Surveying device, surveying system, surveying method, and surveying program

Abstract

A laser scanner 1 is provided with: a light emitting part 105 for emitting laser light L1 for distance measurement; a laser light reception part 106 for receiving laser reflection light L2; a scanning drive part 104d capable of rotating the emitting direction of the laser light L1 for distance measurement by 180 degrees or more around a horizontal axis; a measurement part 101b for measuring a reflection source of the laser reflection light L2; a calibration reference setting part 101c for setting a reflection source 500, which has a prescribed characteristic, as a calibration reference; a calibration operation part 101d for calculating a front-side measured value and a reverse-side measured value respectively measured by the measurement part 101b when the emitting direction is in the front side and the reverse side of the scanning drive part 104d in the case where the laser light L1 for distance measurement is emitted to the calibration reference; and a correction value calculation part 101e for calculating a correction value of a measurement result of the reflection source from the difference between the measured values.

Description

Surveying equipment, surveying system, surveying method and surveying program

[0001] The present disclosure relates to a surveying instrument, a surveying system, a surveying method, and a surveying program.

[0002] A laser scanner is known as a surveying device that acquires point cloud data by scanning with a laser beam. Specifically, as described in Patent Document 1, the laser scanner can change the elevation angle (vertical angle) of the laser beam using a scanning mirror that can rotate around a horizontal axis, and can change the azimuth angle (horizontal angle) of the laser beam using a horizontal rotation unit that can rotate a main body that supports the scanning mirror around the vertical axis.

[0003] JP 2016-223840 A JP 2022-136224 A

[0004] In laser scanners such as those described in Patent Document 1, geometric misalignment can occur in the rotation axis (horizontal axis) of the scanning mirror and the rotation axis (vertical axis) of the horizontal rotation unit. Such geometric misalignment within the device can cause a misalignment in the optical axis of the emitted laser light (so-called optical axis misalignment). Therefore, before shipping a laser scanner, the optical axis misalignment that occurs in each device is measured with high precision, and a correction value is set so that the misalignment can be corrected mathematically.

[0005] However, since the degree of deviation changes depending on the use after shipping, it becomes necessary to adjust the correction value. However, to perform high-precision measurements like those performed before shipping in order to adjust the correction value, special facilities and equipment are required, making it difficult for users to adjust the correction value.

[0006] Specifically, in order to adjust the correction value, it was necessary to capture the measurement target with a laser scanner and calculate the coordinates of the measurement target with high precision. Because a laser scanner is a device that detects the surface of an object, a special device such as a total station as disclosed in Patent Document 2 was required to determine the coordinates from the surface shape, making it difficult for users to adjust the correction value.

[0007] Therefore, an object of the present disclosure is to provide a surveying instrument, a surveying system, a surveying method, and a surveying program that can easily adjust correction values ​​that correct geometric deviations of the instrument.

[0008] In order to achieve the above-mentioned object, the surveying instrument of the present disclosure comprises a laser irradiation unit that irradiates a ranging laser light, a laser receiving unit that receives reflected light of the ranging laser light, a scan drive unit that can rotate the irradiation direction of the ranging laser light around a horizontal axis, a measurement unit that measures the reflection source of the reflected light from the relationship between the ranging laser light and the reflected light, a calibration reference setting unit that sets the reflection source having predetermined characteristics as a calibration reference based on the measurement results of the reflection source, a calibration calculation unit that calculates a plurality of measurement values ​​that are a plurality of measurement results obtained by irradiating the ranging laser light to the plurality of points when the ranging laser light is irradiated to one or more calibration references set by the calibration reference setting unit, and a correction value calculation unit that calculates a correction value for the measurement results of the reflection source measured by the measurement unit from the plurality of measurement values ​​calculated by the calibration calculation unit.

[0009] The surveying system of the present disclosure includes the surveying device and the reflecting source.

[0010] The surveying method disclosed herein comprises: a calibration standard setting process for setting a reflection source having predetermined characteristics as a calibration standard based on measurement results regarding the reflection source of reflected light of the distance measurement laser light irradiated from a surveying device comprising: a laser irradiation unit that irradiates distance measurement laser light; a laser receiving unit that receives reflected light of the distance measurement laser light; a scan drive unit that can rotate the irradiation direction of the distance measurement laser light around a horizontal axis; and a measurement unit that measures the reflection source of the reflected light from the relationship between the distance measurement laser light and the reflected light; a calibration calculation process for calculating a plurality of measurement values, which are a plurality of measurement results obtained by irradiating the distance measurement laser light to the plurality of points when the distance measurement laser light is irradiated to one or more calibration standards set by the calibration standard setting process; and a correction value calculation process for calculating a correction value of the measurement result of the reflection source measured by the measurement unit from the plurality of measurement values ​​calculated by the calibration calculation process.

[0011] The surveying program disclosed herein is configured to cause a computer to execute the following steps: a calibration standard setting process for setting a reflection source having predetermined characteristics as a calibration standard based on measurement results regarding the reflection source of reflected light of the distance measurement laser light irradiated from a surveying device having a laser irradiation unit that irradiates distance measurement laser light, a laser receiving unit that receives reflected light of the distance measurement laser light, a scan drive unit that can rotate the irradiation direction of the distance measurement laser light around a horizontal axis, and a measurement unit that measures the reflection source of the reflected light from the relationship between the distance measurement laser light and the reflected light; a calibration calculation process for calculating multiple measurement values, which are multiple measurement results obtained by irradiating the distance measurement laser light to multiple points when the distance measurement laser light is irradiated to one or more calibration standards set by the calibration standard setting process; and a correction value calculation process for calculating a correction value for the measurement result of the reflection source measured by the measurement unit from the multiple measurement values ​​calculated by the calibration calculation process.

[0012] According to the surveying instrument, surveying system, surveying method, and surveying program disclosed herein, it is possible to easily adjust the correction value that corrects the geometric deviation of the instrument.

[0013] It is a schematic diagram showing a surveying system of the present embodiment. It is a block diagram showing the overall configuration of a laser scanner of the present embodiment. It is a schematic diagram showing the configuration of an optical system of the laser scanner of the present embodiment. It is a flowchart showing correction value adjustment control executed by the laser scanner of the present embodiment. It is an explanatory diagram for explaining the effect of the present embodiment.

[0014] An embodiment of a surveying instrument and a surveying system according to the present disclosure will be described with reference to FIGS. 1 to 3 as needed.

[0015] FIG. 1 shows a schematic diagram of a surveying system according to this embodiment. The surveying system 1000 shown in the figure includes a laser scanner 1 (surveying device). The laser scanner 1 is a surveying device that is mounted, for example, on top of a tripod T and performs measurements by scanning a range to be surveyed with laser light. In the surveying system 1000, objects within the range to be surveyed (including floors, walls, ceilings, etc.) are reflection sources 500 of the laser light. In the surveying system 1000 of this embodiment, one or more retroreflective members, such as prisms 500a and retroreflective sheets 500b, which serve as the reflection sources 500, are arranged within the range to be surveyed.

[0016] The laser scanner 1 comprises a main body 100 and a base 200 that supports the main body 100, and the main body 100 is supported on the base 200 so that it can rotate 360° around a vertical axis A1 (i.e., in the horizontal direction).

[0017] The laser scanner 1 measures the reflection source 500, which is the object of measurement, by emitting a distance measurement laser beam L1 and receiving a reflected laser beam L2 reflected by the reflection source 500.

[0018] Hereinafter, in the laser scanner 1, one side relative to the main body 100 will be referred to as the front side, and the side opposite the front side will be referred to as the back side.

[0019] 2 is a block diagram showing the overall configuration of the surveying device of this embodiment. As shown in the figure, the main body 100 of the laser scanner 1 includes a processing unit 101, a laser emission unit 102, a light guide unit 104, a laser reception unit 106, a light intensity adjustment unit 107, a scan drive unit 108, an elevation angle detection unit 109, an input unit 110, a display unit 111, a communication unit 112, and a memory unit 113. The base unit 200 also includes a horizontal rotation drive unit 201 and an azimuth angle detection unit 202.

[0020] The horizontal rotation drive unit 201 of the base unit 200 is an actuator that can rotate the main body unit 100 around the vertical axis A1. The horizontal rotation drive unit 201 is provided with an azimuth angle detection unit 202. The azimuth angle detection unit 202 directly detects the rotation angle of the horizontal rotation drive unit 201, and detects the azimuth angle (horizontal angle) of the ranging laser light L1 from the rotation angle.

[0021] The optical system of the laser scanner 1 is mainly composed of a laser emitting unit 102, a light guide unit 104, a laser receiving unit 106, a light intensity adjusting unit 107, and a scan driving unit 108. Specifically, a schematic diagram showing the configuration of the optical system of the laser scanner 1 is shown in FIG.

[0022] The laser light emitting unit 102 is a single or multiple light emitting elements that emit the distance measurement laser light L1.

[0023] The light guide unit 104 is an optical system that guides the distance measurement laser light L1 emitted from the laser emitter 102 to the scanning mirror 104d shown in Figure 3, and also guides the reflected laser light L2 from the reflection source 500 to the laser receiver 106.

[0024] Specifically, the light guide unit 104 includes a light receiving mirror 104a, which is a half mirror that transmits the distance measurement laser light L1 emitted from the laser emission unit 102, a beam splitter 104b that reflects only light rays of the required wavelength (e.g., infrared light) from the distance measurement laser light L1 that has passed through the light receiving mirror 104a, a focusing lens 104c that collects the distance measurement laser light L1 reflected from the beam splitter 104b, and a scanning mirror 104d that reflects the distance measurement laser light L1 that has passed through the focusing lens 104c toward the reflection source 500.

[0025] In addition, for the laser reflected light L2 from the reflection source 500, the light guide unit 104 reflects the incident laser reflected light L2 using the scanning mirror 104d, focuses it using the focusing lens 104c, reflects it using the beam splitter 104b, and receives it at the laser receiving unit 106 through the light intensity adjustment unit 107 using the receiving mirror 104a.

[0026] The scanning mirror 104d has a substantially circular plate shape and is rotatably supported by the scanning driver 108. The scanning driver 108 can rotate the scanning mirror 104d about a horizontal axis A2 that passes through the center of the scanning mirror 104d. In other words, the scanning driver 108 can rotate the irradiation direction of the ranging laser light L1 360 degrees around the vertical axis A1 (vertical direction) by driving the scanning mirror 104d to rotate.

[0027] The scan driver 108 is also provided with an elevation angle detector 109. The elevation angle detector 109 directly detects the rotation angle of the scan mirror 104d, and detects the elevation angle (vertical angle) of the distance measurement laser light L1 reflected by the scan mirror 104d from the angle of the scan mirror 104d.

[0028] The laser receiving unit 106 has a light receiving element that receives the reflected laser light L2. Specifically, as shown in Fig. 3, the laser receiving unit 106 is disposed so as to receive the reflected laser light L2 from the light receiving mirror 104a. Furthermore, the light receiving element of the laser receiving unit 106 has a function of measuring the light intensity of the received reflected laser light L2.

[0029] The light intensity adjusting unit 107 is, for example, an optical attenuator, and is capable of adjusting (particularly attenuating) the intensity of the laser reflected light L2 from the light receiving mirror 104a and allowing the laser receiving unit 106 to receive the light. The light intensity adjusting unit 107 of this embodiment has a plurality of filters with different attenuation rates, and is configured so that an appropriate filter is selected under the control of the processing unit 101. In particular, the light intensity adjusting unit 107 of this embodiment includes a filter having an attenuation rate that attenuates the laser reflected light L2 from the retroreflective member to a light intensity that can be received by the laser receiving unit 106.

[0030] The control system of the laser scanner 1 is mainly composed of a processing unit 101 , an input unit 110 , a display unit 111 , a communication unit 112 , and a storage unit 113 .

[0031] The input unit 110 is an operating means by which an operator can input control instructions to the control unit 101a, and includes any device such as a touch panel, a switch, a button, or a dial.

[0032] The display unit 111 is for displaying various types of information and is configured with, for example, a liquid crystal panel. The display unit 111 may be configured integrally with the input unit 110, such as a touch panel.

[0033] The communication unit 112 is capable of transmitting and receiving various types of information to and from an external device (not shown). The transmission and reception here may be either wired communication or wireless communication.

[0034] The storage unit 113 is realized by a storage medium such as an HDD, an SSD, or a flash memory, and is configured to be able to store various types of information. The storage unit 113 stores, as various types of information, for example, point cloud data (coordinate data based on the distance, elevation angle, and azimuth angle of each point) measured by a measurement unit described later, information on calibration standards (forward measurement values, reverse measurement values, etc.) set by a calibration standard setting unit 101c and a calibration calculation unit 101d described later, and correction values ​​(including correction coefficients) for geometric deviations on the device.

[0035] The processing unit 101 is electrically connected to the above-mentioned components, and controls, for example, the laser emission unit 102, the light intensity adjustment unit 107, the scan drive unit 108, the display unit 111, the communication unit 112, the memory unit 113, and the horizontal rotation drive unit 201. The processing unit 101 also acquires various pieces of information from the laser reception unit 106, the elevation angle detection unit 109, the input unit 110, the communication unit 112, the memory unit 113, and the azimuth angle detection unit 202.

[0036] The processing unit 101 also includes a control unit 101a, a measurement unit 101b, a calibration standard setting unit 101c, a calibration calculation unit 101d, and a correction value calculation unit 101e corresponding to the processes to be executed. Note that the components of the processing unit 101 are only virtually divided into components corresponding to the processes to be executed, and do not necessarily have to be physically divided into components.

[0037] The control unit 101a has a function of controlling the entire main body unit 100 and the base unit 200. For example, the control unit 101a rotates the scanning mirror 104d via the scan drive unit 108, rotates the main body unit 100 by driving the horizontal rotation drive unit 201, and adjusts the attenuation rate of the light intensity of the reflected laser light L2 by the light intensity adjustment unit 107. When the light intensity received by the laser light receiving unit 106 is equal to or greater than a predetermined value, the control unit 101a changes the transmission filter (i.e., to transmit the reflected laser light L2) in the optical attenuator serving as the light intensity adjustment unit 107.

[0038] The measurement unit 101b measures the reflection source 500 based on the relationship between the ranging laser light L1 and the reflected laser light L2. For example, when using a so-called time-of-flight method, the distance from the laser scanner 1 to the reflection source 500 is measured based on the time it takes for the ranging laser light L1 to be emitted and the reflected laser light L2 to be received from the reflection source 500. Alternatively, the so-called phase shift method (also called a phase difference method) may be used. In this case, a ranging laser light modulated in multiple ways is emitted, and the distance from the laser scanner 1 to the reflection source 500 is measured based on the phase difference between the diffuse reflection component of the reflected laser light L2. The measurement unit 101b also measures the relative direction of the reflection source 500 with respect to the laser scanner 1 based on the elevation angle detected by the elevation angle detection unit 109 and the azimuth angle detected by the azimuth angle detection unit 202. The distance, elevation angle, and azimuth angle of the reflection source 500 with respect to the laser scanner 1 are corrected using a correction value described below, and then the coordinates of the reflection source 500 are calculated. The measuring unit 101b stores the coordinates thus measured as point cloud data in the storage unit 113. A three-dimensional model can be generated based on the point cloud data.

[0039] The calibration reference setting unit 101c is configured to set a reflection source 500 having predetermined characteristics as a calibration reference based on the measurement results of the reflection source 500. Specifically, the calibration reference setting unit 101c performs a reference detection scan to scan the target range to detect the calibration reference, and extracts one or more calibration references from the point cloud data resulting from the scan. The condition (predetermined characteristic) of the reflection source 500 serving as the calibration reference is, for example, that the light intensity of the reflected laser light L2 is equal to or greater than a predetermined light intensity. Here, the predetermined light intensity refers to the light intensity of the reflected laser light L2 when a retroreflective member is used as the reflection source 500. When there are multiple calibration references, it is preferable to select calibration references whose rotation angles (elevation angles) of the scanning mirror 104d are far apart from each other in order to further improve calibration accuracy. Therefore, for example, when there are multiple calibration references, the calibration reference setting unit 101c may set only the extracted calibration references whose relative elevation angles are equal to or greater than a predetermined value as the final calibration references. Furthermore, instead of being limited to the relative elevation angle, only calibration standards with relative distances and relative azimuth angles equal to or greater than a predetermined value may be set as the final calibration standards.

[0040] The calibration calculation unit 101d has the function of measuring one or more calibration standards set by the calibration standard setting unit 101c on the front and back sides and obtaining respective measurement results. Specifically, the calibration calculation unit 101d measures the calibration standard from the front side to obtain front-side measurement values, which are the measurement results measured by the measurement unit 101b (hereinafter referred to as front-side scan). The calibration calculation unit 101d also obtains back-side measurement values ​​by rotating the main body unit 100 180 degrees horizontally using the horizontal rotation drive unit 201 while keeping the laser scanner 1 in position, and measuring the same calibration standard from the back side (hereinafter referred to as back-side scan). Specific measurement value acquisition methods include, for example, extracting the calibration standard (measurement target) from the acquired point cloud using a feature point extraction method (typically using an intensity filter), and then obtaining coordinate values ​​of the calibration standard (e.g., front-side measurement values ​​and back-side measurement values) from the point cloud of the extracted feature points by center of gravity detection or the like.

[0041] Furthermore, before performing the forward side scan and the reverse side scan, the calibration calculation unit 101d controls the light intensity adjustment unit 107 to attenuate the reflected laser light L2 from the retroreflective member to a light intensity that can be received by the laser receiving unit 106. Because the retroreflective member that serves as the calibration reference receives reflected laser light L2 with a higher light intensity than the normal reflection source 500, the calibration calculation unit 101d increases the attenuation rate in advance using the light intensity adjustment unit 107, thereby enabling the calibration reference to be detected with high accuracy.

[0042] The correction value calculation unit 101e calculates a correction value for the measurement result of the reflection source 500 measured by the measurement unit 101b from the forward-side measurement value and the reverse-side measurement value calculated by the calibration calculation unit 101d. For example, the correction value calculation unit 101e determines the average value of the forward-side measurement value and the reverse-side measurement value to be the true value, and calculates a forward-side correction value that makes the forward-side measurement value the true value and a reverse-side correction value that makes the reverse-side measurement value the true value. As an example, the calculated value of "true value / forward-side measurement value" is the forward-side correction value, and the calculated value of "true value / reverse-side measurement value" is the reverse-side correction value. Then, the correction value calculation unit 101e adjusts the correction values ​​by updating the forward-side correction value and the reverse-side correction value stored in the memory unit 113 with the newly calculated forward-side correction value and the reverse-side correction value, respectively.

[0043] In this way, the processing unit 101 of the laser scanner 1 can perform adjustment control of the correction value.

[0044] Next, Fig. 4 shows a flowchart illustrating the correction value adjustment control (surveying method) executed by the laser scanner according to this embodiment, and Fig. 5 shows an example of a point cloud image generated as a result of a reference detection scan. The following description will be given along with the flowchart in Fig. 4 with reference to Fig. 5. Note that Fig. 5 shows an image of a simplified point cloud image, not an actual point cloud image. The correction value adjustment control is started in response to an operator's operation from the input unit 110 of the laser scanner 1.

[0045] When the correction value adjustment control is started, first, in step S1 as shown in Fig. 4, the calibration reference setting unit 101c performs a reference detection scan to scan the target range. For example, the reference detection scan is a 360-degree scan (full range scan) in both the horizontal and vertical directions. When this full range scan is performed, a point cloud image as shown in Fig. 5 is generated from the point cloud data obtained by the measurement unit 101b.

[0046] In step S2, the calibration standard setting unit 101c determines whether or not there is a reflection source 500 having a predetermined characteristic (a predetermined light intensity or greater) from the point cloud data that is the measurement result of the reference detection scan. If the calibration standard setting unit 101c determines that there is a reflection source 500 having the predetermined characteristic (if step S2 is Yes), the process proceeds to step S3. On the other hand, if the calibration standard setting unit 101c determines that there is no reflection source 500 having the predetermined characteristic (if step S2 is No), the correction value adjustment control ends.

[0047] In step S3, the calibration reference setting unit 101c sets a reflection source 500 having predetermined characteristics as the calibration reference. In the example point cloud image of FIG. 5, points such as points B1 to B4 are extracted as reflection sources 500 having predetermined characteristics. Points B1 and B2 are assumed to be retroreflective sheets 500b, and points B3 and B4 are assumed to be prisms 500a, and these points B1 to B4 have high reflectance. The calibration reference setting unit 101c can set the calibration reference by extracting points showing light intensities above a predetermined value. Furthermore, if there are multiple calibration references, only those of the extracted calibration references whose relative elevation angles are equal to or greater than a predetermined value may be set as the final calibration reference. For example, since points B3 and B4 in FIG. 5 have close relative elevation angles, only one of them may be used as the calibration reference.

[0048] In the following step S4, the calibration calculation unit 101d adjusts the attenuation rate in the light intensity adjustment unit 107 based on the received light intensity in the measurement result acquired by the measurement unit 101b in step S1. For example, when the light intensity (received light intensity) of the reflected laser light L2 from the calibration standard exceeds a predetermined value, the calibration calculation unit 101d adjusts the attenuation rate in the light intensity adjustment unit 107 to increase it in order to avoid saturation of the received signal (optical signal). Note that when this received light intensity is an appropriate value, the control unit 101a does not need to adjust the attenuation rate in the light intensity adjustment unit 107.

[0049] In step S5, the calibration calculation unit 101d performs a forward scan. That is, the calibration calculation unit 101d irradiates the distance measurement laser light L1 from the forward direction toward the calibration standard set in step S3, measures the calibration standard, and obtains a forward measurement value. If there are multiple calibration standards, the calibration calculation unit 101d obtains a forward measurement value for each of them.

[0050] In step S6, the calibration calculation unit 101d controls the horizontal rotation drive unit 201 to turn the main body unit 100 upside down.

[0051] Then, in step S7, the calibration calculation unit 101d performs an opposite-side scan. That is, the calibration calculation unit 101d irradiates the calibration standard set in step S3 with the distance measurement laser light L1 from the opposite side, measures the calibration standard, and obtains opposite-side measurement values. Here, too, if there are multiple calibration standards, opposite-side measurement values ​​are obtained for each.

[0052] In step S8, the correction value calculation unit 101e calculates the average value of the positive side measurement value obtained in step S5 and the opposite side measurement value obtained in step S7.

[0053] In step S9, the correction value calculation unit 101e calculates correction values ​​(specifically, a positive side correction value and a negative side correction value) for the geometric deviation of the device from the average value calculated in step S8. The calculated correction values ​​are then updated in the storage unit 113, and are applied to the correction of the measurement values ​​from the next time onwards (so-called calibration).

[0054] (Program) Here, the program for realizing each function constituting the surveying system 1000 according to this embodiment will be described in detail.

[0055] The operation of each component of the laser scanner 1 is stored in the form of a program in the storage unit 113. The processing unit 101 reads the program from the storage unit 113, expands it in a memory (main storage device) not shown, and executes the above-described processing in accordance with the program.

[0056] The program may include, for example, a calibration standard setting step of setting a reflection source having predetermined characteristics as a calibration standard based on a measurement result of the reflection source of the reflected light of the distance-measuring laser light irradiated from a surveying instrument including: a laser irradiation unit that irradiates distance-measuring laser light; a laser receiving unit that receives reflected light of the distance-measuring laser light; a scan driving unit that can rotate the irradiation direction of the distance-measuring laser light around a horizontal axis; and a measurement unit that measures the reflection source of the reflected light from the relationship between the distance-measuring laser light and the reflected light; and When the ranging laser light is irradiated onto one or more set calibration standards, a calibration calculation process is executed to calculate a forward measurement value, which is the measurement result measured by the measurement unit when the irradiation direction is on the forward side of the scan drive unit, and an opposite measurement value, which is the measurement result measured by the measurement unit when the irradiation direction is on the opposite side of the scan drive unit; and a correction value calculation process is executed to calculate a correction value for the measurement result of the reflection source measured by the measurement unit from the forward measurement value and the opposite measurement value calculated by the calibration calculation process.

[0057] The storage unit 113 is an example of a non-transitory tangible medium. Other examples of non-transitory tangible media include a magnetic disk, a magneto-optical disk, an optical disk, and a semiconductor memory connected via an interface. Furthermore, if this program is distributed to a computer via a network, the computer receiving the program may load the program into its memory and execute the above-described processing.

[0058] The program may be a program for realizing part of the above-described functions, or may be a so-called differential file (differential program) that realizes the above-described functions in combination with another program already stored in the storage unit 113.

[0059] As described above, the surveying system 1000 having the laser scanner 1 (surveying device) according to this embodiment, the correction value adjustment control (surveying method), and the surveying program allow for the adjustment of correction values ​​by performing a reference detection scan to set a calibration reference, and then performing forward and reverse scans of the calibration reference. Since no large-scale facilities or equipment are required, even a user can adjust the correction values. This allows for easy adjustment of the correction values ​​that correct the geometric misalignment of the device.

[0060] Furthermore, the calibration standard setting unit 101c sets the reflection source 500 of the reflected laser light L2 having a predetermined light intensity or more as the calibration standard as a condition for extracting the calibration standard. In other words, the operator can easily set the calibration standard simply by having the reflection source 500 with high reflectivity in the target range.

[0061] Furthermore, the calibration calculation unit 101d attenuates the light intensity of the reflected laser light L2 using the light intensity adjustment unit 107 before the reflected laser light L2 is received by the laser receiving unit 106. This allows the calibration calculation unit 101d to avoid saturation of the received signal (optical signal), thereby avoiding errors in the measured distance due to saturation of the received signal and thereby obtaining highly accurate coordinates (e.g., forward-side measurement values ​​and opposite-side measurement values). This allows the correction value calculation unit 101e to perform highly accurate corrections. Therefore, highly accurate forward-side scans and opposite-side scans can be performed even for a calibration standard with a high reflectivity, improving the accuracy of correction value adjustment.

[0062] Furthermore, as in this embodiment, by setting the light intensity of the retroreflective member (prism 500a, retroreflective sheet 500b) as a condition for the calibration standard, the worker can reliably set the calibration standard simply by placing the retroreflective member, making it easier to adjust the correction value.

[0063] Furthermore, according to this embodiment, since a highly reflective object such as the prism 500a is used as the measurement target, the intensity of the reflected laser light L2 can be increased by more than 10,000 times compared to the object surface. This suppresses the effects of environmental disturbances, allowing highly reflective objects to be separated from other objects and identified. In particular, since highly reflective objects have a fixed size, when a highly reflective object is used, the coordinates of the highly reflective object can be uniquely determined by calculating the center of gravity. Furthermore, the inclusion of the light intensity adjuster 107 more reliably prevents saturation of the electrical signal in the laser receiving unit 106, allowing for even more effective use of highly reflective objects.

[0064] This concludes the description of the embodiment of the present disclosure, but the aspects of the present disclosure are not limited to this embodiment.

[0065] In the above embodiment, the calibration calculation unit 101d acquires the forward measurement value and the reverse measurement value as the coordinates of the calibration reference, but the coordinates of the calibration reference to be acquired are not limited to the forward measurement value and the reverse measurement value, and may be multiple measurement results (i.e., multiple measurement values) acquired by irradiating multiple points with the ranging laser light L1 (i.e., irradiating the ranging laser light L1 in multiple directions).

[0066] Furthermore, in the above embodiment, the light intensity adjuster 107 is provided to attenuate the light entering the laser receiving unit 106, but the light intensity adjuster is not limited to this. For example, the light intensity adjuster may be an electrical signal amplifier that adjusts (particularly amplifies) the electrical signal generated in response to the light received by the laser receiving unit 106. In this case, the measurement unit 101b measures the reflection source 500 by amplifying the electrical signal corresponding to the reflected laser light L2 from the retroreflective member more than other light. Adjusting the light intensity using this method allows the calibration calculation unit 101d to obtain the coordinates of the calibration reference with higher accuracy, further improving the accuracy of the calculation of the correction value by the correction value calculation unit 101e. Note that the light intensity adjuster may use both the electrical signal amplifier and the optical attenuator of the above embodiment, or only one of them.

[0067] In the above embodiment, the calibration standard setting unit 101c sets the condition (predetermined characteristic) of the reflection source 500 serving as the calibration standard as being that the light intensity of the reflected laser light L2 is equal to or greater than a predetermined light intensity. However, the calibration standard condition is not limited to this. For example, the characteristic amount of the reflection source 500 may be calculated based on point cloud data or a captured image, and a reflection source 500 having a characteristic amount equal to or greater than a predetermined amount (e.g., a reflection source having a specific shape) may be set as the calibration standard. The characteristic amount may be calculated using existing image analysis technology. This allows the calibration standard to be extracted without being limited to a retroreflective material. In other words, the operator can more easily adjust the correction value.

[0068] In the above embodiment, the main body 100 can rotate 360 ​​degrees around the vertical axis A1, but the angular range over which the main body 100 can rotate is not particularly limited. Also, in the above embodiment, the scan driver 108 can rotate the irradiation direction of the ranging laser light L1 by 360 degrees or more around the horizontal axis A2, but the angular range over which this irradiation direction can be rotated is not particularly limited. However, this angular range is preferably 180 degrees or more so that the ranging laser light L1 can be irradiated to both the forward and reverse sides.

[0069] In the above embodiment, it is preferable to suppress saturation of the output of the signal generating unit (detector) that generates an electrical signal from the reflected laser light L2 received by the laser receiving unit 106 by reducing the gain of the detector as needed.

[0070] The surveying program according to the present disclosure is not limited to the program according to the above embodiment, as long as it is a program as follows: That is, the surveying program according to the present disclosure may be a surveying program that causes a computer to execute the following steps: a calibration reference setting step of setting a reflection source having predetermined characteristics as a calibration reference based on measurement results of the reflection source of reflected light of the distance measurement laser light irradiated from a surveying device including: a laser irradiation unit that irradiates distance measurement laser light, a laser receiving unit that receives reflected light of the distance measurement laser light, a scan drive unit that can rotate the irradiation direction of the distance measurement laser light around a horizontal axis, and a measurement unit that measures the reflection source of the reflected light from the relationship between the distance measurement laser light and the reflected light; a calibration calculation step of calculating, when the distance measurement laser light is irradiated to multiple points on one or more of the calibration references set in the calibration reference setting step, multiple measurement values ​​that are multiple measurement results obtained by irradiating the multiple points with the distance measurement laser light; and a correction value calculation step of calculating a correction value for the measurement results of the reflection source measured by the measurement unit, from the multiple measurement values ​​calculated in the calibration calculation step.

[0071] Finally, the following are examples of the configurations of a surveying instrument, a surveying system, a surveying method, and a surveying program according to the present disclosure: [1] A surveying instrument comprising: a laser irradiation unit that irradiates a distance measurement laser beam; a laser receiving unit that receives reflected light of the distance measurement laser beam; a scan drive unit that can rotate the irradiation direction of the distance measurement laser beam around a horizontal axis; a measurement unit that measures a reflection source of the reflected light from the relationship between the distance measurement laser beam and the reflected light; a calibration reference setting unit that sets the reflection source having predetermined characteristics as a calibration reference based on the measurement results of the reflection source; a calibration calculation unit that calculates a plurality of measurement values ​​that are a plurality of measurement results obtained by irradiating the distance measurement laser beam to the plurality of points when the distance measurement laser beam is irradiated to one or more calibration references set by the calibration reference setting unit; and a correction value calculation unit that calculates a correction value for the measurement results of the reflection source measured by the measurement unit from the plurality of measurement values ​​calculated by the calibration calculation unit. [2] The surveying instrument according to [1] above, wherein the calibration standard setting unit sets the reflection source of the reflected light having a predetermined light intensity or more as the calibration standard as the reflection source having the predetermined characteristics. [3] The surveying instrument according to [1] or [2] above, further comprising a light intensity adjustment unit that adjusts the light intensity of the reflected light before the reflected light is received by the laser receiving unit. [4] The surveying instrument according to any one of [1] to [3] above, further comprising an electrical signal amplifier that amplifies an electrical signal generated from the reflected light received by the laser receiving unit, and the measurement unit measures the reflection source based on the electrical signal amplified by the electrical signal amplifier. [5] The surveying instrument according to [2] above, wherein the calibration standard setting unit sets the predetermined light intensity to a light intensity corresponding to the reflected light from a retroreflective member as the reflection source. [6] The surveying instrument according to any one of [1] to [5] above, wherein the calibration standard setting unit calculates a feature amount of the reflection source, and sets the reflection source having the feature amount equal to or greater than a predetermined value as the calibration standard as the reflection source having the predetermined feature. [7] A surveying system comprising: the surveying instrument according to any one of [1] to [6] above; and the reflection source.[8] A surveying method comprising: a calibration standard setting step of setting a reflection source having predetermined characteristics as a calibration standard based on measurement results of the reflection source of reflected light of the distance measurement laser light irradiated from a surveying instrument comprising: a laser irradiation unit that irradiates distance measurement laser light; a laser receiving unit that receives reflected light of the distance measurement laser light; a scan drive unit that can rotate the irradiation direction of the distance measurement laser light around a horizontal axis; and a measurement unit that measures the reflection source of the reflected light from the relationship between the distance measurement laser light and the reflected light; a calibration calculation step of calculating a plurality of measurement values ​​that are a plurality of measurement results obtained by irradiating the distance measurement laser light to the plurality of points when the distance measurement laser light is irradiated to one or more of the calibration standards set by the calibration standard setting step; and a correction value calculation step of calculating a correction value of the measurement result of the reflection source measured by the measurement unit from the plurality of measurement values ​​calculated by the calibration calculation step. [9] A surveying program for causing a computer to execute the following steps: a calibration standard setting step for setting a reflection source having predetermined characteristics as a calibration standard based on measurement results regarding the reflection source of reflected light of the distance measurement laser light irradiated from a surveying instrument comprising: a laser irradiation unit for irradiating distance measurement laser light; a laser receiving unit for receiving reflected light of the distance measurement laser light; a scan drive unit capable of rotating the irradiation direction of the distance measurement laser light around a horizontal axis; and a measurement unit for measuring the reflection source of the reflected light from the relationship between the distance measurement laser light and the reflected light; a calibration calculation step for calculating a plurality of measurement values ​​which are a plurality of measurement results obtained by irradiating the distance measurement laser light to the plurality of points when the distance measurement laser light is irradiated to one or more calibration standards set by the calibration standard setting step; and a correction value calculation step for calculating a correction value of the measurement result of the reflection source measured by the measurement unit from the plurality of measurement values ​​calculated by the calibration calculation step.

[0072] REFERENCE SIGNS LIST 1 Laser scanner 100 Main body 101 Processing unit 101a Control unit 101b Measurement unit 101c Calibration standard setting unit 101d Calibration calculation unit 101e Correction value calculation unit 102 Laser emission unit 104 Light guide unit 104a Light receiving mirror 104b Beam splitter 104c Condenser lens 104d Scanning mirror 106 Laser receiving unit 107 Light intensity adjustment unit 108 Scanning drive unit 109 Elevation angle detection unit 200 Base unit 201 Horizontal rotation drive unit 202 Azimuth angle detection unit 500 Reflection source 500a Prism 500b Retroreflective sheet 1000 Surveying system

Claims

1. A surveying instrument comprising: a laser irradiation unit that irradiates a distance measurement laser light; a laser receiving unit that receives reflected light of the distance measurement laser light; a scan drive unit that can rotate the irradiation direction of the distance measurement laser light around a horizontal axis; a measurement unit that measures a reflection source of the reflected light from the relationship between the distance measurement laser light and the reflected light; a calibration reference setting unit that sets the reflection source having predetermined characteristics as a calibration reference based on the measurement results of the reflection source; a calibration calculation unit that calculates a plurality of measurement values ​​which are a plurality of measurement results obtained by irradiating the distance measurement laser light to the plurality of points when the distance measurement laser light is irradiated to the plurality of points on one or more of the calibration references set by the calibration reference setting unit; and a correction value calculation unit that calculates a correction value of the measurement results of the reflection source measured by the measurement unit from the plurality of measurement values ​​calculated by the calibration calculation unit.

2. A surveying instrument as described in claim 1, wherein the calibration standard setting unit sets, as the calibration standard, a reflection source of the reflected light having a predetermined light intensity or more as a reflection source having the predetermined characteristics.

3. A surveying instrument as described in claim 1, further comprising a light intensity adjusting section for adjusting the light intensity of the reflected light before the reflected light is received by the laser receiving section.

4. The surveying instrument of claim 1, further comprising an electrical signal amplifier that amplifies an electrical signal generated from the reflected light received by the laser receiving unit, and the measurement unit measures the reflection source based on the electrical signal amplified by the electrical signal amplifier.

5. A surveying instrument as described in claim 2, wherein the calibration standard setting unit sets the predetermined light intensity to a light intensity equivalent to the reflected light having a retroreflective member as the reflection source.

6. The surveying device according to claim 1, wherein the calibration standard setting unit calculates a characteristic amount of the reflection source, and sets the reflection source having the characteristic amount equal to or greater than a predetermined value as the calibration standard as a reflection source having the predetermined characteristic.

7. A surveying system comprising: a surveying instrument according to any one of claims 1 to 6; and the reflecting source.

8. A surveying method comprising: a calibration standard setting process for setting a reflection source having predetermined characteristics as a calibration standard based on measurement results of the reflection source of reflected light of the distance-measuring laser light irradiated from a surveying instrument comprising: a laser irradiation unit for irradiating distance-measuring laser light; a laser receiving unit for receiving reflected light of the distance-measuring laser light; a scan drive unit capable of rotating the irradiation direction of the distance-measuring laser light around a horizontal axis; and a measurement unit for measuring the reflection source of the reflected light from the relationship between the distance-measuring laser light and the reflected light; a calibration calculation process for calculating a plurality of measurement values ​​which are a plurality of measurement results obtained by irradiating the distance-measuring laser light to the plurality of points when the distance-measuring laser light is irradiated to the one or more calibration standards set by the calibration standard setting process; and a correction value calculation process for calculating a correction value of the measurement result of the reflection source measured by the measurement unit from the plurality of measurement values ​​calculated by the calibration calculation process.

9. A surveying program for causing a computer to execute the following steps: a calibration standard setting process for setting a reflection source having predetermined characteristics as a calibration standard based on measurement results of the reflection source of reflected light of the distance-measuring laser light irradiated from a surveying instrument comprising: a laser irradiation unit for irradiating distance-measuring laser light, a laser receiving unit for receiving reflected light of the distance-measuring laser light, a scan drive unit capable of rotating the irradiation direction of the distance-measuring laser light around a horizontal axis, and a measurement unit for measuring the reflection source of the reflected light from the relationship between the distance-measuring laser light and the reflected light; a calibration calculation process for calculating a plurality of measurement values ​​which are a plurality of measurement results obtained by irradiating the distance-measuring laser light to the plurality of points when the distance-measuring laser light is irradiated to the plurality of points on one or more of the calibration standards set by the calibration standard setting process; and a correction value calculation process for calculating a correction value of the measurement result of the reflection source measured by the measurement unit from the plurality of measurement values ​​calculated by the calibration calculation process.

Images