurement information and the height information are directly projected, the unevenness of the measurement target surface can be easily visually recognized, and excellent effects such as the ability to perform construction work such as placing work or leveling work in parallel with the measurement of the unevenness state are exhibited.

Brief Description of the Drawings

[0017] [Figure 1] It is a schematic diagram of a surveying system according to the first embodiment. [Figure 2] It is a schematic configuration diagram of a laser level plane. [Figure 3] It is a schematic configuration diagram of a height measurement device. [Figure 4] It is an explanatory diagram of the measurement of the unevenness state. [Figure 5] It is a flowchart of the unevenness measurement work. [Figure 6] It is a schematic diagram showing a modification example of the first embodiment. [Figure 7] It is a schematic diagram of a surveying system according to the second embodiment. [Figure 8] (A) is a diagram showing an example of a pattern when distance measurement is performed by parallax, and (B) is a diagram of a projection image in a state where an unevenness image is superimposed on the pattern. [Figure 9] It is a schematic diagram of a surveying system according to the third embodiment. [Figure 10] It is a schematic configuration diagram of the total station in the third embodiment. [Figure 11] It is a schematic configuration diagram of the height measurement device in the third embodiment. [Figure 12] It is an explanatory diagram of the measurement of the unevenness state in the third embodiment. [Figure 13] (A) is a schematic diagram of a surveying system according to the fourth embodiment, and (B) and (C) are explanatory diagrams of the measurement of the unevenness state.

Modes for Carrying Out the Invention

[0020] In the first embodiment, a laser level planar 3 is used as the height measuring device 1.

[0021] The laser level planar 3 forms a horizontal reference plane of a predetermined height using a laser beam. The horizontal reference plane may be formed by rotating and irradiating a laser beam onto a horizontal surface, or by irradiating a fan-shaped laser beam horizontally. In the following description, we will explain the case in which the horizontal reference plane O is formed by rotating and irradiating a laser beam onto a horizontal surface.

[0022] The general layout of the laser level planar 3 will be explained with reference to Figure 2.

[0023] The laser level planar 3 is installed in the required position via a support device such as a tripod. The laser level planar 3 mainly includes a control unit 5, a first tilt sensor 6, a laser beam irradiation unit 7, a leveling unit 8, a horizontal rotation drive unit 9, an operation unit 11, and a display unit 12.

[0024] The first tilt sensor 6 detects the tilt of the laser level planar 3 relative to the horizontal, that is, the tilt of the irradiating laser beam relative to the horizontal. The detection result of the first tilt sensor 6 is input to the control unit 5.

[0025] The control unit 5 drives the leveling unit 8 based on the detection result of the first tilt sensor 6 to adjust the laser level planar 3 to a horizontal position. The control unit 5 irradiates the laser beam irradiation unit 7 with a laser beam, and rotates the laser beam irradiation unit 7 with the horizontal rotation drive unit 9 to rotate and irradiate the laser beam so that a horizontal reference plane O is formed.

[0026] The laser level planar 3 is installed so that the horizontal reference plane O is at a known height. For example, the height of the horizontal reference plane O from the reference floor surface is known from actual measurement or from the specifications of the laser level planar 3. Once a known horizontal reference plane O is formed, the height of the object to be measured can be measured with respect to the horizontal reference plane O.

[0027] The operation unit 11 receives ON / OFF commands for the operation of the laser level planar 3, settings for operating conditions, etc., and the display unit 12 displays the operating status, etc.

[0028] The height measuring device 2 will be described with reference to Figure 3.

[0029] The height measuring device 2 comprises a pole 14, a light receiver 15 as a measurement target provided at a required height on the pole 14, a distance measuring sensor 16 provided at the upper end of the pole 14, a projector 17, a second tilt sensor 18, and a calculation control unit 19. The light receiver 15 and the distance measuring sensor 16 are provided in a known positional relationship.

[0030] The light receiver 15 extends vertically and has a light receiving sensor 21 having a predetermined length, which detects the laser beam and emits a detection signal. The light receiving sensor 21 has a light receiving reference position (for example, the vertical center of the light receiving sensor 21, or the lower end of the light receiving sensor 21, etc.), and the light receiving reference position is a known position in the height measuring device 2. For example, the distance between the light receiving reference position and the lower end of the pole 14 is known.

[0031] The detection signal includes detection position information along with the light reception signal. The detection position information includes the deviation from the light reception reference position. Therefore, based on the detection signal, the height of the light reception reference position relative to the horizontal reference plane O can be measured. The detection signal is input to the calculation control unit 19.

[0032] The distance measuring sensor 16 is directed downwards to measure the distance to the ground surface, and various types of sensors can be used for the distance measuring sensor 16. As an example, a distance measuring camera 22 can be used. The distance measuring camera 22 has an image sensor consisting of many pixels, and each pixel emits a distance measuring light, receives the reflected light, and measures the distance by TOF (Time of Flight), acquiring distance measuring data over a surface area as shown in the image. Alternatively, the distance measuring light may be scanned at high speed to measure over a surface area. The distance data is input to the calculation control unit 19.

[0033] The distance measuring camera 22 has a measurement reference position, and the distance measured by the distance measuring camera 22 is the distance from the measurement reference position. The distance from the measurement reference position to the lower end of the pole 14 is also known. Furthermore, the relationship between the measurement reference position of the distance measuring camera 22 and the light receiving reference position of the light receiving sensor 21 is known, and the vertical distance between the measurement reference position and the light receiving reference position is also known.

[0034] Therefore, by measuring the height of the horizontal reference plane O with the light receiving sensor 21, the height of the measurement reference position relative to the horizontal reference plane O can be obtained.

[0035] The relationship between the measurement reference position and the reference point of the projection optical system of the projector 17 is known, and furthermore, the optical axis of the distance measuring camera 22 and the optical axis of the projector 17 are parallel or approximately parallel, and the distance between the two optical axes is also known.

[0036] The second tilt sensor 18 detects the tilt of the distance measuring camera 22 relative to the horizontal, or the tilt of the optical axis of the distance measuring camera 22 relative to the vertical, or the tilt of the pole 14 relative to the vertical. The tilt detection result of the second tilt sensor 18 is input to the calculation control unit 19.

[0037] The optical axis of the distance measuring camera 22 is set parallel to the pole 14. However, if the second tilt sensor 18 is configured to detect the inclination of the pole 14 relative to the vertical, the optical axis of the distance measuring camera 22 is tilted at a known angle relative to the pole 14.

[0038] The second tilt sensor 18 may be built into the calculation control unit 19. Furthermore, various IMU sensors such as acceleration sensors and gyroscopes can be used as the second tilt sensor 18.

[0039] The arithmetic control unit 19 includes an arithmetic processing unit 24 and a storage unit 25. The arithmetic processing unit 24 may be a CPU specific to this embodiment, or a general-purpose CPU, embedded CPU, microprocessor, etc. The storage unit 25 may be a semiconductor memory such as RAM, ROM, FlashROM, DRAM, or a magnetic recording memory such as an HDD.

[0040] The arithmetic processing unit 24 unpacks the various programs stored in the storage unit 25 and performs the necessary processing and operations.

[0041] The memory unit 25 stores various programs for executing this embodiment. These programs include, for example, a control program for integrated control such as synchronization of the distance measuring camera 22 and the projector 17, a distance measuring program for causing the distance measuring camera 22 to perform imaging and distance measurement, a calculation program for calculating 3D data based on distance measurement data, and a program for calculating video signals based on 3D data.

[0042] Furthermore, the memory unit 25 stores a threshold value for determining the height state, or stores measurement results, image data, etc. Hereinafter, the height state includes the deviation of the measurement target surface from the set height, the unevenness (unevenness) of the set surface, and the inclination with respect to the horizontal plane. Furthermore, the height information includes information on the deviation of the measurement target surface from the set height, information on unevenness of the set surface, and the inclination with respect to the horizontal plane.

[0043] The method for measuring unevenness will be explained with reference to Figure 4.

[0044] In Figure 4, 27 indicates a reference floor surface, and the laser level planar 3 is installed at a known height relative to the floor surface 27, forming a horizontal reference plane O at a known height relative to the floor surface 27.

[0045] Concrete is poured onto the construction floor surface 28, which is a predetermined amount lower than the aforementioned floor surface 27, and the finished construction surface is designated as 28a.

[0046] The measurer, for example, abuts the pole 14 against the construction floor surface 28, supporting the height measuring device 2 vertically or nearly vertically. The vertical position of the height measuring device 2 is detected by the second inclination sensor 18.

[0047] The following explanation assumes that the height measuring device 2 is supported vertically.

[0048] In the figure, O1 indicates a horizontal line passing through the measurement reference position of the distance measuring camera 22, and O2 indicates a horizontal line passing through the light receiving reference position of the light receiving sensor 21. The construction finished surface 28a is set to a height difference D with respect to the horizontal reference surface O so that it has a predetermined concrete thickness.

[0049] As mentioned above, the measurement reference position and the light receiving reference position have a known relationship, and the distance between O1 and O2 is a known value d. Furthermore, the deviation Δ between the laser beam receiving position of the light receiving sensor 21 and the light receiving reference position (i.e., the deviation Δ between the horizontal reference plane O and the light receiving reference position) is defined as S, and the distance value of the construction surface (concrete pouring surface) 28b measured by the distance measuring camera 22 (i.e., the distance from the measurement reference position of the distance measuring camera 22 to the construction surface 28b) is defined as S.

[0050] The unevenness ΔF of the construction surface 28b, with respect to the aforementioned construction finished surface 28a, can be calculated using the following formula.

[0051] ΔF = D + (d - Δ) - S ... (Equation 1)

[0052] Here, Δ indicates a positive value above the light-receiving reference position and a negative value below it. Furthermore, the unevenness ΔF indicates a convex state when positive and a concave state when negative.

[0053] The height difference D and the distance d between the measurement reference position and the light receiving reference position are set in advance in the calculation control unit 19. The distance measurement result from the distance measuring camera 22 and the detection signal from the light receiving sensor 21 are input to the calculation control unit 19, and the calculation control unit 19 calculates the unevenness ΔF based on the height difference D, the distance d, the distance measurement result, and the detection signal.

[0054] Furthermore, the distance measuring camera 22 is capable of measuring distance on a pixel-by-pixel basis, and the calculation control unit 19 calculates the unevenness ΔF on a pixel-by-pixel basis, thereby obtaining the unevenness ΔF distribution for the entire field of view of the distance measuring camera 22.

[0055] Furthermore, the calculation control unit 19 can create an unevenness map 4 by classifying the unevenness ΔF according to the threshold values ​​set in the storage unit 25.

[0056] For example, if the unevenness ΔF is positive relative to the finished surface 28a, a warm color scheme is used, and the density or tone is increased for every 3 mm increase. Furthermore, if the unevenness ΔF is negative relative to the finished surface 28a, a cool color scheme is used, and the density or tone is increased for every 3 mm decrease. In the unevenness map 4 shown in Figure 1, the unevenness is indicated by shades of gray.

[0057] Furthermore, the threshold for classification can be set as appropriate, not limited to 3mm, but also to 5mm, 1cm, etc. Also, the classification can be displayed using only shades of a single color.

[0058] The calculation control unit 19 inputs the created unevenness map as a video signal to the projector 17, and the unevenness map 4 is projected onto the construction surface 28b by the projector 17. The position and range of the projected unevenness map 4 match the position and range measured by the distance measuring camera 22, and the unevenness information of the construction surface 28b is accurately displayed by the unevenness map 4. In addition, the worker can visually confirm the unevenness state of the construction surface 28b from the projected unevenness map 4. The projection of the unevenness map 4 may be continuous or it may be blinking.

[0059] When the unevenness map is projected onto the construction surface 28b in the concrete-placing state, the worker can check the unevenness state during concrete placement in real time and correct the unevenness state in real time. Therefore, the concrete placement work can be carried out while correcting the unevenness state.

[0060] Furthermore, if the unevenness map is projected onto the concrete-filled construction surface 28b, the finished state and finishing accuracy of the construction surface 28b can be confirmed.

[0061] In the above description, it was assumed that the height measuring device 2 was supported vertically, but in reality, the height measuring device 2 may be tilted or oscillating. The height measuring device 2 is equipped with a second tilt sensor 18, which detects the tilt of the height measuring device 2 (the pole 14 or the optical axis of the distance measuring camera 22) in real time, and the tilt detection result is input to the calculation control unit 19 in real time.

[0062] The calculation control unit 19 corrects the measurement results (measured distance, measured position) of the distance measuring camera 22 in real time based on the distance from the lower end of the pole 14 to the measurement reference position and the tilt detection result. Therefore, even if the elevation measuring device 2 is tilted or shaken, the corrected unevenness map is projected, and the person taking the measurement can confirm accurate elevation information.

[0063] Next, we will explain the unevenness measurement procedure with reference to Figure 5.

[0064] STEP 01: The height measuring device 1 (laser level planar 3 in this embodiment) is set up in a predetermined position, and after leveling, the height of the emitted laser beam from the reference position (the position of the floor surface 27 in this embodiment) is measured and made known.

[0065] STEP 02: Rotate the laser beam to form a horizontal reference plane O.

[0066] STEP 03 The light receiver 15 detects the horizontal reference plane O. The height of the measurement reference position of the distance measuring sensor 16 (distance measuring camera 22 in this embodiment) relative to the horizontal reference plane O is determined from the light receiving position of the light receiving sensor 21.

[0067] STEP 04 The distance measuring sensor 16 measures the construction surface.

[0068] STEP 05 The tilt of the optical axis of the distance measuring sensor 16 is detected by the second tilt sensor 18.

[0069] STEP 06: The measurement result of the distance measuring sensor 16 is corrected based on the tilt detection result.

[0070] STEP 07 The height between the construction surface 28b and the horizontal reference surface O is determined based on the corrected measurement results (hereinafter referred to as the corrected measurement results) and the height of the measurement reference position relative to the horizontal reference surface O.

[0071] STEP 08 The difference in height between the pre-set construction finish surface 28a and the construction surface 28b is calculated, and height information is obtained.

[0072] STEP 09 Create a surface unevenness map image based on elevation information and pre-set thresholds.

[0073] STEP 10 Based on the positional relationship between the distance measuring sensor 16 and the projector 17, and the correction distance measurement result, the distance between the projector 17 and the projection surface (construction surface 28b) is calculated, and the unevenness map image is projected.

[0074] If you change the measurement position and continue the measurement, repeat steps 02 to 10.

[0075] Figure 6 shows a modified example of the first embodiment.

[0076] In Figure 6, components equivalent to those shown in Figure 1 are given the same reference numerals, and their explanations are omitted.

[0077] A target plate 31 for distance calibration is placed at the required position on the pole 14. The distance between the target plate 31 and the reference position of the distance measuring camera 22 is measured or determined from a drawing, and the determined distance is taken as the measured value.

[0078] When measuring the floor surface (finished surface 28a, construction surface 28b) with the distance measuring camera 22, the target plate 31 is measured before, after, or simultaneously with the measurement. The distance measurement result of the target plate 31 by the distance measuring camera 22 is compared with the measured value, and the distance measuring camera 22 is calibrated. Calibration corrects any errors in the distance measuring camera 22, improving measurement accuracy.

[0079] Figure 7 shows an outline of the surveying system according to the second embodiment, which mainly consists of a height measuring device 1 and a height-difference measuring device 2. In Figure 1, 4 shows the projected unevenness map.

[0080] In Figure 7, components equivalent to those shown in Figure 1 are given the same reference numerals, and their explanations are omitted. Note that the laser level planar 3 is not shown in Figure 7.

[0081] In the second embodiment, the distance measuring sensor 16 is comprised of a projector 17 and a camera 33.

[0082] The optical axis of the projector 17 and the optical axis of the camera 33 are parallel, and the two optical axes are separated by a predetermined distance, the separation distance is known, and the distance p is such that sufficient parallax is obtained to measure the floor surface. Therefore, the projector 17 and the camera 33 function as a distance measuring sensor 16 that measures distance by parallax.

[0083] When measuring the distance on the floor, the projector 17 projects an image containing the distance-measuring pattern 34 (Figure 8(A)). Although Figure 8(A) shows a grid-like pattern, any pattern that allows for the confirmation of displacement due to parallax is acceptable, for example, a dot-like pattern distributed at predetermined intervals in the vertical and horizontal directions.

[0084] The pattern 34 projected onto the floor surface is captured by the camera 33.

[0085] In the image acquired by the camera 33, the intersections (black circles) of the pattern 34 are displaced to the positions of the white circles. Since this displacement corresponds to the magnitude of the unevenness, the unevenness can be measured based on the displacement by determining the displacement of each intersection for the entire pattern 34.

[0086] Based on this unevenness, an unevenness map 4 can be created in the same manner as in the above embodiment. This unevenness map 4 may be superimposed and projected onto the pattern 34 (see Figure 8(B)), or only the unevenness map 4 may be projected.

[0087] Furthermore, as a modification of the second embodiment, the distance measuring sensor 16 may be composed of two cameras having a predetermined parallax (parallax cameras).

[0088] A third embodiment will be described with reference to Figures 9 to 12.

[0089] Figures 9 and 12 show an outline of the surveying system according to the third embodiment, and, similar to the first embodiment, the surveying system mainly consists of a height measuring device 1 and a height-depth measuring device 2.

[0090] In the third embodiment, a light wave distance device with a tracking function, such as a total station 37, is used as the height measuring device 1. Examples of measuring devices with a tracking function include image tracking using an image sensor and shape tracking using a laser scanner.

[0091] In addition, components in Figure 9 that are equivalent to those shown in Figure 1 are given the same reference numerals, and their explanations are omitted.

[0092] The total station 37 is installed in a required position, leveled horizontally. The total station 37 is installed at a known height. That is, the total station 37 has a survey reference point, and is installed such that the three-dimensional coordinates of the survey reference point, at least the height coordinates (height position), are known. For example, referring to Figure 12, if the total station 37 is installed on the floor surface 27, and the floor surface 27 is the survey reference height, then the height D from the floor surface 27 to the survey reference point is known.

[0093] The height measuring device 2' has a prism 35 with retroreflective properties as the object to be measured for height measurement. The optical center of the prism 35 and the measurement reference position of the distance measuring camera 22 have a known relationship. A reflective sheet may also be used as the object to be measured.

[0094] The total station 37 has a telescope unit (not shown) for sighting the prism 35 as the object to be measured, and emits tracking light through the telescope unit to track the prism 35, and also emits ranging light through the telescope unit to receive reflected light from the prism 35 and performs optical distance measurement on the prism 35.

[0095] Referring to Figure 10, the general configuration of the total station 37 will be explained.

[0096] The total station 37 mainly comprises a calculation control unit 38, a TS communication unit 42, a storage unit 43, a distance measuring unit 44, a tracking unit 45, a horizontal angle detector 47, a vertical angle detector 48, a horizontal rotation drive unit 49, a vertical rotation drive unit 50, a display unit 51, and an operation unit 52.

[0097] The calculation control unit 38 performs integrated control along with the individual controls of the TS communication unit 42, distance measuring unit 44, tracking unit 45, horizontal rotation drive unit 49, vertical rotation drive unit 50, and display unit 51, such as drive control and synchronization control.

[0098] The TS communication unit 42 communicates data with the height measuring device 2, and the tracking unit 45 emits tracking light and receives reflected light from the prism 35 to perform tracking. In parallel with the tracking by the tracking unit 45, the distance measuring unit 44 emits distance measuring light and receives reflected light from the prism 35 to measure the distance with the prism 35 as the measurement target.

[0099] Furthermore, the horizontal angle detector 47 has a reference point and is configured to detect the horizontal angle of the telescope's optical axis with respect to this reference point. The vertical angle detector 48 is configured to detect the vertical angle with respect to the horizontal.

[0100] The horizontal rotation drive unit 49 and the vertical rotation drive unit 50 rotate the telescope vertically and horizontally to track the prism 35. The horizontal angle detector 47 and the vertical angle detector 48 detect the horizontal and vertical angles during distance measurement. Thus, the distance to the object to be measured is measured, and the three-dimensional coordinates of the object to be measured are also measured.

[0101] The TS communication unit 42 transmits the measured three-dimensional coordinates to the height measuring device 2 in real time.

[0102] The operation unit 52 receives input for the ON / OFF status of the total station 37, the setting of operating conditions, etc., and the display unit 12 displays the operating status of the total station 37, etc.

[0103] Figure 11 shows a schematic of the elevation measuring device 2' of the third embodiment. The elevation measuring device 2' in the third embodiment and the elevation measuring device 2 in the first embodiment have substantially the same configuration, except that the prism 35 is provided instead of the light receiver 15, and a terminal communication unit 53 is provided for data communication with the total station 37.

[0104] In Figure 11, the distance measuring sensor 16 is shown as a distance measuring camera 22, but as shown in the second embodiment, the distance measuring sensor 16 may be composed of a projector 17 and a camera 33 or a parallax camera.

[0105] The measurement of unevenness in the third embodiment will be explained with reference to Figure 12. In Figure 12, components equivalent to those shown in Figure 4 are denoted by the same reference numerals, and their explanations are omitted.

[0106] The total station 37 measures the prism 35 and transmits the three-dimensional coordinates of the prism 35 as measurement data from the TS communication unit 42 to the terminal communication unit 53 of the height measuring device 2'. The terminal communication unit 53 inputs the received three-dimensional data to the calculation control unit 19.

[0107] The 3D data is further input to the arithmetic processing unit 24, which obtains the height of the prism 35, i.e., the height of the irradiation position of the distance measuring light of the total station 37, from the 3D data.

[0108] The height of the illumination position of the acquired distance measuring light is the height of the prism 35 (height of the optical center of the prism 35) relative to the floor surface 27 (see Figure 4).

[0109] Furthermore, the calculation processing unit 24 can obtain the height of the distance measuring camera 22 relative to the floor surface 27 from the known relationship between the optical center of the prism 35 and the measurement reference position of the distance measuring camera 22, and the height of the prism 35.

[0110] Thus, the unevenness of the construction surface 28b can be measured from the measurement results of the distance measuring camera 22.

[0111] The creation of the unevenness map 4 and the projection of the unevenness map image onto the construction surface 28b are the same as in the first embodiment, so the explanation will be omitted.

[0112] A fourth embodiment will be described with reference to Figures 13(A) to 13(C).

[0113] In the fourth embodiment, the distance measuring sensor 16 is composed of a laser measuring device (not shown) that emits a single beam and an LED illuminator 55. The optical axes of the laser measuring device and the LED illuminator 55 are parallel or approximately parallel, and the distance between the optical axes is also known. The illumination light emitted by the LED illuminator 55 is visible light and is set to have different wavelengths (different colors). For example, the colors of the illumination light emitted from the LED illuminator may be red, blue, and green.

[0114] Furthermore, the LED illuminators 55 may be individual units of different colors, aligned with their optical axes, or a single LED illuminator 55 capable of emitting multiple colors of illumination and switching between colors may be used. In addition, to facilitate visibility, the illumination light may be spread to a required extent. For example, the illuminated surface may have a diameter of 5 cm. Furthermore, the spread of the illumination light may be changed as appropriate depending on the work conditions.

[0115] The LED illuminator 55 has a function as a projector, and in the fourth embodiment, the projector 17 is omitted.

[0116] In the fourth embodiment, a laser level planar 3 is shown as the height measuring device 1, but it goes without saying that it can also be implemented using a total station 37.

[0117] The light receiving sensor 21 of the light receiver 15 detects the horizontal reference plane O, allowing the height of the measurement reference position of the laser length measuring instrument to be determined, and the amount of unevenness of the construction surface 28b (see Figure 4) can be measured from the measurement results of the laser length measuring instrument.

[0118] The calculation control unit 19 switches the color of the LED illuminator 55 in accordance with the amount of unevenness and selects the color of the illumination light. By changing the color of the illumination light shining on the construction surface 28b in accordance with the amount of unevenness, the unevenness of the measurement location can be visually confirmed.

[0119] For example, when the surface is within the appropriate range (e.g., ±3 mm relative to the finished surface 28a (see Figure 4)), a green illumination light G is used (Figure 13(A)), when it is convex beyond the appropriate range, a red illumination light R is used (Figure 13(B)), and when it is concave beyond the appropriate range, a blue illumination light B is used (Figure 13(C)).

[0120] Furthermore, the color of the illumination light can be changed by mixing the illumination light. Therefore, by controlling the mixing of the illumination light in accordance with the amount of unevenness, the calculation control unit 19 can project a finer level of unevenness.

[0121] If a total station 37 is used as the height measuring device 1 and the height measuring device 2 is configured to track it, the height measuring device 2 can be a handheld type instead of being installed on the construction floor surface 28.

[0122] The height of the elevation measuring device 2 (i.e., the height of the prism 35) is measured in real time by the total station 37, and the inclination of the elevation measuring device 2 (the inclination of the distance measuring sensor 16) is detected in real time by the second inclination sensor 18. Therefore, by correcting the measured height of the elevation measuring device 2 with the detected inclination, the accurate height of the distance measuring sensor 16 can be determined. Accordingly, the accurate amount of unevenness can be measured from the measurement value of the distance measuring sensor 16.

[0123] Needless to say, the projected unevenness map is also corrected in real time.

[0124] Next, if the height measuring device 2 is a handheld type and the distance measuring sensor 16 includes the LED illuminator 55 shown in the fourth embodiment, when the height measuring device 2 is swung within the required range and illumination light is shone on it, the color of the illumination light changes according to the unevenness of the ground. Therefore, by swinging the height measuring device 2 at a visible speed and within a visible range, the illumination light can be recognized as an unevenness map.

[0125] Furthermore, the height measuring device may have casters for mobility or be mounted on a mobile body, allowing for remote control or programmed movement while illuminating the surface. The above description focused on measuring unevenness on the surface to be measured or the construction surface, but it goes without saying that the deviation of the surface to be measured or the construction surface from the set height (finished construction surface), or the inclination relative to the horizontal, can be measured by measuring multiple points on the construction surface. [Explanation of Symbols]

[0126] 1. Height measuring device 2 Height measurement device 3 Laser level planar 4 Uneven Map 5 Control Unit 15 Receiver 16 Distance measuring sensor 17 Projector 18. Second tilt sensor 19. Arithmetic Control Unit 21 Light receiving sensor 22 Rangefinder Cameras 33 Cameras 34 patterns 35 Pris Mu 55 LED illuminator

Claims

1. A surveying system comprising a height measuring device and a height-difference measuring device including a measurement target having retroreflective properties, for measuring the unevenness of a concrete-cast surface or leveled ground with respect to a horizontal reference plane, The height measuring device is a total station that is installed at a known height, has a TS communication unit capable of transmitting measurement results, and has a tracking function for tracking the object to be measured. The total station tracks the object to be measured, measures the height of the object at the installation location of the height measuring device, and can transmit the measurement results to the height measuring device via the TS communication unit. The height measuring device comprises a support that is supported and movable by the person taking the measurement, The support is provided with the object to be measured by the height measuring device, and a distance measuring sensor provided in a known relationship with the object to be measured to measure the distance to the construction surface. A projection device having an optical axis parallel or substantially parallel to the optical axis of the distance measuring sensor, which projects elevation information, It comprises a tilt sensor, a terminal communication unit capable of receiving measurement results from the TS communication unit, and a calculation control unit. The optical axis of the distance measuring sensor and the optical axis of the projection device are parallel or substantially parallel, the distance between the two optical axes is known, and the measurement range of the distance measuring sensor and the projection range of the projection device are configured to coincide in terms of positional range. The calculation control unit sets the height of the horizontal construction finish surface relative to the known height, and the calculation control unit acquires the height information of the object to be measured in real time via the terminal communication unit. The tilt of the height measuring device is acquired in real time from the tilt sensor. A surveying system configured to calculate the height of the measurement reference position of the distance measuring sensor relative to the finished construction surface based on the height information of the object to be measured and the known height, to calculate the height information of the construction surface relative to the finished construction surface based on the measurement result of the distance measuring sensor, and to correct the height information based on the detection result of the inclination sensor, wherein the projection device is configured to project the height information onto the construction surface in real time.

2. The surveying system according to claim 1, wherein the object to be measured is a prism.

3. The measurement system according to claim 1, wherein the object to be measured is a reflective sheet.

4. The surveying system according to claim 1, wherein the support is a pole.

5. The surveying system according to claim 1, wherein the elevation measuring device is configured as a handheld type, and the calculation control unit is configured to correct the elevation information in real time based on the detection result of the tilt sensor and the height information of the object to be measured.

6. The surveying system according to claim 1, wherein the distance measuring sensor is a distance measuring camera.

7. The surveying system according to claim 1, wherein the distance measuring sensor is a parallax camera.

8. The surveying system according to claim 1, wherein the distance measuring sensor comprises a projector that projects a distance measuring pattern and a camera provided to create parallax with respect to the projector.

9. A surveying system comprising a height measuring device and a height-difference measuring device including a measurement target having retroreflective properties, for measuring the unevenness of a concrete surface or leveled ground with respect to a horizontal reference plane, wherein the height measuring device is a total station having a TS communication unit installed at a known height and capable of transmitting measurement results, and having a tracking function for tracking the measurement target, the height-difference measuring device comprises the measurement target measured by the height measuring device, a distance measuring sensor installed in a known relationship with the measurement target and measuring the distance to the construction surface, a projection device for projecting height information, a terminal communication unit capable of receiving measurement results from the TS communication unit, a calculation control unit, the calculation control unit, the measurement target, the distance measuring sensor, the projection device, and the terminal communication unit. The total station comprises a movable support body provided with a section, and the total station tracks the object to be measured and measures the object, transmits the measurement results to the height measuring device via the TS communication unit, the calculation control unit sets the height of the finished construction surface relative to the known height, the calculation control unit acquires height information of the object to be measured via the terminal communication unit, calculates the height of the measurement reference position of the distance measuring sensor relative to the finished construction surface based on the height information of the object to be measured and the known height, and calculates the height information of the construction surface relative to the finished construction surface based on the measurement results of the distance measuring sensor, and the projection device is configured to project the height information onto the construction surface in real time. A surveying system comprising a distance measuring sensor composed of a laser measuring device and an LED illuminator, wherein the optical axis of the laser measuring device and the optical axis of the LED illuminator are parallel or substantially parallel, the LED illuminator is capable of emitting illumination light of multiple different colors, and the calculation control unit is configured to select the color of illumination light to emit according to the height information and to illuminate the LED illuminator in real time.

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