• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention provides a geodesy instrument comprising a frame unit rotatable in a horizontal direction, a telescope unit rotatably mounted in a vertical direction on the frame unit, a guide unit for rotating and driving the unit of frame and telescope unit, a horizontal angle measurement unit to locate a horizontal angle of the frame unit, a vertical angle measurement unit to locate a vertical angle of the telescope unit and a device control, in which the telescope unit has a telescope for pointing an object to be measured and a wide-angle video camera. The wide-angle camera is configured in such a way that a sun pointing position is on a photodetector element and the sun's pointing position is in a known position deviated by a field of view of the telescope.
    公开号:CH709874B1
    申请号:CH00955/15
    申请日:2015-07-02
    公开日:2019-07-15
    发明作者:Ishida Takeshi；Nishita Nobuyuki；Kochi Jumpei；Iwasaki Garo；Nakabe Hiroyuki
    申请人:Kk Topcon；
    IPC主号:
    专利说明:

    Description
    Art Note [0001] The present invention refers to a geodesy instrument, through which it is possible to automatically perform a survey of the true north.
    [0002] In the case in which a geodesy instrument is installed in order to perform a survey operation, the true north is measured to set a pointing direction of the geodesy instrument. One of the methods to determine the azimuth of an installation location, a method that is known, is that through which the true north is measured using the sun.
    [0003] Where a position (latitude and longitude) in which the geodesy instrument is installed is already known, a pointing is performed from the installation position towards the sun using a telescope. Thus the execution of a pointing of an angle of direction of the sun is obtained, and the true north can be measured based on the angle of direction and the instant of time in which aiming is performed.
    [0004] Looking directly at the sun is dangerous. And where aiming is performed based on an image of the pickup element of the image acquired through a telescope, a big burden is imposed on the image pickup element. For this reason, aiming is normally performed towards the sun by mounting a filter on the telescope and attenuating the light using the filter.
    [0005] In a normal survey of the geodesy instrument, a light attenuation filter is not necessary, and the filter is mounted to perform a true north relief. Therefore, in carrying out the survey of the true north, there were problems due to the fact that a light attenuation filter must be provided and the light attenuation filter must be mounted on the geodesy instrument without forgetting about it.
    Summary of the invention [0006] It is the object of the present invention to provide a geodesy instrument, through which it is possible to carry out a survey of the true north in a safe and reliable manner even in the case where it is forgotten to install a filter for the light attenuation, when real north relief is performed.
    [0007] In order to achieve the object described above, a geodesy instrument according to the present invention comprises a frame unit rotatable in a horizontal direction, a telescope unit rotatably mounted in a vertical direction on the frame unit, a guide unit for rotating and driving the frame unit and the telescope unit, a horizontal angle measuring unit suitable for identifying a horizontal angle of the frame unit, a measuring unit vertical angle to identify a vertical angle of the telescope unit and a control device, in which the telescope unit has a telescope for pointing an object to be measured and a wide-angle video camera having a field angle greater than that of the telescope and adapted to acquire an image in a pointing direction, in which the wide-angle video camera is set so that the position of the sun is on a the photodetector element and the pointing position both in a known position deviated by a visual field of the telescope, in which the control device identifies an image of the sun and a center of the image of the sun starting from an image acquired through the wide-angle video camera and controls the drive unit in such a way that the center of the sun coincides with the pointing position of the sun, and is adapted to determine a true north based on an instant of time, a horizontal angle, a vertical angle, a deviation between an optical axis of the telescope and the position of pointing of the sun, and a latitude and longitude of a position in which the geodesy instrument is installed, in which the center of the image of the sun coincides with the position of pointing of the sun . As a result, it becomes possible to perform true north relief without a geodesy operator pointing the sun, which improves work efficiency and safety.
    [0008] Preferably, but not limited to, in the geodesy instrument according to the present invention, the control device is able to define a path such that, where the center of the sun image coincides with the sun pointing position, this do not go through the field of view of the telescope on the photodetector element. As a result, strong light is prevented from entering the telescope, safety is increased and the photodetector element that collects within the telescope is protected.
    [0009] Preferably, but not limited to, in the geodesy instrument according to the present invention, the telescope unit has a shutter and the control device has a normal survey mode for measuring an object to be measured through the telescope and a mode of measurement north real relief to perform a true north relief using the wide-angle camera, in which it is configured so that if the true north relief mode is selected, an optical path of the telescope is intercepted through the shutter. Consequently the sun cannot be pointed through the telescope, safety is increased and the entry of strong lights into the telescope is prevented, and the photodetector element that collects within the telescope is protected.
    Brief description of the drawings [0010]
    Fig. 1 is an external schematic view of a geodesy instrument according to an embodiment of the present invention.
    Fig. 2 is a block diagram to show an approximate configuration of the geodesy tool.
    Fig. 3 is an explanatory drawing for showing a relationship between a field of view of a telescope on a photodetector element of a wide-angle video camera and a position for pointing the sun in the present embodiment.
    Detailed description of the preferred embodiment [0011] The description will be given below for an embodiment of the present invention with reference to the attached drawings.
    [0012] Fig. 1 and fig. 2 illustrate a geodesy instrument 1, to which the present invention is applied. It is noted that the geodesy instrument 1 as used is a total station, for example, and has a tracking function. A pulsed laser beam is projected towards a measuring point as a distance measurement light, a reflected light (hereinafter referred to as a "reflection light") of the distance measurement light is received from the measurement point , and a distance is measured for each pulsation of light. Taking an average value of the measurement distance results, distance measurement is performed with great precision.
    [0013] As shown in fig. 1, the geodesy instrument 1 primarily comprises a leveling unit 2 installed on a tripod (not shown), a base unit 3 installed on the leveling unit 2, a frame unit 4 rotatably mounted around a vertical axis as a center on the base unit 3 and a telescope unit 5 rotatably mounted around a horizontal axis as a center on the frame unit 4.
    [0014] The frame unit 4 comprises a display unit 6 and an operation input unit 7. The telescope unit 5 has a telescope 8 for pointing an object to be measured and a unit of distance measurement 11, which commonly shares an optical system of the telescope 8. Furthermore, the telescope unit 5 has an image pickup unit for acquiring an image in a pointing direction through the optical system of the telescope 8. Furthermore, the telescope unit 5 includes a wide-angle video camera 9. The wide-angle video camera 9 has an optical axis that runs parallel to an optical axis of the telescope 8, and can acquire a wide-angle image in a pointing direction or approximately. in a pointing direction of the telescope 8.
    [0015] A field angle of the telescope 8 is 1 °, for example, and a field angle of the wide-angle camera 9 is from 15 ° to 30 °, for example. Moreover, although the optical axis of the telescope 8 differs from that of the optical axis of the wide-angle video camera 9, a distance between these optical axes is already known, and a deviation of the pointing direction between the wide-angle video camera 9 and the telescope 8 can be corrected by processing.
    [0016] Each of the wide-angle video camera 9 and the image pickup unit 12 outputs an image sampled as a digital image signal. The photodetector element of each of the wide-angle video camera 9 and the image pickup unit 12 is a CCD, a CMOS, etc., for example, which is an aggregate of pixels and is configured in such a way that the position of the pixel to be received can be specified and a field angle can be identified starting from the position of the pixel to be received.
    [0017] With reference to fig. 2, a description is given of a basic configuration of the geodesy instrument 1.
    [0018] As described above, the telescope unit 5 houses the distance measurement unit 11, which commonly shares an optical system of the telescope 8. The distance measurement unit 11 emits a pulsed laser beam as a distance measuring light through the optical system and receives as a reflection light from an object to be measured through the optical system, and performs an electro-optical distance measurement towards the object to be measured based on the reflection light as received .
    [0019] In case the object to be measured is a prism, the distance measuring unit 11 can perform the measurement in a prismatic measurement mode. Furthermore, if the object to be measured is not a prism, the distance measuring unit 11 can perform the measurement in a non-prismatic measurement mode. Furthermore a measurement mode can be switched to correspond with the object to be measured.
    On the frame unit 4, a horizontal guide unit 15 is provided for rotating the frame unit 4 in a horizontal direction, and a horizontal corner measurement unit 16 is provided to locate an angle of horizontal rotation and to identify a horizontal angle of a pointing direction with respect to the base unit 3 of the frame unit 4. Furthermore, on the frame unit 4, a vertical aiming unit 17 is provided which rotates around the telescope unit 5 with a horizontal axis as center and a vertical angle measurement unit 18 is also provided, which identifies a vertical angle of the telescope unit 5 and measures a vertical angle in the pointing direction.
    [0021] Furthermore, on the frame unit 4, an inclination detection unit 14 is provided and the inclination detection unit 14 identifies an inclination or horizontality of the frame unit 4.
    [0022] A control device 21 is housed in the frame unit 4. Based on a result of identification of the inclination detection unit 14, the control device 21 controls the leveling unit 2 and levels the unit of frame 4 in a horizontal direction.
    [0023] Furthermore, the control unit 21 controls the driving of the horizontal guide unit 15 and rotates the frame unit 4 in a horizontal direction, and moreover, controls the driving of the vertical pointing unit 17 and rotates the 5 telescope unit in an elevation direction. Through the cooperative movement of a rotation in the horizontal direction and a rotation in the direction of elevation, the telescope unit 5 is directed towards a predetermined direction.
    [0024] Furthermore, the control device 21 tracks, measures and performs the measurement of the true north of the sun based on the image acquired through the wide-angle video camera 9 and controls the tracking of the object to be measured based on the image acquired through the image pickup unit 12. Furthermore, based on the image acquired through the wide-angle camera 9 and on the image acquired through the image pickup unit 12, the control device 21 performs a search to capture the object from measure in the image (in a visual field of a telescope) before the start of the tracking, or in the case in which the object to be measured is deviated from the image during the tracking, the search for the capture of the image is executed again.
    [0025] Furthermore, the control device 21 performs the measurement of the distance at a predetermined measurement point by controlling the distance measuring unit 11 in a stable position or during tracking.
    [0026] With reference to fig. 2, the description of the control device 21 will also be given.
    [0027] The control device 21 is composed of the arithmetic control unit 22, a storage unit 23, a first image recording unit 24 for storing images acquired through the wide-angle video camera 9, a second recording unit d image 25 for storing images acquired through the image pickup unit 12, an image processing unit 26 for performing image processing such as specifying a measurement point or an object to be measured based on the image. 'image acquired through the wide-angle camera 9 and the image acquired through the image pickup unit 12, the display unit 6 for the representation of measurement results and measurement conditions, and the input unit d' operations 7 for the input of the various types of commands such as the start of the measurement or similar or for the introduction of the data necessary for the measurement.
    [0028] In the storage unit 23, various types of programs are stored. These programs include: a sequencing program for performing the measurement, an image display program for representation on the image processing unit 26, a calculation program to perform the calculations necessary for the measurement, a program of image processing to perform image processing on images acquired through the wide-angle camera 9 and the image pickup unit 12, a program for real north survey to calculate the position of the sun starting from the processed images and to perform the real north survey, a distance measurement program to measure the distance to the measurement point and to measure the distance by tracking the object to be measured, a research program to capture the object to be measured in the images, and other programs.
    [0029] Furthermore, the measurement results are input to the arithmetic control unit 22 from the distance measurement unit 11, the horizontal angle measurement unit 16 and the vertical angle measurement unit 18 The arithmetic control unit 22 is adapted to perform the measurement of distance, vertical angle and horizontal angle according to the sequencing program, the arithmetic program, the distance measurement program, etc., and is adapted for storing the measurement results in the storage unit 23 and for representing the measurement results on the display unit 6 according to the image display program or the like.
    [0030] The image processing program causes the image processing unit 26 to perform image processing such as for example an extraction of the measurement point or the object to be measured based on the acquired image through the wide-angle camera 9 and the image acquired through the image pickup unit 12.
    [0031] Moreover, the arithmetic control unit 22 is able to perform a normal survey mode with respect to the object to be measured according to the distance measurement program and a survey mode of the true north to perform the survey of true north according to the real north relief program. By selecting a survey mode starting from the operation input unit 7, a measurement as required can be performed.
    [0032] A description of an operation will be given in the case in which the relief of the true north is performed by the geodesy instrument 1 according to the present embodiment.
    [0033] The geodesy instrument 1 is installed in a known point, that is in a point where a latitude and a longitude are already known, and the leveling is performed through the leveling unit 2. The latitude and longitude of the installation position are placed at the input of the control device 21 through the input unit of operations 7. It is pointed out that in the case where the geodetic instrument 1 is provided with a GPS, a coordinate for installing the geodesy instrument 1 is obtained starting from the GPS and the instant of measurement time can be obtained starting from the GPS. [0034] The real north survey mode can be selected through the operation input unit 7.
    [0035] The telescope unit 5 is directed towards the sun so that the wide-angle camera 9 captures the sun. The sun can be captured through the wide-angle camera 9 if the direction is approximately adequate given that a field of view of the wide-angle camera 9 is wide.
    [0036] In the case where the survey mode of the true north is selected, the pointing position, where the wide-angle camera 9 points at the sun, is set in such a way that it can deviate from the telescope 8 pointing position (ie the optical axis of the telescope 8). As shown in fig. 3, the relationship between a sun pointing position of the wide-angle video camera 9 and the pointing position of the telescope 8 is such that an image 32 of the sun deviates entirely from a field of view 31 of the telescope 8. Furthermore, an amount of deviation of the sun pointing position starting from the pointing position of the telescope 8 is already known, and the amount is at least an amount, which is deviated from the field of view 31 of the telescope 8. Since the amount of deviation between the position of sun pointing and the pointing position of the telescope 8 is already known, the sun pointing position can be corrected so as to coincide with the telescope 8 pointing position by processing.
    [0037] Fig. 3 illustrates an image 30 of the wide-angle video camera 9, and illustrates a condition in which the sun is finally aimed through the wide-angle camera 9. The sun pointing position can be deflected in any direction with respect to the telescope 8 pointing position, but it is diverted in a vertical direction in order to decrease a calibration error of the horizontal angle since the accuracy of the horizontal angle is important in the relief of true north.
    [0038] Furthermore, in the real north survey mode, the configuration is such that an image captured through the wide-angle camera 9 is represented on the display unit 6. Regardless of whether the sun is captured through the wide-angle camera 9 or not, it can be distinguished through image processing starting from the first image recording unit 24 through the image processing unit 26 and can also be easily confirmed starting from the image of the unit display 6.
    [0039] The image processing unit 26 extracts the image 32 of the sun by processing an image from the first image recording unit 24 and identifies the central position of the image 32 of the sun. The image processing unit 26 compares the central position of the sun image 32 with the sun pointing position, calculates the amount of deviation and a direction deviation between the central position of the sun image 32 and the sun pointing position, and the result of the calculation is placed at the input of the arithmetic control unit 22.
    [0040] Based on the amount of the deviation and on the direction deviation as it is placed at the input of the image processing unit 26, the leveling unit 2 drives the horizontal guide unit 15 and the vertical pointing unit 17 and makes the position of the image 32 of the sun coincide as identified with the pointing position of the sun. It should be noted that since the positional relationship between the pointing position of the telescope 8 can be obtained by processing starting from the position of the sun image 32 on the image captured through the wide-angle video camera 9, during the process of coinciding the image 32 of the sun with the sun pointing position, the control device 21 performs the rotation in such a way that the sun does not enter the field of view 31 of the telescope 8.
    [0041] In the instant in which the coincidence is made, a horizontal angle is identified through the horizontal angle measurement unit 16 and a vertical angle is captured identified through the vertical angle measurement unit 18.
    [0042] Thus, the true north is measured based on the instant of coincidence, on the horizontal angle and the vertical angle as identified, and also on the latitude and longitude of the installation position.
    [0043] On the photodetector element of the wide-angle camera 9, the range corresponding to the field of view 31 of the telescope 8 is set as the photodetector prohibition zone.
    [0044] The arithmetic control unit 22 calculates a path to move the central position of the sun image 32 towards the sun pointing position starting from the central position of the sun and from the sun pointing position.
    [0045] Furthermore, in the case where the central position of the sun on the photodetector element is made coincident with the position of pointing of the sun and in the case in which the central position of the image of the sun passes through the visual field 31 of the telescope 8 in which the shortest distance has been moved, the arithmetic control unit 22 calculates a path such as to reach the sun pointing position avoiding the visual field 31 of the telescope 8 and performs piloting and control on the driving unit horizontal 15 and vertical angle measurement unit 18 based on the calculated path.
    [0046] Alternatively, a shutter of an arbitrary type such as a mechanical, electrical, etc., can be provided in an optical system of the telescope 8, and be configured in such a way that an optical path of the telescope 8 is intercepted in the relief mode of the north true from the wide-angle camera 9.
    [0047] In the present embodiment, when the relief of the true north is carried out the relief of the true north can be carried out automatically, simply by directing the wide-angle camera 9 approximately towards the sun. Furthermore, the processing condition of the true north relief and the result of the true north relief can be confirmed through the display unit 6, and this contributes to a more efficient execution.
    Furthermore, even if the operator looks through telescope 8 without care, it is safe as sunlight does not enter the telescope 8.
    [0048] By setting the survey mode of true north, the entry of strong sunlight into the telescope 8 with strong magnification can be prevented. As a result, the entry of strong sunlight into the photodetector element of the image pickup unit 12 can be confined, and therefore the deterioration and damage of the photodetector element can be prevented.
    [0049] There is no need to add that, where the normal survey mode is selected from the operation input unit 7 at the start of the measurement, it is possible to perform a distance measurement and a measurement of the angle of a object to be measured or measurement by tracing the object to be measured.
    权利要求:
    Claims (3)
    [1]
    claims
    1. Geodesy instrument (1), comprising a frame unit (4) rotatable in a horizontal direction, a telescope unit (5) rotatably mounted in a vertical direction on said frame unit, a guide unit ( 15, 17) for rotating and driving said frame unit and said telescope unit, a horizontal angle measuring unit (16) adapted to identify a horizontal angle of said frame unit, a measuring unit d. 'vertical angle (18) able to identify a vertical angle of said telescope unit and a control device (21), in which said telescope unit has a telescope (8) for pointing an object to be measured and a video camera wide-angle (9) having a field angle greater than that of said telescope and adapted to acquire an image in a pointing direction, in which said wide-angle camera is set in such a way that a position for pointing the sun remains a photodetector element and said sun pointing position is in a known position deviated by a visual field (31) of said telescope, wherein said control device identifies an image (32) of the sun and a center of said image of the alone starting from an image acquired by the said wide-angle video camera and controlling the said guide unit in such a way that the said center of the sun coincides with the said pointing position of the sun, and is adapted to determine a true north based on a l instant of time, a horizontal angle, a vertical angle, a deviation between an optical axis of said telescope and said sun pointing position, and a latitude and longitude of a position in which said geodesy instrument is installed, when the center of the said image of the sun coincides with the pointing position of the sun.
    [2]
    2. Geodesy instrument according to claim 1, wherein said control device (21) is able to define a path in such a way that said path, where the center of said image (32) of the sun coincides with said pointing position of the sun does not pass through the said visual field (31) of the said telescope (8) on the said photodetector element.
    [3]
    3. Geodesy instrument according to claim 1, wherein said telescope unit (5) has a shutter and said control device (21) has a normal relief mode for measuring an object to be measured through said telescope (8 ) and a survey mode of the true north to perform a survey of the true north using said wide-angle video camera (9), in which it is configured in such a way that in the case in which the said mode of relief of the true north is selected, an optical path of said telescope is intercepted by said shutter.
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    同族专利:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP2014141307A|JP6346011B2|2014-07-09|2014-07-09|Surveying equipment|
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