Three-dimensional surveying apparatus and three-dimensional surveying-apparatus driving program

Abstract

A three-dimensional surveying apparatus 4 includes a telescope unit 45 for collimating a measurement target 7 and emitting a distance-measuring light 455, driving motors 433, 443 for rotating the telescope unit 45 around a shaft center thereof, angle detectors 434, 444 for detecting a rotation angle of the telescope unit 45, and a control unit 46 for executing a collimation operation of the telescope unit 45 by executing PI control of the driving motors 433, 443 on the basis of the rotation angles detected by the angle detectors 434, 444. The control unit 46 changes an integral term of the PI control, during execution of the collimation operation, when a current angle of the rotation angle detected by the angle detectors 434, 444 exceeds a target angle related to the collimation operation.

Dependencies are inferred from the claim text.