JP6749192B2 - Scanner and surveying equipment - Google Patents

Description

The present invention relates to a scanner device and a surveying device that acquire three-dimensional data at a surveying site.

In recent years, in three-dimensional surveying of a three-dimensional object, a scanner device has been used as a surveying device for obtaining three-dimensional data of a measuring object. Such a scanner device scans a predetermined measurement area with a pulse laser, measures the three-dimensional position data of the pulse laser irradiation point, and obtains point cloud data of the measurement area (for example, see Patent Document 1). ).

Patent Document 2 scans the scan area of the measurement target using a target that is installed on the measurement target to obtain the reference value of the point cloud data, and reflects from each point of the measurement target for each scan area. Disclosed is a scanner device that obtains three-dimensional data based on point cloud data obtained from pulsed laser light and reflected pulsed laser light from a target.

Patent No. 5057734 Japanese Patent No. 5081014

However, in the conventional scanner device, since pulsed light is used, if the distance between the scanner device and the target becomes large when detecting the target, the spot light crosses the target, and it cannot be detected unless the target is large. There was a problem.

Therefore, an object of the present invention is to provide a scanner device and a surveying device that can reliably detect a target even if the distance between the scanner device and the target is long.

In order to solve the above problems, a scanner device according to an aspect of the present invention includes a distance measuring unit that transmits distance measuring light and receives distance measuring light reflected by a target, and measures the distance, and at least one rotation axis A scanner device comprising: a rotation unit for scanning distance measuring light, and an angle detection unit for detecting a rotation angle of the rotation unit, further comprising a target detection light emitted and a light reflected by the target. It is characterized by comprising a target detection unit that receives light and obtains a rough position of the target based on the received light amount distribution.

In the above aspect, the distance measuring section includes a distance measuring light transmitting/receiving optical system having a distance measuring light transmitting section and a distance measuring light receiving section, and the target detecting section has a target detecting light transmitting section and a target detecting light receiving section. A transmission/reception optical system for target detection light having a section, and an optical axis of the transmission/reception optical system for distance measurement light is displaced from the optical axis of the transmission/reception optical system for target detection light by the rotating unit. preferable.

Further, in the above aspect, the rotating unit is a double-sided mirror, and the target detection light transmitting unit and the target detection light receiving unit are provided on the opposite side of the distance measurement light transmitting unit and the distance measurement light receiving unit with respect to the double-sided mirror. It is also preferably arranged. In other words, it is also preferable that the target detection light is configured to be reflected by the back surface of the double-sided mirror that reflects the distance measuring light.

Further, in the above aspect, the rotating portion is a single-sided mirror, the target light-transmitting portion and the distance-measuring light light-transmitting portion are arranged in the vicinity of each other, and the target detection light receiving portion and the distance-measuring light light-receiving portion are in the vicinity of each other. It is also preferable that the optical path of the target detection light transmitting/receiving optical system is shared with the optical path of the distance measuring light transmitting/receiving optical system.

A surveying device according to another aspect of the present invention includes a surveying instrument that collimates and measures a target, and a scanner device according to any one of the above aspects, and the target is detected by using a target detection light in the scanner device. Is obtained, and the obtained approximate position of the target is automatically collimated by the surveying instrument to measure the distance and angle to the target.

According to the scanner device and the surveying device of the present invention, the position of the target can be reliably detected even when the distance between the scanner device and the target is long.

3 is an external perspective view of the scanner device according to the first embodiment. FIG. It is a block diagram showing a configuration of a scanner device according to the first embodiment. FIG. 3 is an enlarged view of a distance measuring unit and a target detecting unit of the scanner device according to the first embodiment. It is a schematic diagram which shows the scanner apparatus which concerns on 1st Embodiment, (a) is a side view, (b) is a top view. 6 is a flowchart showing a measurement procedure of the scanner device according to the first embodiment. It is an appearance perspective view of a surveying instrument concerning a 2nd embodiment. (A) It is a block diagram which shows the structure of the surveying instrument which concerns on 2nd Embodiment. (B) It is a block diagram which shows the structure of the scanner apparatus with which the surveying apparatus which concerns on 2nd Embodiment was equipped. It is a flow chart which shows a procedure of measurement by a surveying instrument concerning a 2nd embodiment. It is a figure explaining the modification of the said embodiment.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited thereto.

(First embodiment)
FIG. 1 is an external perspective view of a scanner device 1 according to the first embodiment. Reference numeral 1 in FIG. 1 is the scanner device 1 according to the present embodiment. The scanner device 1 is a so-called laser scanner and is installed at a known point using a tripod.

The scanner device 1 includes a lower casing 1a and a main body casing 1b, and a light projecting casing 1c is provided above the main body casing 1b.

The scanner device 1 is configured to scan the distance measuring light 3 and the target detection light 4 around the rotation axes V1-V1 by a vertical rotation driving unit 14 described later, and a horizontal rotation driving unit 16 described later. Thus, the main body casing 1b is configured to rotate around the rotation axis H1-H1.

In FIG. 1, reference numerals 5 _{1 to} 5 _n indicate irradiation points of the distance measuring light 3 at a certain time point, and reference numerals 6 _{1 to} 6 _n indicate irradiation lines of the target detection light 4 at a certain time point. Reference numeral 7 indicates a target.

FIG. 2 is a block diagram showing the configuration of the scanner device 1. The scanner device 1 includes a distance measuring unit 11 for measuring the distance, a target detecting unit 12 for detecting the target 7, and a rotating mirror 13 as a rotating unit for scanning the distance measuring light 3 around the rotation axes V1-V1. A vertical rotation drive unit 14 for rotating and driving, a vertical angle detection unit 15 for detecting the rotation angle of the rotation shafts V1-V1, a horizontal rotation drive unit 16 for rotating the main body casing 1b around the rotation shafts H1-H1, and a rotation shaft. A horizontal angle detection unit 17 that detects a rotation angle of H1-H1, a calculation control unit 18, a storage unit 19, a display unit 20, an operation unit 21, and an external storage device 22 are provided.

The distance measuring unit 11 and the target detecting unit 12 are housed in the main body casing 1b. Inside the main body casing 1b, a lens barrel (not shown) having a rotating mirror 13 is provided, and the horizontal rotation axis of this lens barrel is coaxial with the horizontal rotation axes H1-H1 of the main body casing 1b. Is. This lens barrel is attached to the main body casing 1b by an appropriate means. The light projecting casing 1c is provided with a turning mirror 13, a vertical rotation drive unit 14, and a vertical angle detection unit 15. The display unit 20 and the operation unit 21 are provided outside the main body casing 1b. The horizontal rotation drive unit 16 and the horizontal angle detection unit 17 are housed in the lower casing 1a.

FIG. 3 is a schematic diagram illustrating a mechanism of transmitting and receiving the distance measuring light 3 and the target detecting light 4 in the distance measuring unit 11 and the target detecting unit 12 of the present embodiment. As can be seen from FIG. 3, the distance measuring unit 11 includes a distance measuring light transmitting unit 23, a distance measuring light receiving unit 24, a beam splitter (not shown), a distance measuring light mirror 25, and a distance measuring light collecting unit. A distance measuring light transmitting/receiving optical system 31 having an optical lens 26 and a rotating mirror 13 is provided. The distance measuring light transmitter 23 includes a light emitting element (not shown), and the light emitting element emits a pulsed light beam. The light emitting element is, for example, a semiconductor laser or the like, and emits a pulse laser beam as distance measuring light. The emitted distance measuring light 3 is reflected by the distance measuring light mirror 25, further reflected by the rotating mirror 13, and applied to the object to be measured. The rotating mirror 13 is a double-sided mirror, which is driven by the vertical rotation drive unit 14 and rotates about the rotation axes V1-V1. The rotating mirror 13 is a rectangular or circular plate-shaped double-sided perforated mirror, but is not limited to this.

Then, the distance measuring light 3a (hereinafter, referred to as “reflecting distance measuring light”) retroreflected by the measurement object is transmitted through the rotating mirror 13, the distance measuring light mirror 25, and the distance measuring light condensing lens 26. After that, the light enters the distance measuring light receiving unit 24. The distance measuring light receiving section 24 is configured by a light receiving element such as a photodiode. Further, a part of the distance measuring light divided by the beam splitter described above is incident on the distance measuring light receiving unit 24 as internal reference light (not shown), and the reflected distance measuring light 3a and the internal distance measuring light are detected. Based on the reference light, the calculation control unit 18 described later calculates the distance to the irradiation point.

On the other hand, the target detection unit 12 includes a target detection light transmission/reception optical system 32 having a target detection light transmission unit 27, a target detection light reception unit 28, a target detection light mirror 29, and a target detection light condenser lens 30. I have it. The target detection light transmitting unit 27 includes a light emitting element (not shown), and emits a light beam having a wavelength different from that of the distance measurement light 3, for example, infrared laser light as the target detection light 4. The emitted target detection light 4 is reflected by the target detection light mirror 29. The target detection light 4 is further reflected by the rotary mirror 13 and irradiated on the measurement object. The target detection light 4 is reflected by the back surface of the rotary mirror 13 that reflects the distance measuring light 3. is there. The target detection light transmission/reception optical system 32 is preferably configured so that the width of the irradiation line of the target detection light 4 is as wide as possible within a range in which the light amount of the target detection light 4 is not attenuated. It is preferable that adjacent irradiation lines have a maximum width that does not overlap with each other in the middle of the scanning intervals (target pitch) of 4 in FIG.

Here, FIG. 4 is a schematic diagram showing the relationship between the distance measuring light 3 and the target detection light 4 in the first embodiment, and FIG. 4A is a side view of the scanner device of the present embodiment. 4(b) is a plan view. As can be understood from FIGS. 4A and 4B, the optical axis of the distance measuring light 3 reflected by the rotating mirror 13 and emitted from the scanner device, that is, the light of the distance measuring light transmitting/receiving optical system 31. The axis is shifted from the optical axis of the target detection light 4, that is, the optical axis of the target detection light transmission/reception optical system 32 by α in the rotation direction of the rotation axes V1-V1 and β in the rotation direction of the rotation axes H1-H1. ing.

Returning to FIG. 3, the target detection light 4a (hereinafter, referred to as “reflected target detection light”) reflected by the measurement target is the rotating mirror 13, the target detection light mirror 29, and the target detection light condensing lens. After passing through 30, the light enters the target detection light receiving section 28. The light reception input to the target detection light receiving unit 28 is input to the calculation control unit 18 described later, and the approximate position of the target is obtained by obtaining the angle of the average position when the light amount of the target reflected light exceeds a predetermined threshold value. Is required.

The rotating mirror 13 is driven by the vertical rotation drive unit 14 to rotate at high speed around the rotation axes V1-V1 (FIG. 1). Further, the rotating mirror 13 rotates integrally with the main body casing around the rotation axes H1-H1 (FIG. 1). The vertical angle detector 15 is, for example, an encoder and detects the vertical rotation angle of the rotary mirror 13.

The lower casing 1a is provided with a leveling section and a horizontal rotation drive section 16 from below, and a horizontal angle detection section 17 is provided on a rotation axis H1-H1 of the horizontal rotation drive section 16. The horizontal rotation drive unit 16 is a motor, and a rotation base is provided on the upper end of the rotation shafts H1-H1 (FIG. 1) of the horizontal rotation drive unit 16 via a bearing, and the main casing 1b is provided on the rotation base. It is fixed. The horizontal angle detector 17 is, for example, an encoder, and detects a relative rotation angle of the rotation shafts H1 to H1 with respect to the lower casing 1a.

The arithmetic control unit 18 is, for example, a microcontroller in which a CPU, a ROM, a RAM, etc. are mounted in an integrated circuit, receives a designation of a search range and a scan start instruction from the operation unit 21, and receives the distance measuring unit 11 and the target detection unit 12. Control of the vertical rotation drive unit 14 and the horizontal rotation drive unit 16 to obtain point cloud data and target detection data.

The storage unit 19 is, for example, a hard disk drive, stores a program for the above arithmetic control, and stores the acquired point cloud data and target detection data.

The display unit 20 is, for example, a liquid crystal display or the like, and displays work status data and measurement results obtained by arithmetic control.

The operation unit 21 is a touch display, a keyboard, or the like, and inputs an operation command to the scanner device.

The external storage device 22 is, for example, a memory card, a hard disk drive, or the like, and is provided in the arithmetic control unit 18 in a connectable and removable manner.

The target 7 is a target that is usually used in a survey that is installed on a measurement target and is composed of a prism and a reflection sheet, but is preferably a material having high retroreflectivity.

Next, the basic operation of the scanner device 1 will be described. FIG. 5 is a flowchart of a surveying method using the scanner device 1.

When the measurement is started, the process proceeds to step S1 and the search range of the scanner device 1 is designated from the operation unit 21.

Next, the process proceeds to step S2, and the operation unit 21 gives an instruction to start scanning.

Next, in step S3, the scanner device 1 scans the range finding light 3 and the target detection light 4 in the search range designated in step S1. In this scanning, while repeating the sending and receiving of the distance measuring light 3 and the sending and receiving of the target detection light 4 respectively, the scanning is performed by the rotating mirror 13 in the vertical direction, and then the main body casing 1b is rotated in the horizontal direction. Is repeated.

The vertical angle of each irradiation point of the distance measuring light 3 is measured by the vertical angle detection unit 15 detecting the rotation angle of the rotating mirror 13 around the rotation axis V1-V1. Further, the horizontal angle is measured by the horizontal angle detection unit 17 based on the relative rotation angle of the rotation shafts H1 to H1 with respect to the lower casing 1a.
On the other hand, regarding the vertical angle and horizontal angle of the irradiation point of the target detection light 4, the optical axis of the target detection light 4 is deviated from the optical axis of the distance measurement light 3 by α in the vertical direction and β in the horizontal angle direction. Based on the above, the vertical angle and the horizontal angle measured above are obtained.

Next, the process proceeds to step S4, and the arithmetic and control unit 18 determines whether the search has ended for the search range of step S1. If not completed, the process returns to step S3.

When step S4 ends, the process proceeds to step S5, and the arithmetic control unit 18 obtains the average angle of the portion where the received light amount of the target detection light 4 exceeds a predetermined threshold and detects the approximate position of at least one target 7. To do.

Next, the process proceeds to step S6, and the operation unit 21 instructs the scanner device to face the approximate position of the target 7 detected in step S5.

Next, in step S7, the arithmetic and control unit 18 increases the scan density and performs a target scan with respect to the approximate position of the target 7, and measures the horizontal angle, the vertical angle, and the distance of the target 7.

Next, the process proceeds to step S8, and it is determined whether the measurement of the rough positions of all the targets 7 is completed. If not completed, the process returns to S7. If the measurement is completed, the process proceeds to step S9 and the measurement is completed.

As described above, when the scanner device 1 is used, the target detection light does not cross the target 7, and therefore the position of the target 7 is reliably detected even when the distance between the scanner device 1 and the target 7 is long. be able to.

Further, by using the common rotating mirror 13 for the distance measuring unit 11 and the target detecting unit 12, it is possible to simultaneously obtain the point cloud data by the scanner and detect the approximate position of the target, thus improving work efficiency. Is improved. Furthermore, by using the common rotating mirror 13 for the distance measuring unit 11 and the target detecting unit 12, the rotating mirror 13, the vertical rotation driving unit 14, and the vertical angle detecting unit 15 for the target detecting unit are newly added. Since it is not necessary to provide the scanner device 1, the scanner device 1 can have a simple structure and can be inexpensive.

In the above surveying method, the rough position of the target 7 is detected at the same time as the distance measurement is performed. However, only the rough position of the target 7 may be detected without performing the distance measurement.

(Second embodiment)
6 and 7 are an external perspective view and a block diagram showing the configuration of the surveying instrument 100 according to the second embodiment, respectively. About the same element as 1st Embodiment, the same code|symbol is used and description is abbreviate|omitted.

The surveying instrument 100 according to the second embodiment includes a scanner device 1 and a surveying instrument 2.

The surveying instrument 2 is a so-called motor drive total station, and as can be understood from FIG. 6, a leveling section, a base section provided on the leveling section, and a horizontal rotary shaft on the base section from below, as understood from FIG. It has a housing 2b that rotates around H2-H2 and a telescope 2a that rotates around a vertical rotation axis V2-V2.

Further, as understood from FIG. 7, the surveying instrument 2 includes a horizontal angle detection unit 103, a vertical angle detection unit 104, a horizontal rotation drive unit 105, a vertical rotation drive unit 106, a display unit 107, an operation unit 108, and arithmetic control. A unit 109, a storage unit 110, a measurement unit 111, and a tracking unit 112 are provided.

The horizontal angle detection unit 103, the vertical angle detection unit 104, the horizontal rotation drive unit 105, the vertical rotation drive unit 106, the arithmetic control unit 109, and the storage unit 110 are housed in the housing 2b, and the display unit 107 and the operation unit 108 are It is provided outside the housing 2b. Although the scanner device 1 is fixed to the upper part of the telescope 2a, it may be fixed to the lower part or the side part of the telescope 2a or the display part 107 in addition to this.

The horizontal angle detection unit 103 and the vertical angle detection unit 104 are encoders having a rotating disk, a slit, a light emitting diode, and an image sensor. The horizontal angle detection unit 103 is provided for the rotation axes H2-H2 and detects the horizontal rotation angle of the housing 2b. The vertical angle detector 104 is provided with respect to the vertical rotation axis V2-V2, and detects the vertical rotation angle of the telescope 2a.

The horizontal rotation drive unit 105 and the vertical rotation drive unit 106 are motors and are controlled by the arithmetic control unit 109 to drive the horizontal rotation shafts H2-H2 and the vertical rotation shafts V2-V2, respectively.

The display unit 107 and the operation unit 108 serve as an interface of the surveying device 100 to input a command for surveying work, confirm a work situation and a measurement result, and the like.

The arithmetic control unit 109 is, for example, a microcontroller in which a CPU, a ROM, a RAM, and the like are mounted on an integrated circuit, and controls the horizontal rotation drive unit 105 and the vertical rotation drive unit 106 and controls the light emission and tracking of the measurement unit and the tracking unit. , Automatic targeting and measurement of the target.

The measuring unit 111 sends an infrared pulsed laser light having a wavelength different from that of the scanner device 1 to the target 7 as the distance measuring light 8 of the surveying instrument. Then, the reflected light from the target 7 is received by a light receiving section composed of a light receiving element such as a photodiode and converted into a distance measurement signal.

The tracking unit 112 transmits an infrared laser light different from the distance measuring light 8 of the surveying instrument 2 as the tracking light, and is a light receiving unit such as an image sensor, etc., and excludes a landscape image including the tracking light and additional notes. Get the landscape image. The arithmetic control unit 109 detects the position of the target 7 from the difference between the two images and automatically tracks the telescope so that it always faces the target 7.

The scanner device 1 is the same scanner device as the scanner device 1 according to the first embodiment, but the arithmetic control unit 18 of the scanner device 1 and the arithmetic control unit 109 of the surveying instrument 2 are electrically connected. Since the display unit 107, the operation unit 108, and the storage unit 110 are commonly used via the calculation control unit 109 of the surveying instrument 2, the storage unit 19, the display unit 20, and the operation unit 21 are included in the scanner device 1. Is not provided. Further, in the present embodiment, since the surveying instrument 2 is responsible for horizontal rotation of the scanner device 1, the scanner device 1 is also not provided with the horizontal rotation drive unit 16 and the horizontal angle detection unit 17.

Measurement using the surveying instrument 100 according to the second embodiment will be described based on the flowchart of FIG.

First, when the measurement is started, the process proceeds to step S11, and the operation unit 108 of the surveying instrument 2 is instructed to search for the scanner device 1.

Next, the process proceeds to step S12, and an instruction to start scanning is given from the operation unit 108 of the surveying instrument 2.

Next, in step S13, the scanner device 1 scans the range finding light 3 and the target detection light 4 in the search range designated in step S1. This scanning is performed by repeating the sending and receiving of the distance measuring light 3 and the sending and receiving of the target detection light 4 at the same time, while scanning in the vertical direction by the rotating mirror 13, and then the housing 2b of the surveying instrument 2. It is performed by repeating the horizontal rotation of. Each measurement is the first except that the horizontal angle is measured based on the relative rotation angle of the rotation axis H2-H2 with respect to the housing 2b, which is detected by the horizontal angle detection unit 103 of the surveying instrument 2. This is performed in the same manner as S3 of the embodiment.

Next, the process proceeds to step S14, and the arithmetic and control unit 18 of the scanner device 1 determines whether or not the search is completed within the search range designated in step S11. If not completed, the process returns to step S13.

When step S14 is completed, the process proceeds to step S15, and the arithmetic and control unit 18 of the scanner device 1 obtains the average angle of the portion where the received light amount of the target detection light 4 exceeds a predetermined threshold value, and thus within the search range. The approximate positions of all the targets 7 are detected.

Next, in step S16, the arithmetic control unit 18 of the scanner device transmits the approximate position of the target 7 detected in step S15 to the arithmetic control unit 109 of the surveying instrument 2. Based on this information, the arithmetic and control unit 109 of the surveying instrument 2 directs the telescope 2a of the surveying instrument 2 to the approximate position, automatically collimates the target 7, and uses the ranging light 8 of the surveying instrument 2 to target the target. Measure the horizontal angle, vertical angle, and distance of 7.

Next, the process proceeds to step S18, and the arithmetic control unit 109 of the surveying instrument 2 determines whether or not the measurement of the rough positions of all the targets 7 is completed. If not completed, the process returns to step S17. If the measurement is completed, the process proceeds to step S19 and the measurement is completed.

As described above, when the surveying device 100 is used, the target detection light 4 does not straddle the target. Therefore, even if the distance between the scanner device 1 and the target 7 is long, the position of the target 7 can be reliably detected. be able to.

Further, since the target search can be performed by the high speed rotation by the scanner device 1 and the approximate position of the target extracted by the scanner device 1 can be sequentially automatically collimated by the surveying instrument 2, the target position can be automatically collimated. Further, the measurement can be performed in a short time.

A preferred modified example of the above embodiment will be described. About the same element as the above-mentioned embodiment, the explanation is omitted by using the same code.

FIG. 9 is an enlarged schematic diagram of the distance measuring unit 11 and the target detecting unit 12 of the scanner device 1 according to a modified example of the first embodiment. In the scanner device 1 of this modification, the rotating mirror 13A is a rectangular or circular plate-shaped single-sided mirror. Further, the target detection light transmitting section 27 and the distance measuring light transmitting section 23 are arranged near each other, and the target detecting light receiving section 28 and the distance measuring light receiving section 24 are arranged near each other. One mirror 25A and one condensing lens 26A are provided in common for the distance measuring light transmitting/receiving optical system 31 and the target detecting light transmitting/receiving optical system 32, respectively. In this modification, the distance-measuring light 3 emitted from the distance-measuring light transmitting unit 23 is reflected by the mirror 25A, then further reflected by the rotating mirror 13A, and applied to the object to be measured. Next, the distance measuring light 3a reflected from the object to be measured is reflected by the rotating mirror 13A and enters the distance measuring light receiving unit 24 via the condenser lens 26A. On the other hand, the target detection light 4 is emitted from the target detection light transmitting section 27, reflected by the mirror 25A, further reflected by the rotating mirror 13A, and applied to the measurement object. Next, the reflected target detection light 4a from the measurement object is reflected by the rotating mirror 13A, and enters the target detection light receiving portion 28 through the condensing lens 26A which is common with the reflected distance measuring light 3a. At this time, the distance measuring light 3 and the target detecting light 4 are reflected on the same surface of the rotating mirror 13A, and the optical axes of the distance measuring light 3 and the target detecting light 4 are perpendicular to each other at the time of transmitting light and at the time of receiving light. Direction and horizontal angular direction. Thus, in this modification, the optical path of the target detection light transmitting/receiving optical system 32 is shared with the optical path of the distance measuring light transmitting/receiving optical system 31.

With such a configuration, the configuration of the scanner device 1 can be simplified and the assembly becomes easy. Further, the size of the scanner device 1 can be reduced.

Another modification will be described. In the scanner device 1, the distance measuring light 3 and the target detecting light 4 may have different wavelengths.

With such a configuration, even if the distance measurement light receiving unit 24 and the target detection light receiving unit 28 are arranged in the vicinity, the lights do not mix with each other, and the false detection of the target is further reduced. You can

Another modification will be described. In the scanner device 1, the distance measuring light 3 and the target detecting light 4 are modulated to have predetermined modulation frequencies, and the distance measuring light receiving section 24 and the target detecting light receiving section 28 detect only the respective modulation frequencies. It may be configured as follows.

With such a configuration, it is possible to reduce noise at the time of receiving light, further reduce false detection of target detection, and improve measurement accuracy.

The preferred embodiments of the scanner device and the surveying device of the present invention have been described above, and the modifications thereof have been described. However, the modifications and modifications can be combined based on the knowledge of those skilled in the art, and such modifications are also possible. Within the scope of the present invention.

1 Scanner Device 2 Surveying Machine 3 Distance Measuring Light 4 Target Detection Light 7 Target 11 Distance Measuring Unit 12 Target Detecting Unit 13 Rotating Mirror (Double-sided) (Rotating Unit)
13A Rotating mirror (one side) (rotating part)
14 Vertical rotation drive unit (rotation drive unit)
15 Vertical angle detector (angle detector)
23 Distance Measuring Light Transmitter 24 Distance Measuring Light Receiver 27 Target Detecting Light Transmitter 28 Target Detecting Light Receiver 31 Distance Measuring Light Transmitter/Receiver Optical System 32 Target Detecting Light Transmitter/Receiver Optical System 100 Surveyor

Claims (5)

A distance measuring unit that transmits the distance measuring light and receives the distance measuring light reflected by the target to measure the distance,
A rotation unit for scanning the distance measuring light around at least one rotation axis,
A scanner device comprising: an angle detection unit that detects a rotation angle of the rotation unit,
Further, the target detecting light is emitted, the target detecting light is scanned using the rotating portion, the light reflected by the target is received, and the approximate position of the target is obtained based on the received light amount distribution. Equipped with a detector ,
The distance measuring section includes a distance measuring light transmitting/receiving optical system having a distance measuring light transmitting section and a distance measuring light receiving section,
The target detection unit includes a target detection light transmitting/receiving optical system having a target detection light transmitting unit and a target detection light receiving unit,
By the rotating unit, characterized the direction of the optical axis of the distance measuring light beam transmitting and receiving optical system, the direction of the optical axis of the target detection light for transmitting and receiving optical system, that you have staggered around the axis of rotation Scanner device. The rotating unit is a double-sided mirror,
The target detection light transmitting section and the target detection light receiving section are arranged on the opposite side of the distance measuring light transmitting section and the distance measuring light receiving section with respect to the double-sided mirror. The scanner device according to 1 . The rotating portion is a single-sided mirror,
The target detection light transmitter and the distance measurement light transmitter are arranged in the vicinity of each other, and the target detection light receiver and the distance measurement light receiver are arranged in the vicinity of each other,
The scanner device according to claim 1 , wherein an optical path of the target detection light transmitting/receiving optical system is shared with an optical path of the distance measuring light transmitting/receiving optical system. The target detection light-sending unit, the target detection light is optically modulated, the target detection light receiving unit, in any one of claims 1 to 3, characterized in that to extract the target detection light modulated The scanner device described. A surveying instrument that collimates and measures the target,
And a scanner device according to any one of claims 1-4,
In the scanner device, the approximate position of the target is obtained using the target detection light,
A surveying device characterized by automatically collimating the obtained approximate position of the target by the surveying instrument to measure a distance and an angle to the target.