Motion-based control for survey systems

Abstract

Motion-based control for a surveying system. This invention relates to a surveying system for measuring the position of a measurement point, comprising: a surveying rod including a body having an indicator tip that contacts the measurement point, and a position-giving device for determining the coordinates of a reference position, the position-giving device being positioned on the body in a defined spatial relationship relative to the tip; a control and evaluation unit that derives the position of the measurement point based at least on the determined reference position and the defined spatial relationship of the position-giving device relative to the tip; an inertial measurement unit including an IMU sensor with an accelerometer and / or gyroscope, and continuously generating IMU data related to the rotational rate and / or acceleration of the rod; and a motion tracker that receives the IMU data and, based on the IMU data, derives the motion and / or motion pattern of the surveying rod in real time, wherein if the derived motion or motion pattern corresponds to a defined motion pattern, the surveying system automatically performs an action associated with the defined motion model.

Description

Technical Field

[0001] This invention relates to a surveying system that uses a surveying rod to measure the position of a point, and a computer-based method for controlling such a surveying system. In particular, this invention relates to a surveying system comprising a rod equipped with an inertial measurement unit (IMU), wherein data from the IMU is used to derive the rod's motion pattern, and wherein the surveying system automatically executes actions or workflows associated with the derived motion pattern. Background Technology

[0002] A motion state can be a special case of a motion pattern. For example, if a lever is rested in a certain position for a certain period of time, so that the IMU cannot detect movement or can hardly detect movement during that period, this period of lack of movement or no movement can be regarded as a motion state as a special case of a motion pattern.

[0003] In many geodetic applications, points are surveyed by locating specifically positioned target objects at those points. These target objects typically include poles with aimable markers, reflectors, or prisms used to define measurement distances or points. A relatively large number of such target objects can be surveyed using geodetic equipment such as total stations. In other geodetic applications, the poles include GNSS antennas, either as a reflection target or as an alternative.

[0004] Modern total stations feature microprocessors for digital post-processing and storage of acquired measurement data. These devices are typically manufactured in a compact and integrated design, often incorporating coaxial distance and angle measurement components, as well as calculation, control, and storage units. Typically, devices are integrated for motorized target optics, reflectorless distance measurement, automatic target search and tracking, and remote control of the entire device. Total stations known from the prior art also possess a radio data interface for establishing radio links to external peripheral components, such as data acquisition devices, which may be handheld data loggers, remote control units, array processors, laptops, minicomputers, or PDAs. With the aid of the data interface, measurement data acquired and stored by the total station can be output to external post-processing, and externally acquired measurement data can be read into the total station for storage and / or post-processing. Furthermore, remote control signals can be input or output for remote control of the total station or another external component (especially in mobile field applications), and control software can be transferred to the total station.

[0005] During the routine operation of a survey pole—whether it includes a GNSS antenna or is operated with survey equipment—the operator will need to set the pole aside at times, for example, by resting it against a surrounding wall or similar object, against their own shoulder, or on the ground. This need arises whenever the operator requires both hands to be available, such as when using handheld devices or marking previously measured points on the ground.

[0006] To reduce energy consumption, it is desirable that during this period, some or all components of the pole or survey system (e.g., GNSS antenna or total station) can be automatically disconnected or put into sleep mode, and automatically reconnected if the operator resumes surveying operations.

[0007] When the pole is set aside, the surveying instrument tracking the pole may lose its line of sight to the pole's reflective target. After this loss of sight, the total station's ability to quickly and automatically re-lock onto the pole's reflective target is a known problem. Typically, if the line of sight is lost for 5 seconds, the total station can simply extrapolate the last known movement and then wait at that position for 1 second. To reduce the surveying instrument's energy consumption, it would be desirable to perform the search for the reflective target only when the operator resumes surveying operations. Furthermore, it is desirable to improve the speed of resuming surveying operations by automatically and quickly re-locking onto the reflective target when the pole moves back to its operating position.

[0008] For example, survey systems are generally disclosed in EP 2909579 B1 and US 10,234,827B2, in which the survey pole includes or is equipped with an IMU.

[0009] Therefore, it would be desirable if the movement, movement pattern, and / or movement state of the lever could be detected in real time and used to automatically trigger certain actions or workflows of the survey system. Summary of the Invention

[0010] Therefore, the object of the present invention is to provide an improved surveying system including a surveying rod.

[0011] Another object of the present invention is to provide a surveying system that is easier to operate. A specific object is to provide a surveying system that can be operated by performing certain movements using a lever, particularly by repeating predefined motion patterns.

[0012] Another object of the present invention is to provide a surveying system with reduced energy consumption. A specific object is to provide a surveying system that automatically disconnects power when the pole is not in use.

[0013] Another object of the present invention is to provide a surveying system that operates faster. A specific object is to provide a surveying system that automatically resumes measurements after an interruption.

[0014] At least one of these objectives is achieved by the surveying system according to claim 1, the method according to claim 14, and / or the dependent claims of the invention.

[0015] A first aspect of the present invention relates to a surveying system for measuring the location of a measurement point. The surveying system includes:

[0016] - A surveying rod comprising a body having an indicator tip for contacting a measurement point, and a position-giving device for determining the coordinates of a reference position, the position-giving device being positioned on the body in a defined spatial relationship relative to the tip.

[0017] - A control and evaluation unit, which is used to derive the position of the measurement point based at least on a determined reference position and, based on the position, a defined spatial relationship between the device and the tip.

[0018] - An inertial measurement unit (IMU) comprising an IMU sensor with an accelerometer and / or a gyroscope, and configured to continuously generate IMU data relating to the rotational rate and / or acceleration of the rod.

[0019] According to this aspect of the invention, the system includes a motion tracker configured to receive IMU data and, based on the IMU data, derive the motion and / or motion pattern (including motion state) of the survey rod in real time, wherein if the derived motion or motion pattern corresponds to a defined (e.g., predefined or user-defined) motion pattern (or motion state) of the survey rod, the survey system is configured to automatically perform actions associated with the defined motion pattern.

[0020] The location of the survey pole can be indicated by means of a retroreflector (e.g., in the form of a prism) and / or a GNSS antenna.

[0021] According to one embodiment of the surveying system, a motion tracker is configured to generate motion data about a derived motion or motion pattern and provide the motion data to a control and evaluation unit, wherein the control and evaluation unit is configured to determine, based on the motion data, whether the derived motion or motion pattern corresponds to one of a plurality of defined motion patterns, and to issue a command to a unit or device of the surveying system to perform an action associated with the determined defined motion pattern, the action associated with the determined defined motion pattern relating to the functionality of the unit or device.

[0022] According to one implementation, the database of the surveying system includes multiple different defined motion modes of the surveying rod (e.g., predefined motion modes or user-defined motion modes), each defined motion mode being associated with the actions of the surveying system, and in particular, the control and evaluation unit can access the database.

[0023] In one implementation, the control and evaluation unit includes a database.

[0024] According to another embodiment of the surveying system, at least one defined motion pattern is a user-defined motion pattern, and the action associated with the user-defined motion pattern is a user-defined workflow of the surveying system.

[0025] In one implementation, upon user selection, the system is configured to run a definition process, and the control and evaluation unit is configured to determine a user-defined motion pattern based on motion data received during the definition process, and to associate the determined user-defined motion pattern with the user-selected workflow.

[0026] According to another embodiment of the surveying system, the location-giving device includes a retroreflector (e.g., a prism), and the surveying system includes a surveying device (e.g., a total station or a distance meter) configured to measure the location parameters of the retroreflector and derive a reference location of the retroreflector, the location parameters including the angle and distance to the retroreflector.

[0027] In one implementation, the surveying rod and the surveying device are configured to establish a remote data connection with each other, and actions associated with the defined motion pattern relate to the functionality of the surveying device.

[0028] In one implementation method

[0029] The motion tracker is configured to generate motion data about the exported motion or motion pattern and provide this motion data to the control and evaluation unit.

[0030] The control and evaluation unit is configured to determine, based on motion data, whether the determined motion corresponds to a defined motion pattern within the defined motion patterns, and is configured to issue a command to the surveying device to perform an action associated with that defined motion pattern.

[0031] - The control and evaluation unit is configured to receive motion data via a remote data connection or to issue commands to the surveying device via a remote data connection.

[0032] According to another embodiment of the survey system, the location-giving device includes a GNSS antenna, and the survey system includes a GNSS processing unit configured to process the output signal of the GNSS antenna and derive the reference position, orientation, and / or velocity of the GNSS antenna based on the output signal.

[0033] In one implementation, the action associated with the determined defined motion pattern involves the functionality of the GNSS antenna and / or GNSS processing unit, wherein the motion tracker is configured to generate motion data about the derived motion or motion pattern and provide the motion data to the control and evaluation unit, and the control and evaluation unit is configured to determine, based on the motion data, whether the determined motion pattern corresponds to one of the defined motion patterns, and is configured to issue commands to the GNSS antenna and / or GNSS processing unit respectively to execute the action associated with the detected defined motion pattern.

[0034] According to another embodiment of the survey system, the motion tracker is configured to at least determine inertial velocity data as part of the motion data. For example, the motion tracker may also be configured to

[0035] - Inertial attitude data and inertial position data are identified as part of the motion data.

[0036] - Determine velocity as part of the motion data, and / or

[0037] - The yaw angle, pitch angle, and roll angle of the survey pole are determined as part of the motion data.

[0038] According to another embodiment, the system is configured to establish a data connection with a remote server computer and provide the remote server computer with IMU data and / or motion data generated by a motion tracker.

[0039] In one implementation, predefined motion patterns are stored on a remote server computer, and the system is configured to:

[0040] - Detect typical user behaviors from IMU data and / or from motion data.

[0041] - Send corresponding IMU data and / or motion data to a remote server computer, wherein the data sent is specifically used to update predefined motion patterns stored on the remote server computer, and

[0042] - Receive updated predefined motion patterns from a remote server computer.

[0043] According to another embodiment of the survey system, the motion tracker uses machine learning-based algorithms to identify motion and / or motion patterns, such as Kalman filters.

[0044] According to another embodiment of the surveying system, a motion tracker is located at the surveying pole (e.g., integrated into or attached to the surveying pole) and includes an inertial measurement unit.

[0045] According to another embodiment of the surveying system, the IMU is integrated into or attached to a pole. For example, the inertial measurement unit may be integrated into the body of the pole or as part of a mobile device, wherein the pole includes a socket for receiving the mobile device. For example, the inertial measurement unit may be designed as a microelectromechanical system (MEMS) and / or include at least three accelerometers and / or at least three gyroscopes arranged in a mutually orthogonal configuration.

[0046] According to some implementations of the surveying system, the predefined movement modes include a depositing movement mode of the surveying rod, in which the surveying rod moves from an upright position to a lying or leaning position.

[0047] In one embodiment, deriving motion and / or motion patterns includes deriving at least one of the following: an upright position of the survey rod and a lying or leaning position of the survey rod, or a movement of the survey rod from an upright position to a lying or leaning position.

[0048] In another embodiment, the surveying rod remains stationary or substantially stationary in a lying or reclining position for at least a predefined time, for example, at least five seconds.

[0049] In another embodiment, actions associated with the drop motion mode include: disconnecting the GNSS unit of the survey rod and / or stopping the tracking of the survey rod's retroreflector by the survey system's surveying device.

[0050] According to some implementations of the surveying system, the predefined movement patterns include a surveying rod picking-up movement pattern, in which the surveying rod moves from a lying or leaning position to an upright position.

[0051] In one implementation, deriving motion and / or motion patterns includes deriving at least one of a lying or reclining position of the survey rod, an upright position of the survey rod, or a movement of the survey rod from a lying or reclining position to an upright position.

[0052] In another embodiment, the surveying rod remains stationary or substantially stationary in a lying or reclining position for at least a predefined time, for example, at least five seconds.

[0053] In another embodiment, actions associated with the pickup motion mode include: activating the GNSS unit of the survey rod and / or performing a search of the survey rod's retroreflector by the surveying device of the surveying system.

[0054] According to another embodiment, the indicator tip is configured to provide a punching or center-punching function for physically marking points on an object (e.g., for marking measurement points). For this purpose, the indicator tip includes a spring configured and arranged such that the spring is compressed when the indicator tip is pushed onto a point on the object, and is released once a predefined amount of compression has been reached. In this case, the defined motion mode includes a punching motion mode, wherein the probe is pushed onto a point on the object along with the indicator tip and the spring is released. In one embodiment, the action associated with the punching motion mode includes performing a measurement to derive the position of the marked point (e.g., a measurement point).

[0055] A second aspect of the invention relates to a computer-implemented method for controlling a surveying system (such as a surveying system according to the first aspect of the invention). The surveying system includes:

[0056] - A surveying pole comprising a body having an indicator tip for contacting a measurement point, and a position-giving device for determining the coordinates of a reference position, the position-giving device being positioned on the body in a defined spatial relationship relative to the tip, the position-giving device including, for example, a retroreflector or a GNSS antenna.

[0057] - A control and evaluation unit, which is used to derive the position of the measurement point based at least on a determined reference position and, based on the position, a defined spatial relationship between the device and the tip; and

[0058] - An IMU, which is mounted on a survey pole, includes an IMU sensor with an accelerometer and a gyroscope, and is configured to continuously generate IMU data.

[0059] According to this aspect of the invention, the method includes the following steps:

[0060] - For example, using machine learning algorithms, based on continuously generated IMU data, the motion and / or motion patterns of the survey rod can be derived in real time.

[0061] - Determine whether the derived motion or motion pattern corresponds to one of a plurality of predefined motion patterns, wherein the action of at least one unit or device of the surveying system is associated with each predefined motion pattern, and

[0062] - Issue commands to the corresponding units or devices of the survey system to execute actions associated with the defined motion patterns.

[0063] The third aspect of the invention relates to a computer program product comprising program code stored on a machine-readable medium or embodied by electromagnetic waves including segments of program code, and having computer-executable instructions for performing the method according to the second aspect of the invention when executed in a surveying system (e.g., in a surveying system according to the first aspect of the invention). Attached Figure Description

[0064] The present invention will now be described in detail with reference to exemplary embodiments accompanied by the accompanying drawings, wherein:

[0065] Figures 1a to 1b Two embodiments of a survey pole as part of a survey system according to the invention are shown, the pole including a retroreflector or a GNSS antenna as a location-giving device;

[0066] Figure 2 An exemplary embodiment of a surveying system according to the present invention is shown, the surveying system including a surveying pole and a total station;

[0067] Figures 3a to 3b Examples are given of the first and second examples where the motion can be detected, in which the surveying rod is set aside during the surveying operation;

[0068] Figure 4 Examples of the third and fourth examples of detectable motion associated with the action are illustrated, in which the surveying operation is automatically resumed after the surveying rod is brought back to the operating position;

[0069] Figure 5 A data flow is illustrated in an exemplary embodiment of the surveying system according to the present invention;

[0070] Figure 6 A fifth example illustrates a detectable motion associated with the first action of the GNSS unit of the rod; and

[0071] Figure 7 A sixth example of detectable motion associated with a second action of the GNSS unit of the rod is illustrated. Detailed Implementation

[0072] Figure 1a and Figure 1b A surveying rod 10, as part of a surveying system, is shown. The surveying rod 10 has a rigid rod-shaped body 13 with an indicator tip 12 for contacting a measuring point on the ground or an object (e.g., a wall or ceiling). The body 13 defines a rod axis 15.

[0073] Figure 1a A first embodiment is shown, wherein the rod 10 includes a retroreflector device 11 (e.g., a prism) as a position-giving device for determining the coordinates of a reference position, the retroreflector device 11 being located on the body 13 at a known position relative to the tip 12. The system also includes a determining device for repeatedly determining the reference position of the position-giving device.

[0074] Figure 1b A second embodiment of the surveying pole 10 is shown, wherein the pole includes a GNSS receiver 19 as a location-giving device for determining the coordinates of a reference position. The GNSS receiver 19 is located on the body 13 at a known position relative to the tip 12. Optionally, the GNSS receiver 19 can be implemented for use with Real-Time Kinematic (RTK), Precise Point Positioning (PPP), or Differential GNSS (DGNSS). The system also includes a determining device for repeatedly determining the reference position of the location-giving device.

[0075] In both illustrated embodiments, the surveying rod 10 includes an inertial measurement unit (IMU) 18 positioned on the body 13 in a defined spatial relationship relative to the position giving device. The IMU 18 is designed as a microelectromechanical system (MEMS) and includes IMU sensors, including an accelerometer and a gyroscope. The rod 10 includes an evaluation unit 17 for deriving the position of the measurement point 1 based at least on a determined reference position and the defined spatial relationship of the position giving device relative to the tip 12.

[0076] The illustrated IMU 18 includes three accelerometers in a mutually orthogonal configuration, i.e., with their measurement axes orthogonal to each other; and three gyroscopes in a mutually orthogonal configuration, i.e., with their measurement axes orthogonal to each other. Other possible means of providing high accuracy, special power-saving modes, or higher update rates may include additional accelerometers and / or gyroscopes, for example, having axes aligned parallel to the aforementioned axes. Optionally, a magnetometer may also be included.

[0077] although Figure 1a and Figure 1bThe IMU 18 is depicted as an external feature of the lever 10, but it can obviously also be integrated into the body 13. Alternatively, it can be part of the GNSS receiver 19, or provided as a separate unit that can be attached to the body 13 or any other part of the lever 10. For example, the lever 10 may include a socket for holding the IMU 18 or a mobile device including the IMU 18 during operation, such as a smartphone, field controller, or similar mobile device. Moreover, the IMU 18 can be provided by other devices rather than being fixedly attached to the lever, as long as it provides the lever 10's IMU data during operation. For example, the IMU 18 can be integrated into a smart glove (or similar wearable) worn by the operator 3 holding the lever 10, so that it is only loosely attached during operation. Such a glove can indicate whether the lever is being held, and the IMU data is only interpreted as the lever 10's IMU data when the lever is being held.

[0078] Moreover, in Figure 1a and Figure 1b The evaluation unit 17, depicted as an external feature of pole 10, can also be part of IMU 18 or GNSS receiver 19, or integrated into the main body 13. Alternatively, the evaluation unit 17 can be located in the system's surveying apparatus (e.g., Figure 2 In a total station (20), or it may be part of a mobile device, such as a field controller, a system accessory, or a mobile phone with the necessary software (app) installed.

[0079] Optionally, the indicator tips can be positioned at both ends of the lever 10 so that the retroreflector device 11 or GNSS receiver 19 is positioned between these two tips (not shown here). Optionally, the indicator tips of the lever 10 can be configured to provide a piercing or center piercing function for marking measurement points (not shown here).

[0080] Figure 2 An exemplary embodiment of a surveying system according to the present invention is shown, the system comprising a surveying rod 10 and a surveying apparatus 20 specifically implemented as a total station. See reference... Figure 1a As described, the surveying rod 10 includes a retroreflector 11 and an inertial measurement unit (not shown here). In this example, the evaluation unit 17 is configured as a mobile device held by the operator 3 of the rod 10 (e.g., a surveyor).

[0081] The surveying device is referenced to a reference coordinate system and is configured to measure the distance 2 and relative angle of the retroreflector 11 relative to the rod 10, so that the reference position of the retroreflector 11 can be derived, and thus the reference position of the measurement point 1 can be derived.

[0082] In some implementations, a remote data connection 5 can be established between the surveying device 20 and the rod 10 or the control device 17, for example, to provide measurement data to the operator 3 or to allow remote control of the surveying device 20.

[0083] Usually, such as Figure 3a and Figure 3b As illustrated, during routine operation of the surveying rod 10, the operator 3 eventually sets the rod 10 aside. In this case, the rod 10 can be leaned against a surrounding wall or similar object or rested on the operator 3's shoulder. Furthermore, the operator 3 can place or drop the rod 10 onto the ground. This is part of the routine workflow whenever the operator 3 needs both hands available, such as when using the evaluation unit 17 attached to the rod 10 as a movement device or for marking previous measurement points on the ground.

[0084] exist Figure 3a middle, Figure 2 The system operator 3 has placed lever 10 on the ground. Figure 3b In the middle, lever 10 rests on the operator's shoulder. These events can be detected, for example, using machine learning, so that further events can be triggered.

[0085] In some implementations, the placement itself can be detected. For example, such as... Figure 3b As shown, detecting that the pole 10 is stationary against a wall or on the operator's shoulder allows for updating the IMU bias estimate in the sensor fusion algorithm, for example, including a Kalman filter running on the pole, such as Zero Velocity Potential Update (ZUPT). If the pole remains stationary or substantially stationary for a defined time, it is detected as inactive, i.e., not in use, based on the IMU data. The defined time can be predefined, for example, 5 seconds, or can be selected by the user, for example, in a range from 3 seconds to 30 seconds.

[0086] Alternatively, or additionally, movements 41, 42 from the operating position to the resting position on the ground and at the shoulder can be detected as motion patterns. For example, such movements 41, 42, and the subsequent lack of movement for a defined time, can be detected based on IMU data and interpreted as inactivity of lever 10. Figure 3a and Figure 3b As illustrated, inactivity of the lever can include resting, stopping, and laying positions. However, operator 3 walking between the two measurement points 1 (thus moving lever 10) can also be detected based on IMU data and optionally interpreted as inactivity of lever 10.

[0087] Detected inactivity of pole 10 can be used to trigger an energy-saving mode on the device. For example, tilt compensation can be temporarily disabled, or for poles with GNSS, energy saving will disable real-time kinematic (RTK). Because processing RTK and / or tilt compensation requires significant processing power, it consumes considerable energy from the battery. A low-power motion state detection model that detects the inactivity of pole 10 or the movement of surveyor 3 between different measurement points (e.g., at a resolution exceeding 1 Hz) allows for timely triggering of energy savings. Preferably, to allow for effective energy saving, continuously operating low-power motion state detection consumes as little energy as possible. At a minimum, it should consume significantly less energy than a unit that can be powered off.

[0088] Figure 4 An example is given in which the operator 3 of the surveying system has finished using the moving device 17 (or otherwise interrupted) and now resumes the survey by moving the lever 10 back to the operating position, i.e. by picking up the moving device 43 or by repositioning the moving device 44.

[0089] In the illustrated example, at lever 10, a movement pattern 51 is detected during the pick-up movement 43 or via a repositioning movement 44 of lever 10 from its resting position, for example, when it is placed on the ground outside the line of sight of the surveying device 20. This detected movement pattern 51 (e.g., in combination with previously detected inactivity) is used to trigger a faster relocking of lever 10 by sending a command to the surveying device 20 via remote data connection 5 to perform an action or workflow 52, ​​for example, to perform a command to search for reflective targets of the lever near its last position or a predicted position (e.g., by means of dead reckoning prediction).

[0090] Normally, when the line of sight between the prism 11 attached to the pole and the surveying device 20 is lost, the surveying device 20 will perform a search to locate the pole 10; for example, it will begin rotating around the horizontal and / or vertical axes to search for the prism 11. However, if the pole 10 is determined to be stationary (i.e., inactive), this power search can be canceled and delayed until the pole 10 is determined to be picked up again. If a predefined picking motion 51 is subsequently detected, a command can be sent to the total station 20 to search for the vicinity of the last known position of the pole 10, thereby drastically narrowing the search space and thus significantly increasing the relocking speed.

[0091] Figure 5A data flow is illustrated in an exemplary embodiment of the surveying system according to the invention. The IMU 18 of the rod includes an inertial measurement sensor with accelerometers and gyroscopes, and the IMU is configured to continuously generate inertial data 8 (IMU data). For example, IMU 18 includes at least three accelerometers and at least three gyroscopes, all arranged orthogonally to each other. Alternatively, IMU 18 may also be designed as a microelectromechanical system (MEMS).

[0092] Inertial data 8 is provided to motion tracker 40, i.e., a unit or device including a motion tracker algorithm. In some embodiments, IMU 18 and motion tracker 40 may be implemented as a unit located at the pole. For example, a field controller attached to the pole may include IMU 18 and motion tracker algorithm. Motion tracker 40 receives inertial data 8 and, based on this inertial data, derives the actual motion and / or motion pattern of the survey pole.

[0093] The control unit, which can be specifically implemented as control and evaluation unit 17, can access database 48, which includes multiple different predefined motion modes of the surveying rod. Each of these predefined motion modes is associated with the actions or workflow of the surveying system, or more precisely, with the actions or workflow of one or more units or devices of the surveying system. Database 48 need not be understood as a database of motion modes themselves, but can also be seen as a database of characteristics corresponding to the motion modes, or more precisely, a database of mathematical functions describing the boundaries between different motion modes in projected (non-physical) space.

[0094] The motion patterns in the database can also include those used to minimize errors caused by the length of the rod, for example, if the target and IMU are mounted between the rod tip and a portion of the rod body held by the user, or if the rod has tips at both ends. If the rod has more than one indicator tip, for example, one tip at each end of the body, the motion patterns can also be used to determine which indicator tip is contacting the measurement point.

[0095] The motion patterns in the database may include inactive motion patterns connected to pole 10, and the associated actions or workflows of the survey system may include the power-off unit of pole 10 or other devices of the survey system, such as a total station. The motion patterns in the database may also include reactivation (i.e., termination of inactivity) motion patterns connected to pole 10, and the associated actions or workflows of the survey system may again include the power-on unit of pole 10 or other devices of the survey system.

[0096] The motion patterns in the database can also include motion patterns associated with inertial navigation algorithms, especially if the inertial navigation algorithms use the same IMU data. Practical examples could include zero-velocity updates (no movement detected), upper / lower boundaries (step count), or tuning of algorithm parameters related to motion (walking, running, driving, etc.).

[0097] In some implementations, the motion tracker 40 and the control and evaluation unit 17 may be implemented as a single unit, optionally including an IMU 18. The control and evaluation unit 17 is configured to receive motion data 4 and, based on that motion data, determine whether the derived motion or motion pattern corresponds to one of the plurality of predefined motion patterns stored in a database 48. If it is determined that the derived motion or motion pattern corresponds to one of the predefined motion patterns, a command is sent to the appropriate unit or device of the survey system to execute workflows 52-54 associated with that predefined motion pattern. These workflows, associated with the determined predefined motion state, pertain to the functionality of the unit and device. In the illustrated example, these units and devices include a GNSS unit 19 for the pole (e.g., a GNSS antenna and a corresponding GNSS processing unit) and a survey device 20 (e.g., a total station for measuring distances and angles to a prism or similar target on the pole).

[0098] Optionally, motion tracker 40 can receive more data than just inertial data 8. For example... Figure 5 As shown by the dashed line, additional data, such as that provided by the GNSS unit 19, the surveying device 20, or the control and evaluation unit 17, can be provided to the motion tracker 40 and considered for deriving the actual motion and / or motion pattern of the surveying rod. The inertial data 8 and this additional data can be used as raw data. Alternatively, a fusion state estimate using a sensor fusion algorithm (such as a particle filter or a Kalman filter) employing this additional data can also contribute to the inertial data 8.

[0099] Figure 6 An embodiment of the survey system is illustrated, wherein the survey pole 10 includes a GNSS unit with a GNSS antenna 19. The operator executes a motion mode 45, which involves linear movement along the vertical axis of the pole, thereby impacting the ground, for example, with the tip of the pole, to a measurement point. The IMU detects the acceleration induced by these movements, and the motion tracker identifies this acceleration as motion mode 45. Motion mode 45 is compared to a predefined motion mode and identified as associated with an action 53 of the GNSS unit, for example, waking from an energy-saving sleep mode.

[0100] Optionally, the indicator tip is equipped with additional features that influence IMU measurements. An example of such a feature is a piercing or center-piercing function, where the indicator tip includes a pin, a spring, and a mechanical guiding system. This function, as part of a surveying rod, is known in itself. Once the indicator tip with the piercing or center-piercing function is pushed onto an object (e.g., onto a measurement point on the object), the spring is compressed. At a predefined compression amount, the spring is immediately released by the mechanical guiding system, causing the pin (e.g., made of hardened steel) to pierce a notch into the object to physically mark a point on the object, e.g., as a measurement point. This series of events can be associated with a piercing motion pattern characterized by the use of the piercing or center-piercing function. The IMU detects acceleration (particularly acceleration induced by the released spring), and the motion tracker identifies the acceleration as a motion pattern. When this motion pattern is detected, a predefined command is issued. For example, this command could include automatically performing a measurement by the surveying system to determine the location of the physical marker point as measurement point 1.

[0101] exist Figure 7 In order to instruct the operator to initiate automated measurement processing, the operator executes motion pattern 46, which involves rotation about a vertical axis when the tip of the rod is resting on the ground (e.g., at the measurement point). The IMU detects the acceleration and rotation rate induced by these movements, and the motion tracker identifies the acceleration as motion pattern 46. Motion pattern 46 is compared with predefined motion patterns and identified as associated with workflow 54 of the GNSS unit and other units of the rod. A command to execute workflow 54 is then sent to all involved units. Each workflow 52-54 can be predefined (e.g., provided on the device as pre-installed software) or user-defined (e.g., by adapting to a predefined workflow or by generating a new workflow).

[0102] Preferably, IMU data 8 from a period of more than one second can be used to identify motion patterns or motion states, for example, from IMU signals from approximately the last 1.5 seconds or approximately the last 2 seconds. The Kalman filter state can be used to determine attitude information and optionally velocity using IMU data and GNSS data or data derived from a total station.

[0103] One or more machine learning models (ML models), such as decision trees, random forests, or support vector machines, can be trained to classify the current movement into different categories. These models can run at the "edge," that is, directly at pole 10 or at another unit or device of the survey system (e.g., control unit 17, or...). Figure 2The surveying device 20) operates. Upon detecting one of the desired events, it will trigger the corresponding workflow 52-54 by issuing a corresponding command.

[0104] When using ML models, motion patterns 41-46 are recorded and used to train these models. The data is split into at least two datasets: a first dataset used to train the models, and a second dataset used to test and evaluate the model and all other models. The resulting model is then stored on the device and made available to control unit 17. The motion pattern database 48 is not required on the device but can be used for further retraining purposes. Motion patterns 41-46 include features extracted from IMU signals and optionally include attitude and velocity information derived from total station, GNSS, and / or IMU measurements, which can be fused, for example, in a Kalman filter. These features can be predefined statistics computed in the time and / or frequency domains for signals of, for example, 1.5-second or 2-second lengths. These features are then fed into a machine learning algorithm and used to classify the input signal into one or more of the predefined motion pattern classes. When using a neural network, the network learns and extracts features on its own.

[0105] Using a pre-trained model, users can record additional motion patterns and configure workflows to be triggered once the pattern is independently identified. Alternatively, users can re-record data for predefined motion patterns to retrain and personalize the model to their needs. This is done by recording the user's motion patterns on the device and then retraining offline (i.e., in the cloud or at a computer where the recorded data and software will be loaded) or directly on the device. In both cases, features will be computed as described above, and a new training process will be triggered using the previously trained ML model and / or the previously recorded motion patterns. Furthermore, the newly recorded data will be automatically split into training and testing datasets. The model will be trained using the new training data and optionally the old training data. The new model can then be loaded onto the device. To ensure model quality and evaluate its performance, automated testing can be invoked to verify that the model's performance has not degraded (regression testing) by using motion patterns recorded from both the old and new test datasets.

[0106] Additional motion patterns can be recorded automatically. To do this, user actions (e.g., initiating system actions or workflows by routinely pressing buttons) are recorded in a specific user action log along with a set of chronologically ordered IMU data from the accompanying IMU data log. These two logs are then sent to a storage repository where the logs from many different users are evaluated to identify typical user behaviors. This repository can be cloud-based or local at the customer's site. Based on the methods mentioned above, the database 48 for motion patterns 41-46 can be updated.

[0107] If one or more of the defined motion patterns are user-defined motion patterns, then the actions associated with the user-defined motion patterns may include user-defined workflows of the survey system.

[0108] When a user begins defining a process, for example on the GUI or similar device of the control unit 17, the control and evaluation unit determines the user-defined motion pattern based on the motion data received during the defining process and associates the motion pattern with a workflow (e.g., a user-selected or user-defined workflow).

[0109] In some implementations, the detected motion patterns are at least partially user-trainable. For example, users can define and record motion data for their own motion patterns and select which action or workflow to trigger from a menu. Alternatively, users can record data for predefined motions to allow for better adaptation or personalization for specific users (retraining or transfer learning). Furthermore, user data can be collected to train new models. For example, the system can detect typical user behaviors and associated motion patterns. The corresponding data is then sent from the system to, for example, a central server belonging to the manufacturer. Based on this data, the motion pattern catalog can be updated and distributed to all systems. An anomaly detector can also be run, which will only require a history of typical usage data (assumed to be "normal") and will generate an alert when an anomaly is observed.

[0110] In some implementations, different motion patterns can be detected that enable different operating modes. For example, the system can detect and distinguish between low-dynamic (“slow”), relatively stable acceleration and movement (e.g., a pole fixed to a vehicle) and high-dynamic (“fast”), chaotic acceleration and movement (e.g., a surveyor carrying a pole around). Based on the detected motion pattern, different operating modes can be triggered for the GNSS module or total station, such as a high-precision mode or a high-lock stability mode. Thus, by utilizing a modified sampling rate, higher measurement accuracy can be achieved for quieter movements. Alternatively, by utilizing field-of-view adaptation of the lock sensor, the stability and robustness of maintaining lock on high-dynamic targets can be improved. Furthermore, other sensors can be configured with different sampling rates or fields of view. Moreover, different operating modes can be automatically detected by running a classification algorithm on the IMU signal.

[0111] The described motions and motion patterns can be identified based on rules, using machine learning, or using a hybrid approach.

[0112] Rule-based identification of motion and motion patterns involves using a fixed, more or less manually defined set of rules (“conditions”) to identify certain states. An example of a rule-based approach is energy-saving patterns. In specific cases, this could include pause detection or inactivity detection to conserve energy (e.g., “If movement drops below a threshold within 10 seconds, then it is inactivity”). These conditions can be defined in a data-driven manner and / or can be partially modulated by the user (e.g., thresholds). Rules can define simple thresholds, including “if-then” conditions, or be derived statistically.

[0113] Rule-based methods only allow for relatively simple rules and often require manual definition. Machine learning (ML), on the other hand, can identify and learn complex patterns or rules. Specifically, the movement phase between two measurement points (i.e., an operator moving a lever from one measurement point to another) can also be identified and delimited from actual measurements. This allows for the use of energy-efficient patterns even during movement. ML-based algorithms that can be used include decision trees, random forests, SVMs, or neural networks. These algorithms can be used for both signal classification and detectors. During classification, the last measurement (e.g., two seconds) is used with a defined update frequency (e.g., 2 Hz) and classified by the algorithm. If necessary, a further step of "feature extraction" is performed before invoking the algorithm. Neural networks or other "deep learning" methods learn features independently; for classical algorithms, defined statistics in either the frequency or time domain can be computed. Alternatively, motion data processing can be performed in a rolling manner by continuously processing time series of continuously generated motion data.

[0114] In hybrid approaches, rule-based methods are combined with ML models. For example, simple states can be identified based on rules to save energy, while ML methods can be used to identify more complex states. Examples of hybrid approaches include decision trees with relevant cases and an ML model running in each case, and conversely, using ML followed by rule-based methods for classification of the process.

[0115] Although the invention has been illustrated above with reference to some preferred embodiments, it must be understood that many modifications and combinations of different features can be made to these embodiments. All such modifications fall within the scope of the appended claims.

Claims

1. A surveying system for measuring the location of a measurement point (1), the surveying system comprising: A surveying rod (10) includes a body (13) having an indicator tip (12) for contacting the measurement point (1), and a position-giving device for determining the coordinates of a reference position, the position-giving device being positioned on the body (13) in a defined spatial relationship relative to the tip (12), wherein the position-giving device includes a reflector (11). A surveying device (20) configured to measure position parameters of the retroreflector (11) and derive a reference position of the retroreflector (11), the position parameters including the angle and distance (2) to the retroreflector (11). A control and evaluation unit (17) is configured to derive the position of the measurement point (1) based at least on a determined reference position and, based on that position, the defined spatial relationship of the device relative to the tip (12). An inertial measurement unit (18) comprising an IMU sensor with an accelerometer and / or a gyroscope, and configured to continuously generate IMU data (8) related to the rotational rate and / or acceleration of the rod (10), and A motion tracker (40) is configured to receive the IMU data (8) and, based on the IMU data, derive the motion and / or motion pattern (41-46) of the surveying rod (10) in real time, wherein, if the derived motion or motion pattern corresponds to a defined motion pattern of the surveying rod (10), the surveying system is configured to automatically execute an action (52-54) associated with the defined motion pattern. Its features are, The surveying rod (10) and the surveying device (20) are configured to establish a remote data connection (5) with each other, and The actions (52-54) associated with the defined motion pattern relate to the function of the surveying device (20).

2. The surveying system according to claim 1, Its features The motion tracker (40) is configured to generate motion data (4) about the derived motion or motion pattern and provide the motion data to the control and evaluation unit (17), and The control and evaluation unit (17) is configured to determine, based on the motion data (4), whether the derived motion or motion pattern corresponds to one of a plurality of defined motion patterns, and to issue a command to a unit or device of the survey system to execute the action (52-54) associated with the determined defined motion pattern, the action (52-54) associated with the determined defined motion pattern relating to the function of the unit or device.

3. The surveying system according to claim 1 or 2, Its features The database (45) includes multiple different defined motion modes of the surveying rod (10), each defined motion mode being associated with the actions (52-54) of the surveying system.

4. The surveying system according to claim 3, Its features The control and evaluation unit (17) includes the database (45) or has access to the database; and / or Each defined motion pattern is either predefined or user-defined.

5. The surveying system according to claim 1, Its features At least one defined motion pattern is a user-defined motion pattern, and the action (52-54) associated with the user-defined motion pattern is a user-defined workflow of the survey system.

6. The surveying system according to claim 5, Its features The system is configured to run a definition process when selected by a user, wherein the control and evaluation unit (17) is configured to determine the user-defined motion pattern based on motion data (4) received during the definition process and associate the determined user-defined motion pattern with the user-selected workflow.

7. The surveying system according to claim 1, Its features The surveying device (20) is a total station or a distance meter.

8. The surveying system according to claim 7, Its features The motion tracker (40) is configured to generate motion data (4) about the derived motion or motion pattern and provide the motion data to the control and evaluation unit (17). The control and evaluation unit (17) is configured to determine, based on the motion data (4), whether the determined motion corresponds to a defined motion pattern in the defined motion patterns, and the control and evaluation unit (17) is configured to issue a command to the surveying device (20) to execute the action (52-54) associated with the defined motion pattern, and The control and evaluation unit (17) is configured to receive the motion data via the remote data connection (5) or to issue the command to the surveying device (20) via the remote data connection (5).

9. The surveying system according to claim 1, Its features The location-giving device includes a GNSS antenna (19), and The survey system includes a GNSS processing unit configured to process the output signal of the GNSS antenna (19) and derive the reference position, orientation, and / or velocity of the GNSS antenna (19) based on the output signal. The actions (52-54) associated with the defined motion pattern relate to the functions of the GNSS antenna (19) and / or the GNSS processing unit, wherein The motion tracker (40) is configured to generate motion data (4) about the derived motion or motion pattern and provide the motion data to the control and evaluation unit (17), and The control and evaluation unit (17) is configured to determine, based on the motion data (4), whether the determined motion pattern corresponds to one of the defined motion patterns, and the control and evaluation unit (17) is configured to issue commands to the GNSS antenna (19) and / or the GNSS processing unit to perform the actions (52-54) associated with the determined defined motion pattern.

10. The surveying system according to claim 1, Its features The motion tracker is configured to determine at least the inertial velocity data that is part of the motion data.

11. The surveying system according to claim 10, Its features The motion tracker is also configured to determine Inertial attitude data and inertial position data, which are part of the motion data, Velocity, and / or, as part of the motion data The yaw angle, pitch angle, and roll angle of the survey rod (10) are part of the motion data.

12. The surveying system according to claim 1, Its features The system is configured to establish a data connection with a remote server computer and provide the remote server computer with IMU data (8) and / or motion data (4), the motion data (4) being generated by the motion tracker (40).

13. The surveying system according to claim 12, Its features The system is configured to Typical user behavior is detected from the IMU data (8) and / or motion data (4), and corresponding IMU data (8) and / or motion data (4) are sent to the remote server computer, wherein the sent data is dedicated to updating predefined motion patterns stored at the remote server computer, and Receive the updated predefined motion pattern from the remote server computer.

14. The surveying system according to claim 1, Its features The motion tracker (40) Use machine learning-based algorithms to identify motion and / or motion patterns, and / or It is located at the survey rod (10) and includes the inertial measurement unit (18).

15. The surveying system according to claim 1, Its features The inertial measurement unit (18) is integrated into the rod (10) or attached to the rod (10).

16. The surveying system according to claim 15, Its features The inertial measurement unit (18) It is integrated into the body (13) of the rod (10); It is part of a mobile device, wherein the rod (10) includes a socket for receiving the mobile device; Designed as a microelectromechanical system; and / or Includes at least three accelerometers and / or at least three gyroscopes arranged in a mutually orthogonal configuration.

17. The surveying system according to claim 1, wherein, The defined motion patterns include The surveying rod (10) can be lowered in the following modes (41, 42): the surveying rod (10) moves from an upright position to a lying or reclining position, and / or... The picking motion mode (43, 44) of the surveying rod (10) wherein the surveying rod (10) moves from a lying or leaning position to an upright position.

18. The surveying system according to claim 17, wherein, If the defined motion pattern includes the putting motion pattern (41, 42), then Deriving motion and / or motion patterns includes: deriving the upright position of the survey rod (10), and deriving at least one of the lying or reclining position of the survey rod (10) or the movement of the survey rod (10) from the upright position to the lying or reclining position; The surveying rod (10) remains stationary or substantially stationary in the lying or reclining position for at least a predefined time, and / or The actions associated with the lowering motion modes (41, 42) include: disconnecting the GNSS unit of the survey rod (10) and / or stopping the tracking of the retroreflector (11) of the survey rod (10) by the surveying device (20) of the survey system; and If the defined motion pattern includes the picking motion pattern (43, 44), then Deriving motion and / or motion patterns includes: deriving the lying or reclining position of the survey rod (10), and deriving at least one of the upright position of the survey rod (10) or the movement of the survey rod (10) from the lying or reclining position to the upright position; The surveying rod (10) remains stationary or substantially stationary in the lying or reclining position for at least a predefined time; and / or The actions associated with the pickup motion modes (43, 44) include: activating the GNSS unit of the survey rod (10) and / or performing a search of the retroreflector (11) of the survey rod (10) by the surveying device (20) of the surveying system.

19. The surveying system according to claim 18, wherein, The surveying rod (10) remains motionless or essentially motionless in the lying or reclining position for at least five seconds.

20. The surveying system according to claim 1, wherein The indicator tip (12) is configured to provide a piercing function for marking a point on an object, the indicator tip (12) including a spring configured and set such that the spring is compressed when the indicator tip (12) is pushed onto the point on the object, and the spring is released when a predefined amount of compression has been reached; and The defined motion modes include a stabbing motion mode in which the survey rod is pushed onto the point of the object along with the indicator tip (12) and the spring is released.

21. The surveying system according to claim 20, wherein, The point on the marked object is the measurement point (1).

22. The surveying system according to claim 20, wherein, The action associated with the stabbing motion pattern includes performing a measurement to derive the position of the point marked as the measurement point (1).

23. A computer-implemented method for controlling a surveying system according to any one of claims 1 to 13, the surveying system comprising: A surveying rod (10) includes a body (13) having an indicator tip (12) for contacting a measurement point (1), and a position-giving device for determining the coordinates of a reference position, the position-giving device being placed on the body (13) in a defined spatial relationship relative to the tip (12), wherein the position-giving device includes a reflector (11). A control and evaluation unit (17) is configured to derive the position of the measurement point (1) based at least on a determined reference position and, based on that position, the defined spatial relationship of the device relative to the tip (12). An inertial measurement unit (18) is mounted on the survey rod (10). The inertial measurement unit includes an IMU sensor with an accelerometer and a gyroscope, and is configured to continuously generate IMU data (8). The method includes the following steps: Based on continuously generated IMU data, the motion and / or motion patterns (41-46) of the survey rod (10) are derived in real time. Determine whether the derived motion or motion pattern (41-46) corresponds to one of a plurality of predefined motion patterns, wherein the action (52-54) of at least one unit or device of the surveying system is associated with each predefined motion pattern, and A command is issued to the corresponding unit or device of the survey system to execute the action (52-54) associated with the determined predefined motion pattern.

24. The computer implementation method according to claim 23, wherein, Using machine learning algorithms, the motion and / or motion patterns (41-46) of the survey rod (10) are derived in real time based on continuously generated IMU data.

25. A computer program product comprising program code stored on a machine-readable medium or embodied by an electromagnetic wave including a segment of program code, and the computer program product having computer-executable instructions for performing the computer implementation method of claim 23 when executed in a surveying system according to any one of claims 1 to 22.

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