JP2018054408A - Surveying device - Google Patents
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本発明は、測定対象物の三次元形状を測定するのに用いられるスキャナを搭載した測量装置に関する。 The present invention relates to a surveying instrument equipped with a scanner used for measuring a three-dimensional shape of a measurement object.
近年、測定対象物の三次元形状を測定するために、広範囲に複数設置されたターゲットの位置を検出できる三次元レーザスキャナ（以下、スキャナ）が利用されている。スキャナは、測定対象物を含む所定の測定エリアにパルスレーザを走査し、パルス毎の反射光を受光して距離測定を行うとともに、測距時のパルスレーザの方向から水平角，鉛直角を測定して、三次元点群データを取得する（例えば特許文献１）。 In recent years, in order to measure a three-dimensional shape of a measurement object, a three-dimensional laser scanner (hereinafter referred to as a scanner) capable of detecting the positions of a plurality of targets installed in a wide range has been used. The scanner scans the pulsed laser in a predetermined measurement area including the measurement object, receives the reflected light for each pulse, measures the distance, and measures the horizontal and vertical angles from the direction of the pulsed laser during distance measurement. Then, three-dimensional point cloud data is acquired (for example, Patent Document 1).
これに対し、出願人は、図１０に示すように、光波距離計（測量機２）とスキャナ２２を組み合わせ、まずスキャナ２２によるスキャニングでターゲットの概略位置を抽出し、測量機２で各ターゲットの概略位置を測距，測角することで、広範囲に複数設置されたターゲット９−１，９−２，９−３，…９−ｎの位置を、短時間かつ高精度に測定することのできる測量装置１について出願した。 On the other hand, as shown in FIG. 10, the applicant combines the optical distance meter (surveying instrument 2) and the scanner 22, first extracts the approximate position of the target by scanning with the scanner 22, and the surveying instrument 2 extracts each target. By measuring the approximate position and measuring the angle, the positions of a plurality of targets 9-1, 9-2, 9-3,..., 9-n installed in a wide range can be measured in a short time with high accuracy. Filed an application for surveying instrument 1.
図１０の測量装置１の構成では、スキャナ２２は、内部に有する回動ミラー３３（破線で示す）を、一軸（水平軸Ｒ−Ｒ）周りに一定角速度で高速回転させて鉛直方向を走査するとともに、スキャナ２２自体は、測量機２の水平回転機構を利用して、鉛直軸Ｈ−Ｈを中心に一定角速度で水平回転することで、鉛直および水平方向をスキャニングする。図１０には、図１０の測量装置１の構成で得られる水平方向の点群データが模式的に示されている。なお、符号５はある時間のスキャナ２２の光軸を示し、符号１０はその時の測定点（照射点）を示し、符号ＳＬはスキャンラインを示している。 In the configuration of the surveying apparatus 1 in FIG. 10, the scanner 22 scans the vertical direction by rotating a rotating mirror 33 (shown by a broken line) inside at a high angular velocity around one axis (horizontal axis RR). At the same time, the scanner 22 itself uses the horizontal rotation mechanism of the surveying instrument 2 to perform horizontal rotation at a constant angular velocity about the vertical axis H-H, thereby scanning in the vertical and horizontal directions. FIG. 10 schematically shows horizontal point cloud data obtained by the configuration of the surveying instrument 1 of FIG. Reference numeral 5 represents the optical axis of the scanner 22 at a certain time, reference numeral 10 represents a measurement point (irradiation point) at that time, and reference numeral SL represents a scan line.
しかし、この構成では、スキャナ２２自体は、鉛直軸Ｈ−Ｈを中心として、即ち鉛直方向をスキャナの極方向として、水平方向に回転するため、得られる三次元点群データの点密度は、図７に示すように、天頂および天底に偏っていた。 However, in this configuration, the scanner 22 itself rotates in the horizontal direction about the vertical axis H-H, that is, the vertical direction is the polar direction of the scanner, so the point density of the obtained three-dimensional point cloud data is as shown in FIG. As shown in FIG. 7, it was biased toward the zenith and nadir.
本発明は、従来技術の問題に鑑みて、スキャナで得られる三次元点群データの点密度の高いエリアを、即ちスキャナの極方向を、水平方向に向けるように構成された測量装置を提供することを目的とする。 SUMMARY OF THE INVENTION In view of the problems of the prior art, the present invention provides a surveying apparatus configured to orient an area where the point density of 3D point cloud data obtained by a scanner is high, that is, the polar direction of the scanner, in the horizontal direction. For the purpose.
上記課題を解決するために、本発明のある態様の測量装置は、鉛直軸を中心に水平回転する筐体と、前記筐体に支承されて水平軸を中心に鉛直回転する望遠鏡と、を有する測量機と、少なくとも一軸周りに回動する回動部によってスキャン光を走査し、点群データを取得するスキャナと、を備え、前記スキャナは、前記測量機の前記水平軸と平行な方向にスキャナ自体の回転軸が配置される。 In order to solve the above problems, a surveying device according to an aspect of the present invention includes a housing that rotates horizontally around a vertical axis, and a telescope that is supported by the housing and rotates vertically around a horizontal axis. A surveying instrument and a scanner that scans scanning light by a rotating unit that rotates at least about one axis and acquires point cloud data. The scanner is in a direction parallel to the horizontal axis of the surveying instrument. Its own axis of rotation is arranged.
上記態様において、前記スキャナ自体の回転軸は、前記水平軸と一致するように構成されるのも好ましい。 In the above aspect, the rotation axis of the scanner itself is preferably configured to coincide with the horizontal axis.
上記態様において、前記スキャナ自体の回転軸は、水平方向に延長された前記水平軸で形成されるのも好ましい。 In the above aspect, the rotation axis of the scanner itself is preferably formed by the horizontal axis extending in the horizontal direction.
本発明の測量装置によれば、スキャナ装置で得られる三次元点群データの点密度の高いエリアを、測定対象物に向けることができる。 According to the surveying apparatus of the present invention, an area having a high point density of the three-dimensional point group data obtained by the scanner apparatus can be directed to the measurement object.
次に、本発明の好適な実施の形態について、図面を参照して説明する。 Next, preferred embodiments of the present invention will be described with reference to the drawings.
図１は実施の形態に係る測量装置の外観斜視図、図２は実施の形態に係る測量装置の右側面図、図３は実施の形態に係る測量装置の縦断面図である。図１に示すように、本形態の測量装置１は、測量機２と、スキャナ２２を有する。図１の符号５はある時間のスキャナ２２の光軸を示し、符号１０はその時の測定点を示し、符号ＳＬはスキャンラインを示している。 1 is an external perspective view of a surveying instrument according to an embodiment, FIG. 2 is a right side view of the surveying instrument according to the embodiment, and FIG. 3 is a longitudinal sectional view of the surveying instrument according to the embodiment. As shown in FIG. 1, the surveying apparatus 1 of this embodiment includes a surveying instrument 2 and a scanner 22. Reference numeral 5 in FIG. 1 indicates the optical axis of the scanner 22 at a certain time, reference numeral 10 indicates a measurement point at that time, and reference numeral SL indicates a scan line.
測量機２は、いわゆるモータドライブトータルステーションであり、三脚を用いて既知の点に据え付けられている。測量機２は、図２に示すように、下方から、整準部の上に設けられた基盤部２ｃと、該基盤部２ｃ上を、鉛直軸６（図３）周りに回転する筐体２ｂと、筐体２ｂの中央で、水平軸７（図３）周りに回転する望遠鏡２ａと、を有する。図１に示す符号Ａ６は、鉛直軸６の中心線を延長した鉛直方向を、符号Ａ７は、水平軸７の中心線を延長した水平方向を示したものである。 The surveying instrument 2 is a so-called motor drive total station, and is installed at a known point using a tripod. As shown in FIG. 2, the surveying instrument 2 includes, from below, a base part 2c provided on the leveling part, and a casing 2b that rotates around the vertical axis 6 (FIG. 3) on the base part 2c. And a telescope 2a that rotates around the horizontal axis 7 (FIG. 3) at the center of the housing 2b. 1 indicates a vertical direction in which the center line of the vertical axis 6 is extended, and reference numeral A7 indicates a horizontal direction in which the center line of the horizontal axis 7 is extended.
図４（ａ）は実施の形態に係る測量装置の構成ブロック図，図４（ｂ）はスキャナの構成ブロック図である。図４（ａ）に示すように、測量装置１は、水平角検出器１１と、鉛直角検出器１２と、水平回転駆動部１３と、鉛直回転駆動部１４と、表示操作部１５と、演算制御部１７と、追尾部１８と、測距部１９と、記憶部２０と、スキャナ２２とを備える。 4A is a configuration block diagram of the surveying instrument according to the embodiment, and FIG. 4B is a configuration block diagram of the scanner. As shown in FIG. 4A, the surveying instrument 1 includes a horizontal angle detector 11, a vertical angle detector 12, a horizontal rotation drive unit 13, a vertical rotation drive unit 14, a display operation unit 15, and a calculation. A control unit 17, a tracking unit 18, a distance measuring unit 19, a storage unit 20, and a scanner 22 are provided.
水平回転駆動部１３と鉛直回転駆動部１４は、モータである。水平回転駆動部１３は、基盤部２ｃに設けられ、鉛直軸６を駆動する。鉛直回転駆動部１４は、筐体２ｂに設けられ、水平軸７を駆動する。測量機２では、筐体２ｂの水平回転と望遠鏡２ａの鉛直回転の協働により、望遠鏡２ａから測距光（または追尾光）が出射される。水平角検出器１１と鉛直角検出器１２は、ロータリエンコーダである。図３に示すように、水平角検出器１１は鉛直軸６に対して設けられ、筐体２ｂの水平方向の回転角を検出する。鉛直角検出器１２は水平軸７に対して設けられ、望遠鏡２ａの鉛直方向の回転角を検出する。表示操作部１５は、図２に示すように、基盤部２ｃの前面に設けられた測量装置１のインターフェースであり、測定作業の指令・設定や作業状況および測定結果の確認などが行える。なお、図２の符号１５´は、副表示操作部であり、測量装置１の前後何れからも操作が可能となるように設けられている。 The horizontal rotation drive unit 13 and the vertical rotation drive unit 14 are motors. The horizontal rotation drive unit 13 is provided on the base unit 2 c and drives the vertical shaft 6. The vertical rotation driving unit 14 is provided in the housing 2 b and drives the horizontal shaft 7. In the surveying instrument 2, distance measuring light (or tracking light) is emitted from the telescope 2a by the cooperation of the horizontal rotation of the housing 2b and the vertical rotation of the telescope 2a. The horizontal angle detector 11 and the vertical angle detector 12 are rotary encoders. As shown in FIG. 3, the horizontal angle detector 11 is provided with respect to the vertical axis 6, and detects the horizontal rotation angle of the housing 2b. The vertical angle detector 12 is provided with respect to the horizontal axis 7 and detects the vertical rotation angle of the telescope 2a. As shown in FIG. 2, the display operation unit 15 is an interface of the surveying instrument 1 provided on the front surface of the base unit 2 c, and can perform measurement work command / setting, work status, and confirmation of measurement results. Note that reference numeral 15 ′ in FIG. 2 is a sub-display operation unit, which is provided so that it can be operated from either before or after the surveying instrument 1.
測距部１９および追尾部１８は、望遠鏡２ａに設けられている。測距部１９は、測距光として赤外パルスレーザ光をターゲット９−ｎに送光する。そして、ターゲット９−ｎからの反射光を例えばフォトダイオード等の受光部で受光し、測距信号に変換する。追尾部１８は、追尾光として測距光とは異なる波長の赤外レーザ光を送光する。そして、イメージセンサ等の受光部で追尾光を含む風景画像と追尾光を除いた風景画像を取得する。演算制御部１７では、両画像の差分からターゲット９−ｎの位置を検出し、常に望遠鏡２ａがターゲット９−ｎの方向を向くように自動で追尾する。 The distance measuring unit 19 and the tracking unit 18 are provided in the telescope 2a. The distance measuring unit 19 transmits infrared pulse laser light to the target 9-n as distance measuring light. Then, the reflected light from the target 9-n is received by a light receiving unit such as a photodiode, for example, and converted into a distance measurement signal. The tracking unit 18 transmits infrared laser light having a wavelength different from that of the distance measuring light as tracking light. Then, a landscape image including the tracking light and a landscape image excluding the tracking light are acquired by a light receiving unit such as an image sensor. The arithmetic control unit 17 detects the position of the target 9-n from the difference between both images, and automatically tracks so that the telescope 2a always faces the target 9-n.
演算制御部１７は、例えばＣＰＵ，ＲＯＭ，ＲＡＭ等を集積回路に実装したマイクロコントローラであり、筐体２ｂに設けられ、後述するスキャナ２２の演算制御部３５と電気的に接続されている。演算制御部１７は、回転駆動部１３,１４を制御し、追尾部１８による自動追尾を行い、測距信号の出力を対比処理することで自動視準を行う。また、送光から受光までに光波が発振した回数に基づいて，ターゲット９−ｎの距離を測定し、水平角検出器１１と鉛直角検出器１２の値から、ターゲット９−ｎの角度を測定して、各ターゲットのＸ座標，Ｙ座標，Ｚ座標を測定する。記憶部２０は、例えばハードディスクドライブであり、上記演算制御のためのプログラムが格納されており、取得した測定データが記憶される。 The arithmetic control unit 17 is a microcontroller in which, for example, a CPU, a ROM, a RAM, and the like are mounted on an integrated circuit. The arithmetic control unit 17 is provided in the housing 2b and is electrically connected to an arithmetic control unit 35 of the scanner 22 described later. The arithmetic control unit 17 controls the rotation driving units 13 and 14, performs automatic tracking by the tracking unit 18, and performs automatic collimation by comparing the output of the distance measurement signal. Further, the distance of the target 9-n is measured based on the number of times the light wave oscillates from light transmission to light reception, and the angle of the target 9-n is measured from the values of the horizontal angle detector 11 and the vertical angle detector 12. Then, the X coordinate, Y coordinate, and Z coordinate of each target are measured. The storage unit 20 is, for example, a hard disk drive, and stores a program for the above arithmetic control, and stores acquired measurement data.
スキャナ２２は、三次元レーザスキャナであり、図１に示すように、測量機２の右側面に設けられている。スキャナ２２は、図３に示すように、本体部２２ａと、本体部２２ａの上部に設けられた回転照射部２２ｂを有する。 The scanner 22 is a three-dimensional laser scanner, and is provided on the right side surface of the surveying instrument 2 as shown in FIG. As shown in FIG. 3, the scanner 22 includes a main body 22a and a rotation irradiation unit 22b provided on the upper portion of the main body 22a.
ここで、図３に示すように、測量機２の水平軸７は、鉛直角検出器１２が設けられた側の端部が、筐体２ｂのケーシングを貫通して、水平方向に延長されている。水平軸７の延長部の端部には、回転基盤８が設けられている。そして、スキャナ２２は、本体部２２ａおよび回転照射部２ｂ全体のケーシング中心が水平軸７上となるように、回転基盤８に固着されている。このため、スキャナ２２自体は、水平軸７を中心に鉛直方向に回動可能となっている。 Here, as shown in FIG. 3, the horizontal shaft 7 of the surveying instrument 2 is extended in the horizontal direction through the casing of the housing 2b at the end on the side where the vertical angle detector 12 is provided. Yes. A rotating base 8 is provided at the end of the extension of the horizontal shaft 7. The scanner 22 is fixed to the rotary base 8 so that the casing center of the entire main body 22a and the rotation irradiation unit 2b is on the horizontal axis 7. For this reason, the scanner 22 itself is rotatable in the vertical direction about the horizontal axis 7.
また、スキャナ２２は、図４（ｂ）に示すように、ミラー回転角検出器３１、ミラー回転駆動部３２、回動ミラー３３、演算制御部３５、記憶部３６、測距部３７、撮像部３８を有する。 4B, the scanner 22 includes a mirror rotation angle detector 31, a mirror rotation drive unit 32, a rotation mirror 33, a calculation control unit 35, a storage unit 36, a distance measurement unit 37, and an imaging unit. 38.
回動ミラー３３は、回転照射部２２ｂに配置され、ミラー回転駆動部３２に駆動されて、ミラー回転軸Ｒ（図３）周りに、角速度一定で高速回転するように構成されている。また、ミラー面が水平方向Ａ７に向けられ、ミラー回転軸Ｒが水平方向Ａ７上となるように配置されている（図３）。回動ミラー３３は、ミラー回転角検出器３１はロータリエンコーダであり、ミラー回転駆動部３２が設けられていない側のミラー回転軸Ｒの端部に設けられ、回動ミラー３３の鉛直回転角を検出する。 The rotating mirror 33 is arranged in the rotation irradiation unit 22b and is driven by the mirror rotation driving unit 32 so as to rotate at a high angular velocity around the mirror rotation axis R (FIG. 3). Further, the mirror surface is arranged in the horizontal direction A7 and the mirror rotation axis R is arranged on the horizontal direction A7 (FIG. 3). The rotating mirror 33 is a rotary encoder, and the mirror rotation angle detector 31 is provided at the end of the mirror rotation axis R on the side where the mirror rotation driving unit 32 is not provided. To detect.
測距部３７および撮像部３８は、本体部２２ａに配置された鏡筒３９（図３）に含まれている。測距部３７は、スキャン光として赤外パルスレーザ光を送光し、フォトダイオード等で受光する。撮像部３８は、イメージセンサであり、測距部３７のスキャン光から光路分割した光軸を原点としてＸ-Ｙ座標を想定し、測定対象物の画像データを取得する。該画像データは、テクスチャマッピング等の技術により、点群データに合成可能である。なお、撮像部３８は必須の構成としなくてもよい。 The distance measuring unit 37 and the imaging unit 38 are included in a lens barrel 39 (FIG. 3) disposed in the main body 22a. The distance measuring unit 37 transmits infrared pulsed laser light as scan light and receives it with a photodiode or the like. The imaging unit 38 is an image sensor, and obtains image data of a measurement object assuming an XY coordinate with an optical axis obtained by dividing an optical path from the scanning light of the distance measuring unit 37 as an origin. The image data can be combined with point cloud data by a technique such as texture mapping. Note that the imaging unit 38 does not have to be an essential configuration.
演算制御部３５は、マイクロコントローラであり、本体部２２ａに配置され、測量機２の演算制御部１７と電気的に接続されている。演算制御部３５は、ミラー回転駆動部３２を制御し、レーザパルスが往復する時間を計測することで，測定点１０までの距離を求める。また、ミラー回転角検出器３１から測定点１０の鉛直角を測定し、測量機２の水平角検出器１１から、測定点１０の水平角を測定する。このとき、測定点１０の水平角は、予め把握されている測量機２の視準方向とスキャナ２２のスキャン光軸５の方向との角度差分を補正して、測定する。そして、測定点１０の距離，水平角，及び鉛直角から、点群データを得る。記憶部３６は、例えばハードディスクドライブであり、上記演算制御のためのプログラムが格納されており、取得した点群データおよび画像データが記憶される。 The calculation control unit 35 is a microcontroller, is disposed in the main body unit 22a, and is electrically connected to the calculation control unit 17 of the surveying instrument 2. The arithmetic control unit 35 controls the mirror rotation driving unit 32 and measures the time for which the laser pulse reciprocates to obtain the distance to the measurement point 10. Further, the vertical angle of the measurement point 10 is measured from the mirror rotation angle detector 31, and the horizontal angle of the measurement point 10 is measured from the horizontal angle detector 11 of the surveying instrument 2. At this time, the horizontal angle of the measurement point 10 is measured by correcting an angle difference between the collimation direction of the surveying instrument 2 and the direction of the scanning optical axis 5 of the scanner 22 which are grasped in advance. Then, point cloud data is obtained from the distance, horizontal angle, and vertical angle of the measurement point 10. The storage unit 36 is, for example, a hard disk drive, and stores a program for the above arithmetic control, and stores the acquired point cloud data and image data.
以上の構成を有する測量装置１を用いれば、スキャナ２２を、測量機２の望遠鏡２ａの鉛直回転と連動して回転させることができるので、スキャナ２２自体を、水平方向Ａ７を中心に回転させることができる。即ち、スキャナ２２自体の回転軸（スキャナの極方向）を、水平方向に向けることができる。 If the surveying apparatus 1 having the above configuration is used, the scanner 22 can be rotated in conjunction with the vertical rotation of the telescope 2a of the surveying instrument 2, so that the scanner 22 itself is rotated about the horizontal direction A7. Can do. That is, the rotation axis of the scanner 22 itself (the polar direction of the scanner) can be oriented in the horizontal direction.
なお、スキャナの極方向とは、本明細書では以下のように捉えている。スキャナは、回動ミラーの回転による一軸スキャンを、スキャナ自体の回転によって面に展開し、球状にデータを取得する。そのため、スキャナの測定点は、地球儀で言うところの緯度と経度の交点と同じような分布となる。よって、点群データを一定面積で切り取ると、スキャナ自体の回転軸の方向（地球儀で言うところの北極と南極を結ぶ方向、以下これをスキャナの極方向とする）の点密度は、赤道付近の点密度よりも高くなる。 The polar direction of the scanner is understood as follows in this specification. The scanner develops a uniaxial scan by the rotation of the rotating mirror on the surface by the rotation of the scanner itself, and acquires data in a spherical shape. For this reason, the measurement points of the scanner have a distribution similar to the intersection of the latitude and longitude as the globe says. Therefore, when the point cloud data is cut out in a certain area, the point density in the direction of the rotation axis of the scanner itself (the direction connecting the north and south poles in the world globe, hereinafter referred to as the polar direction of the scanner) is near the equator. It becomes higher than the point density.
本形態では、スキャナ２２の極方向が水平方向Ａ７を向いているため、スキャナ２２で得られる点群データの点密度は、図１に模式的に示したように、測定対象物のある水平方向で最も高く得られるようになる。 In this embodiment, since the polar direction of the scanner 22 faces the horizontal direction A7, the point density of the point cloud data obtained by the scanner 22 is as shown in FIG. Can get the highest.
一例として、図５および図６は実施の形態に係る測量装置１で得られる点群データの測定点分布を示した図である。図７は比較例であり、従来の測量装置で得られる点群データの測定点分布を示した図である。図５は、本形態の測量装置１で、測量機２を水平方向に９０度ずつずらし停止させるとともに、各々の方向で、スキャナ２２自体を望遠鏡２ａの回転を利用して鉛直回転させた場合の測定点分布をシミュレーションしたものである。図６は、本形態の測量装置１で、スキャナ２２自体を、望遠鏡２ａを高速に鉛直回転させた場合の測定点分布をシミュレーションしたものである。図７は図１０の従来の構成の測量装置１で、スキャナ２２自体を、筐体２ｂを低速で水平回転させた場合の測定点分布をシミュレーションしたものである。 As an example, FIG. 5 and FIG. 6 are diagrams showing the distribution of measurement points of point cloud data obtained by the surveying instrument 1 according to the embodiment. FIG. 7 is a comparative example, and is a diagram showing the distribution of measurement points of point cloud data obtained with a conventional surveying instrument. FIG. 5 shows the surveying instrument 1 according to the present embodiment in which the surveying instrument 2 is shifted by 90 degrees in the horizontal direction and stopped, and the scanner 22 itself is vertically rotated using the rotation of the telescope 2a in each direction. This is a simulation of the distribution of measurement points. FIG. 6 shows a simulation of the distribution of measurement points in the surveying apparatus 1 of the present embodiment when the scanner 22 itself is vertically rotated at high speed. FIG. 7 is a surveying instrument 1 having the conventional configuration shown in FIG. 10, which simulates the distribution of measurement points when the scanner 22 itself is rotated horizontally at a low speed of the housing 2 b.
本形態の測量装置１で得られた測定点分布図５および図６は、図７のものよりも、水平方向に点が多くあることが分かる。特に、図６からは、測定点が全体的に分布し、点密度の偏りが低減されていることが分かる。なお、図５と図６の測定は本形態の測量装置１による実施の一例であり、例えば図５の測定では、４５度ピッチや６０度ピッチでの測定も可能である。 It can be seen that the measurement point distribution diagrams 5 and 6 obtained by the surveying instrument 1 of this embodiment have more points in the horizontal direction than those in FIG. In particular, it can be seen from FIG. 6 that the measurement points are distributed as a whole and the deviation of the point density is reduced. Note that the measurements in FIGS. 5 and 6 are examples of implementation by the surveying instrument 1 of the present embodiment. For example, in the measurement in FIG. 5, measurements at a 45 degree pitch or a 60 degree pitch are also possible.
また、測量装置１では、スキャナ２２自体の回転軸は、測量機２の望遠鏡２ａの水平軸７そのものであり、スキャナ２２自体の水平方向の回転は測量機２の鉛直軸６を利用して行われるので、スキャナ２２の測定において、測量機２に用いられる高精度な角度検出器１１，１２の値を利用することができる。このため、スキャナ２２の測定精度が向上する。また、測量機２の水平軸７がスキャナ２２自体の回転軸として兼用されているので、スキャナ２２自体のための鉛直回転駆動部や鉛直角検出器を設けるのを省くことができる。このため、スキャナ２２の構成をシンプルにすることができる。 In the surveying instrument 1, the rotation axis of the scanner 22 itself is the horizontal axis 7 of the telescope 2 a of the surveying instrument 2, and the horizontal rotation of the scanner 22 itself is performed using the vertical axis 6 of the surveying instrument 2. Therefore, in the measurement of the scanner 22, the values of the highly accurate angle detectors 11 and 12 used in the surveying instrument 2 can be used. For this reason, the measurement accuracy of the scanner 22 is improved. Further, since the horizontal axis 7 of the surveying instrument 2 is also used as the rotation axis of the scanner 22 itself, it is possible to omit providing a vertical rotation drive unit and a vertical angle detector for the scanner 22 itself. For this reason, the configuration of the scanner 22 can be simplified.
上記実施の形態の好適な変形例を挙げる。 A preferred modification of the above embodiment will be described.
図８は変形例１に係る測量装置の模式図である。上記の実施形態では、スキャナ２２自体の回転軸は、測量機２の望遠鏡２ａの水平軸７そのものである。一方、変形例１では、スキャナ２２にスキャナ自体の回転軸２２ｃが設けられ、スキャナ自体の回転軸２２ｃと水平軸７が軸心を合わせて連結されている。スキャナ自体の回転軸２２ｃは、例えば、スキャナ自体の回転軸２２ｃとその回転駆動部を収容する第２の本体部２２ｄを設け、第２の本体部２２ｄのケーシングの中心を水平軸７上に置くことで配置できる。上記の変形例であっても、スキャナ２２の点群データの点密度が高いエリアを、水平方向に向けることができる。また、測量機２とスキャナ２２を別工程で作成し、最終工程でドッキングさせることができるので、設計思想が容易になる。 FIG. 8 is a schematic diagram of a surveying instrument according to the first modification. In the above embodiment, the rotation axis of the scanner 22 itself is the horizontal axis 7 of the telescope 2 a of the surveying instrument 2. On the other hand, in the first modification, the scanner 22 is provided with a rotation shaft 22c of the scanner itself, and the rotation shaft 22c of the scanner itself and the horizontal shaft 7 are connected with their axes aligned. The rotation shaft 22c of the scanner itself includes, for example, a rotation shaft 22c of the scanner itself and a second main body portion 22d that accommodates the rotation driving portion thereof, and the center of the casing of the second main body portion 22d is placed on the horizontal shaft 7. Can be arranged. Even in the above modification, an area where the point density of the point cloud data of the scanner 22 is high can be directed in the horizontal direction. Further, since the surveying instrument 2 and the scanner 22 can be created in separate processes and docked in the final process, the design concept becomes easy.
図９は変形例２に係る測量装置の模式図である。変形例２では、スキャナ自体の回転軸２２ｃと水平軸７の軸心はずらされており、スキャナ自体の回転軸２２ｃは、第２の本体部２２ｄを介して、水平軸７（水平方向７Ａ）と平行となるように、望遠鏡２ａの側面と固定されている。スキャナ２２自体は、筐体２ｂと干渉しない範囲で鉛直回転することができる。上記の変形例であっても、スキャナ２２の点群データの点密度が高いエリアを、水平方向に向けることができる。 FIG. 9 is a schematic diagram of a surveying instrument according to the second modification. In the second modification, the rotation axis 22c of the scanner itself and the axis of the horizontal axis 7 are shifted, and the rotation axis 22c of the scanner itself is connected to the horizontal axis 7 (horizontal direction 7A) via the second main body 22d. Is fixed to the side surface of the telescope 2a. The scanner 22 itself can rotate vertically as long as it does not interfere with the housing 2b. Even in the above modification, an area where the point density of the point cloud data of the scanner 22 is high can be directed in the horizontal direction.
以上、本発明の好ましい測量装置について、実施の形態および変形例を述べたが、各形態および各変形を当業者の知識に基づいて組み合わせることが可能であり、そのような形態も本発明の範囲に含まれる。 The preferred embodiments of the surveying instrument of the present invention and the modifications thereof have been described above. However, the embodiments and modifications can be combined based on the knowledge of those skilled in the art, and such forms are also within the scope of the present invention. include.
１ 測量装置
２ 測量機
２ａ 望遠鏡
２ｂ 筐体
６ 鉛直軸
Ａ６ 鉛直方向
７ 水平軸
Ａ７ 水平方向
２２ スキャナ
２２ｃ スキャナ自体の回転軸
３３ 回動ミラー（回動部）
Ｒ ミラー回転軸
DESCRIPTION OF SYMBOLS 1 Surveying device 2 Surveying instrument 2a Telescope 2b Case 6 Vertical axis A6 Vertical direction 7 Horizontal axis A7 Horizontal direction 22 Scanner 22c Rotation shaft 33 of scanner itself Rotation mirror (rotation part)
R mirror rotation axis
Claims (3)
少なくとも一軸周りに回動する回動部によってスキャン光を走査し、点群データを取得するスキャナと、を備え、
前記スキャナは、前記測量機の前記水平軸と平行な方向にスキャナ自体の回転軸が配置されることを特徴とする測量装置。
A surveying instrument having a housing that rotates horizontally around a vertical axis, and a telescope that is supported by the housing and rotates vertically around a horizontal axis;
A scanner that scans scanning light by a rotating unit that rotates at least around one axis, and acquires point cloud data; and
The scanner is characterized in that the rotation axis of the scanner itself is arranged in a direction parallel to the horizontal axis of the surveying instrument.
The surveying apparatus according to claim 1, wherein a rotation axis of the scanner itself is configured to coincide with the horizontal axis.
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