A Fully Automated Settlement Measurement Method Based on Image Total Station

Abstract

This invention relates to the field of building monitoring technology, specifically to a fully automatic settlement measurement method based on an image total station. The method includes an image total station connected to a computer to photograph and record the observation target; setting settlement observation points on the observation target and setting reference points in a stable area near the target; measuring the initial horizontal and vertical values ​​of the settlement observation points and reference points; operating the computer in conjunction with the image total station to perform repetitive photographic observations of the settlement observation points and reference points; extracting the pixel coordinates of feature points in each photograph; calculating the average pixel coordinates of the repetitive observations of the settlement observation points and reference points, thereby calculating the vertical values ​​of the settlement observation points and reference points; calculating the average repetitive distance of the settlement observation points; and simultaneously calculating the angular change of settlement at the settlement observation points to obtain the settlement amount.

Description

Technical Field

[0001] This invention belongs to the field of building monitoring technology, and specifically relates to a fully automatic settlement measurement method based on an image total station. Background Technology

[0002] Settlement monitoring refers to the periodic measurement of the vertical displacement of settlement observation points set on a building during construction and operation using precise leveling. This is done to understand the entire process of settlement and deformation. Its core function is to ensure project safety: by timely detection of uneven settlement, it can prevent structural cracking or collapse, provide measured data to verify the rationality of foundation design, and guide construction progress control.

[0003] Precision leveling is widely used due to its high accuracy and mature technology, typically employing electronic levels in conjunction with Invar barcode rulers. However, precision leveling still faces several typical problems: it requires the establishment of stable benchmarks and settlement observation points at settlement locations, but these benchmarks and observation points are easily disturbed during construction, leading to instability and distorted measurement data; secondly, on-site settlement observation points are frequently damaged, causing monitoring interruptions; and thirdly, precision leveling requires at least four people, resulting in low measurement efficiency, and data processing is only performed after fieldwork, making real-time display of settlement results impossible. Summary of the Invention

[0004] To address the problems in existing technologies, the present invention aims to propose a fully automated settlement measurement method based on a total station.

[0005] The objective of this invention and the technical problem it solves are achieved by the following technical solution:

[0006] A fully automated settlement measurement method based on an image total station includes the following steps:

[0007] S1, Install the total image station and connect the computer to the total image station. Use the computer to control the total image station to take pictures and record the observed targets.

[0008] S2, set cooperative target C as a settlement observation point on the observation target, and set cooperative target D as a reference point in the stable area near the observation target. Manually use a total station to aim at settlement observation point C and reference point D respectively, and measure the initial horizontal value H respectively. C1 H D1 and the initial vertical value V C1 V D1 , serving as the initial direction for each settlement observation;

[0009] S3, using a computer and a total station to perform n rounds of observations on settlement observation point C and reference point D, with each round taking an even number of photos of the target, denoted as m; and then obtaining n·m photos of settlement observation point C and reference point D respectively.

[0010] S4. Extract the pixel coordinates of the image points of the feature points in each photo, and calculate the average value of the image point coordinates of the n rounds of observations of the settlement observation point C and the reference point D respectively, so as to calculate the vertical values ​​of the settlement observation point C and the reference point D respectively.

[0011] S5, Calculate the mean distance S of n measurements taken at settlement observation point C. C Simultaneously calculate the angular change ΔV of settlement at settlement observation point C. CDi Thus, the settlement d is obtained, and the settlement amount is calculated. .

[0012] Furthermore, in step S1, the image total station is placed on the observation pier and connected to computer A via a data cable to control the image total station. At the same time, computer B is set to wirelessly connect with computer A to remotely control computer A.

[0013] Furthermore, in step S3, the specific steps for the n rounds of observation at reference point D are as follows:

[0014] a. First, the computer sends the reference point D direction value (H) to the image total station. D1 V D1 The telescope of the image total station is aimed at the reference point D without the need for precise aiming;

[0015] b. After the instrument stabilizes, the computer sends an angle measurement command to the total station, driving the total station to perform angle measurement and record the horizontal value H in the left-side sight axis direction. D1L and vertical value V D1L ;

[0016] c. The computer sends m / 2 sequential commands to the total station to take and save photos using the coaxial camera, capturing and saving photos of reference point D, resulting in photo P. D11 P D12 ... P D1m / 2 ;

[0017] d. The computer sends a flip command to the total station, changing the total station from left-face to right-face. After the instrument stabilizes, the computer sends an angle measurement command to the total station, driving it to perform angle measurement and record the horizontal value H of the right-face line of sight. D1R And vertical direction refers to V D1R ;

[0018] e. The computer sends m / 2 sequential commands to the total station to take and store photos using the coaxial camera, capturing and storing the reference point to obtain photo P. D1m / 2+1 P D1 m / 2+2 ... P D1m ;

[0019] f. The computer sends a flip command to the total image station, which changes from right-hand to left-hand, completing one round of observation of the reference point D.

[0020] g. Repeat step af until (n-1) times, completing n rounds of observations of the reference point D.

[0021] Furthermore, in step S3, the specific steps for the n rounds of settlement observation at point C are as follows:

[0022] a. First, the computer sends the settlement observation point C direction value (H) to the image total station. C1 V C1 The telescope of the total station can be aimed at the settlement observation point C without precise aiming.

[0023] b. After the instrument stabilizes, the computer sends angle and distance measurement commands to the total station, driving the total station to perform angle and distance measurements and record the horizontal value H in the left-side sight axis direction. C1L Vertical value V C1L and distance S C1L ;

[0024] c. The computer sequentially sends m / 2 commands to the total station to take and save photos using the coaxial camera, thus capturing and saving photos at settlement observation point C, resulting in photo P. C11 P C12 ... P C1m / 2 ;

[0025] d. The computer sends a flip command to the total station, changing the total station from left-face to right-face. After the instrument stabilizes, the computer sends angle and distance measurement commands to the total station, driving it to perform angle and distance measurements and record the horizontal value H of the right-face sight axis. C1R Vertical direction refers to V C1R and distance S C1R ;

[0026] e. The computer sends m / 2 sequential commands to the total station to take and store photos using the coaxial camera, capturing and storing the reference point to obtain photo P. C1m / 2+1 P C1m / 2+2 ... P C1m ;

[0027] f. The computer sends a flip command to the total station, which changes from right-hand to left-hand, completing one round of measurement for settlement observation point C.

[0028] g. Repeat step af until (n-1) times, to complete n rounds of observations at settlement observation point C.

[0029] Furthermore, in step S4, the average coordinates of the n measured image points of settlement observation point C are:

[0030] , ;

[0031] The average coordinates of the n measured image points of reference point D are:

[0032] , ;

[0033] Among them, X Cij Y Cij The X and Y coordinates of the feature points obtained after image processing of a photograph of settlement observation point C; X Dij Y Dij These are the X and Y coordinates of the feature points obtained after image processing of the photograph of reference point D.

[0034] Furthermore, in step S4, the calculation process for the vertical values ​​of the settlement observation point C and the reference point D is as follows:

[0035] First, calculate the vertical direction value V of the line of sight of the settlement observation point C for n rounds of observation. CS :

[0036] ;

[0037] And the vertical direction value V of the line of sight of the nth measurement of the reference point D. DS :

[0038] ;

[0039] Then the vertical value V of the settlement observation point C C for:

[0040] ;

[0041] The vertical value V of reference point D D for:

[0042] ;

[0043] Where f is the principal distance of the camera; X0 and Y0 are the coordinates of the principal point of the coaxial camera. In this formula, the principal point is located at the center of the photo, so X0 and Y0 are equal to half the length and width of the photo, respectively.

[0044] Among them, V CiR The vertical value of V in the direction of the right sight axis of the settlement observation point C is... CiL V represents the vertical value along the left sight axis of the settlement observation point C; DiR The vertical direction value of the reference point D disk in the direction of the right sight axis, V DiL The vertical direction value is the left sight axis direction of the reference point D disk.

[0045] Furthermore, in step S5, the average distance S of the n measured intervals at settlement observation point C is... C for:

[0046] ;

[0047] Among them, S CiL S CiR These are the distances from the left and right sight axes of the settlement observation point C, respectively.

[0048] Furthermore, in step S5, the change in the angle of settlement at settlement observation point C, ΔV CDi The calculation process is as follows:

[0049] First, calculate the vertical angle difference V between the settlement observation point C and the benchmark point D during this settlement observation. CDi , ;

[0050] Then calculate the angular change ΔV of the settlement observation point C. CDi The change in the angle of settlement at settlement observation point C is calculated as follows: (Difference in the vertical angle between settlement observation point C and reference point D during the current settlement observation minus the difference in the vertical angle between settlement observation point C and reference point D during the previous settlement observation). .

[0051] In summary, the measurement method described in this invention has the following advantages:

[0052] This method uses a camera to take pictures instead of human eyes aiming at the target. Through digital image processing, sub-pixel image point coordinates can be obtained, eliminating aiming errors and greatly improving measurement accuracy.

[0053] After the instrument is set up, target points are set, and initial measurements are completed on site, the subsequent deformation measurements can be automatically completed by a computer through remote control of the total station, without the need for surveyors to be on site. This greatly improves the measurement efficiency and automation level.

[0054] This method only requires setting simple cooperative targets (observation points, benchmark points) before settlement observation. No additional cooperative targets need to be set during the entire observation period. The cooperative targets are relatively stable and not easily disturbed by construction, which improves the authenticity of the data and facilitates continuous monitoring.

[0055] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0056] Figure 1 This is a flowchart illustrating a fully automated settlement measurement method based on an image total station according to the present invention.

[0057] Figure 2 This is a schematic diagram of the coordinate system of the telescope in an image total station.

[0058] Figure 3 This is a schematic diagram of the coordinate system of the total station telescope after rotation.

[0059] Figure 4 This is a schematic diagram of a photograph taken by an image total station in an embodiment of the present invention.

[0060] Figure 5 This is a schematic diagram of the photo processing process in an embodiment of the present invention.

[0061] Figure 6 This is a schematic diagram comparing the results of settlement observation in an embodiment of the present invention. Detailed Implementation

[0062] The technical solution of the present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0063] This invention relates to settlement measurement based on an image total station. An image total station is a total station equipped with a camera. Image total station cameras can be divided into wide-angle cameras located above the telescope and coaxial cameras sharing the same optical system as the telescope. The image total station used in this invention is a known existing device (e.g., the Leica MS60 image total station). Before measurement, computer A needs to be connected to the image total station on-site via a data cable, while computer B in the office wirelessly connects to computer A via a network. This allows computer B to remotely interact with computer A and the image total station. The specific measurement method is as follows:

[0064] A fully automated settlement measurement method based on a total station image instrument specifically includes the following steps:

[0065] S1. Set up the total image station (on the observation pier) and connect it to the computer. The total image station will take pictures and record the target to be observed through computer control (computer B controls computer A indoors, thereby sending instructions to the total image station).

[0066] S2, on the observation target (i.e., the area where settlement observation is to be conducted), set a cooperative target C (a target that provides its centroid, such as a reflector or a measurement marker commonly used in close-range photogrammetry) as a settlement observation point, and set a cooperative target D as a reference point in the stable area near the observation target. Use an image total station to aim at the settlement observation point C and the reference point D respectively (only approximate aiming at the cooperative targets is required), and measure the initial horizontal value H respectively. C1 H D1 and the initial vertical value V C1 V D1 This serves as the initial direction for each settlement observation.

[0067] S3, using a computer and a total station to perform n rounds of observations on settlement observation point C and benchmark point D, with each round taking an even number of photos of the target, denoted as m;

[0068] The specific steps for n rounds of observation at benchmark point D are as follows:

[0069] a. First, the computer sends the reference point D direction value (H) to the image total station. D1 V D1 The telescope of the image total station is aimed at the reference point D without the need for precise aiming;

[0070] b. After the instrument stabilizes, the computer sends an angle measurement command to the total station, driving the total station to perform angle measurement and record the horizontal value H in the left-side sight axis direction. D1L and vertical value V D1L ;

[0071] c. The computer sends m / 2 sequential commands to the total station to take and save photos using the coaxial camera, capturing and saving photos of reference point D, resulting in photo P. D11 P D12 ... P D1m / 2 ;

[0072] d. The computer sends a flip command to the total station, changing the total station from left-face to right-face. After the instrument stabilizes, the computer sends an angle measurement command to the total station, driving it to perform angle measurement and record the horizontal value H of the right-face line of sight. D1R and vertical value V D1R ;

[0073] e. The computer sends m / 2 sequential commands to the total station to take and store photos using the coaxial camera, thus capturing and storing photo P at reference point D. D1m / 2+1 P D1 m / 2+2 ... P D1m ;

[0074] f. The computer sends a flip command to the total station, changing the position from right to left, to complete one round of observation of the reference point D;

[0075] g. Repeat step af until (n-1) times, to complete n rounds of observation of the reference point D;

[0076] The specific steps for n rounds of settlement observation at point C are as follows:

[0077] a. First, the computer sends the settlement observation point C direction value (H) to the image total station. C1 V C1 The telescope of the total station can be aimed at the settlement observation point C without precise aiming.

[0078] b. After the instrument stabilizes, the computer sends angle and distance measurement commands to the total station, driving the total station to perform angle and distance measurements and record the horizontal value H in the left-side sight axis direction. C1L Vertical value V C1L and distance S C1L ;

[0079] c. The computer sequentially sends m / 2 commands to the total station to take and save photos using the coaxial camera, thus capturing and saving photos at settlement observation point C, resulting in photo P. C11 P C12 ... P C1m / 2 ;

[0080] d. The computer sends a flip command to the total station, changing the total station from left-face to right-face. After the instrument stabilizes, the computer sends angle and distance measurement commands to the total station, driving it to perform angle and distance measurements and record the horizontal value H of the right-face sight axis. C1R Vertical value V C1R and distance S C1R ;

[0081] e. The computer sends m / 2 commands to the total station to take and store photos using the coaxial camera, capturing and storing photos of the reference point, resulting in photo P. C1m / 2+1 P C1m / 2+2 ... P C1m ;

[0082] f. The computer sends a flip command to the total station, changing the camera position from right to left, to complete one round of measurement for settlement observation point C;

[0083] g. Repeat step af until (n-1) times, to complete n rounds of measurement observations for settlement observation point C;

[0084] Through the above steps, n·m photographs of settlement observation point C and benchmark point D are obtained respectively.

[0085] S4. Extract the pixel coordinates of feature points in each photo. The specific steps for extracting feature points from photos are as follows:

[0086] Step 1: Image preprocessing, specifically including:

[0087] a. Image reading and format conversion: First, the original color image is converted into an 8-bit grayscale image to reduce data dimensionality and highlight the target brightness features. Then, based on the noise characteristics of the grayscale image, which is mainly salt-and-pepper noise, it is filtered to reduce the interference of noise on feature extraction.

[0088] b. Binarization processing: The background of the filtered image is relatively clean, so the Otsu method can be directly used to perform adaptive threshold segmentation on the filtered image to achieve binarization separation of the target and the background;

[0089] c. Morphological processing: Binarized images are prone to morphological interference such as holes and burrs. Opening operations are used to remove burrs and isolated noise points, and closing operations are used to repair holes inside the target, which can optimize the integrity and continuity of the target contour.

[0090] Step Two: Target Area Location, specifically including:

[0091] a. Connected component analysis: Label connected components in a binary image and extract the geometric properties such as area and shape of all connected regions in the image;

[0092] b. Target selection: Based on the area, shape, distribution and other characteristics of the targets, and combined with preset constraints, select valid connected components of targets that match the preset target characteristics;

[0093] c. Target region cropping: Using the smallest bounding rectangle of the effective connected region as the boundary, cropping is performed to obtain a local image containing only feature points, reducing the calculation range and improving the efficiency and stability of subsequent sub-pixel localization.

[0094] Step 3: Extraction of target center coordinates, specifically including:

[0095] a. Coarse edge localization: Detect target edge information in the cropped local image;

[0096] b. Subpixel thinning: Zernike moments are used to extract subpixel edges of the target area to obtain high-precision edge positions;

[0097] c. Center Fitting: Based on the target's geometric features, perform straight line fitting on the sub-pixel edges and find the intersection points, or perform circle fitting to obtain the sub-pixel-level center coordinates.

[0098] Step 4: Coordinate verification and output, specifically including:

[0099] a. Visual verification: Mark the calculated center coordinates on the original image to visually verify the positioning accuracy;

[0100] b. Coordinate output: Output the sub-pixel coordinates of the feature point center in the image coordinate system to obtain the image pixel coordinates of the feature point in each photo;

[0101] After extracting the pixel coordinates of each image feature point, the mean values ​​of the pixel coordinates for n rounds of observations at settlement observation point C and reference point D are calculated. Specifically, the mean values ​​of the pixel coordinates for n rounds of observations at settlement observation point C are:

[0102] , ;

[0103] The average coordinates of the n measured image points of reference point D are:

[0104] , ;

[0105] Among them, X Cij Y Cij The X and Y coordinates of the feature points obtained after image processing of a photograph of settlement observation point C; X Dij Y Dij These are the X and Y coordinates of the feature points obtained after image processing of the photograph of reference point D.

[0106] Next, calculate the vertical value V of the line of sight of the settlement observation point C for n rounds of observation. CS :

[0107] ;

[0108] And the vertical direction value V of the line of sight of the nth measurement of the reference point D. DS :

[0109] ;

[0110] Among them, V CiR The vertical value of V in the direction of the right sight axis of the settlement observation point C is... CiLV represents the vertical value along the left sight axis of the settlement observation point C; DiR The vertical direction value of the reference point D disk in the direction of the right sight axis, V DiL Let i be the vertical direction value of the left sight axis of the reference point D; i is 1-n; the vertical direction values ​​of the settlement observation point C and the reference point D are calculated respectively using the vertical direction value of the sight axis; then the vertical direction value V of the settlement observation point C is... C for:

[0111] ;

[0112] The vertical value V of reference point D D for:

[0113] ;

[0114] Where f is the principal distance of the camera; X0 and Y0 are the coordinates of the principal point of the coaxial camera. In this formula, the principal point is located at the center of the photo, so X0 and Y0 are equal to half the length and width of the photo, respectively, which can be obtained through methods provided in existing literature.

[0115] S5, Calculate the mean distance S of n measurements taken at settlement observation point C. C The mean distance S of n measurements at settlement observation point C C for:

[0116] ;

[0117] Among them, S CiL S CiR Let be the distances from the left and right viewing axes of the settlement observation point C, respectively; i represents 1-n; and simultaneously calculate the angular change ΔV of the settlement at the settlement observation point C. CDi The calculation process is as follows:

[0118] First, calculate the vertical angle difference V between the settlement observation point C and the benchmark point D during this settlement observation. CDi , ;

[0119] Then calculate the angular change ΔV of the settlement observation point C. CDi (Since the change is relatively small, "″ is used as the unit), the change in the angle of settlement at settlement observation point C = the difference in the vertical angle between settlement observation point C and reference point D during this settlement observation minus the difference in the vertical angle between settlement observation point C and reference point D during the previous settlement observation, which is calculated as follows: ;

[0120] Therefore, the settlement d is obtained, and the settlement is:

[0121] ;

[0122] Where ρ = 206265″ (conversion between "radians" and "seconds" in the angular unit).

[0123] Furthermore, the derivation process for calculating the vertical value V is as follows:

[0124] refer to Figure 2 As shown, the horizontal and vertical values ​​of the total station telescope's line of sight are... and At that time, the telescope coordinate system of The axis lies in the horizontal plane. Telescope coordinate system. After the following two rotations and the total station coordinate system coincide;

[0125] Rotation 1: Telescope Coordinate System Around it Rotate the axis clockwise After rotation Axis and Total Station Coordinate System of The axes coincide, and The axis lies within the horizontal plane of the horizontal circle, and the rotation matrix is... ,but

[0126] ;

[0127] Rotation 2: Rotate the telescope coordinate system Around it Rotate the axis counterclockwise After rotation, the coaxial camera coordinate system With total station coordinate system They coincide. Their rotation matrix is... ,but

[0128] ;

[0129] Since the two rotations are about the linkage axis, the total rotation matrix is:

[0130] ;

[0131] exist Figure 3 In the diagram, the coaxial camera coordinate system coincides with the telescope coordinate system; only the telescope coordinate system is shown. There is a target in the field of view of the telescope. The image is formed on the image plane at coordinates ( ). , )of point, The coordinates of the point in both the coaxial camera coordinate system and the telescope coordinate system are ( , , - In the total station coordinate system The coordinates in are ( , , ), for Point, then

[0132] ;

[0133] Taking into account the total rotation matrix If it is an orthogonal matrix, then

[0134] ;

[0135] Combining the two equations above, then

[0136] ;

[0137] Since coordinate system rotation is a rigid body rotation, the vector lengths remain unchanged before and after the rotation.

[0138] ;

[0139] In the total station coordinate system In, vector Angle with the horizontal plane That is, the target point The vertical angle, then

[0140] ;

[0141] That is,

[0142] .

[0143] For example, using the method of the present invention, a Leica MS60 image total station is used to conduct six settlement observations at five settlement observation points C on a building, and a reference point D is set on a street lamp pole 40 meters away from the building;

[0144] Leica reflectors were affixed as observation markers at settlement observation point C and reference point D. To evaluate the settlement observation effect of the total station, the reflectors at all five settlement observation points were positioned above the precision leveling markers. While using the Leica MS60 for settlement observation, a Trimble DINI03 digital level was also used to perform precision leveling measurements on the settlement observation points set up on the building.

[0145] The MS60 was mounted on an observation pier to conduct six settlement observations at five settlement observation points. Each observation period involved two rounds of measurements at each settlement observation marker, with ten photographs taken per round: five photos taken from the left-facing position and five from the right-facing position. (See reference...) Figure 5 This is the first photograph taken during the first measurement of the five settlement observation points C.

[0146] After image processing (see...) Figure 6 (This is a schematic diagram of the processing of a single photograph.) After obtaining the pixel coordinates of the feature points in each photograph, the calculation steps are then performed to obtain the settlement observation results, as shown in Table 1 below: The six-period settlement observation results of five settlement observation points C using image total station and precise leveling:

[0147] Table 1. Settlement values ​​(mm) measured by total station and precision leveling.

[0148]

[0149] See Table 1 for results and Figure 6 It can be seen that the difference between the settlement measurement results of the total station and the precise leveling measurement results is between -0.15 and 0.12 mm, which is a small error. With this method, after the instrument is set up and the initial measurement is performed, the subsequent settlement observation does not require the measurement personnel to be on site. The measurement and calculation work can be completed automatically by sending instructions from a remote computer. Compared with the operation method of precise leveling, which requires at least 4 people, the measurement efficiency is greatly improved.

[0150] The above description is merely a preferred embodiment of the present invention. Any simple modifications, equivalent changes, and alterations made by those skilled in the art to the above embodiments without departing from the scope of the present invention and based on the technical essence of the present invention shall still fall within the scope of the present invention.

Claims

1. A fully automated settlement measurement method based on a total station image, characterized in that: Includes the following steps: S1, Install the total image station and connect the computer to the total image station. Use the computer to control the total image station to take pictures and record the observed targets. S2, set cooperative target C as a settlement observation point on the observation target, and set cooperative target D as a reference point in the stable area near the observation target. Use a total station to aim at settlement observation point C and reference point D respectively, and measure the initial horizontal value H respectively. C1 H D1 and the initial vertical value V C1 V D1 , serving as the initial direction for each settlement observation; S3, using a computer and a total station to perform n rounds of observations on settlement observation point C and reference point D, with each round taking an even number of photos of the target, denoted as m; and then obtaining n·m photos of settlement observation point C and reference point D respectively. S4. Extract the pixel coordinates of the image points of the feature points in each photo, and calculate the average value of the image point coordinates of the n rounds of observations of the settlement observation point C and the reference point D respectively, so as to calculate the vertical values ​​of the settlement observation point C and the reference point D respectively. S5, Calculate the mean distance S of n measurements taken at settlement observation point C. C Simultaneously calculate the angular change ∆V of settlement at settlement observation point C. CDi Thus, the settlement d is obtained, and the settlement amount is calculated. , where ρ=206265″; In step S4, the average coordinates of the n measured image points of settlement observation point C are: ， ； The average coordinates of the n measured image points of reference point D are: ， ； Among them, X Cij Y Cij The X and Y coordinates of the feature points obtained after image processing of a photograph of settlement observation point C; X Dij Y Dij These are the X and Y coordinates of the feature points obtained after image processing of the photograph of reference point D. In step S4, the calculation process for the vertical values ​​of settlement observation point C and reference point D is as follows: First, calculate the vertical direction value V of the line of sight of the settlement observation point C for n rounds of observation. CS : ； And the vertical direction value V of the line of sight of the nth measurement of the reference point D. DS : ； Then the vertical value V of the settlement observation point C C for: ； The vertical value V of reference point D D for: ； Where f is the principal distance of the camera; X0 and Y0 are the coordinates of the principal point of the coaxial camera. In this formula, the principal point is located at the center of the photo, so X0 and Y0 are equal to half the length and width of the photo, respectively. Among them, V CiR The vertical value of V in the direction of the right sight axis of the settlement observation point C is... CiL V represents the vertical value along the left sight axis of the settlement observation point C; DiR The vertical direction value of the reference point D disk in the direction of the right sight axis, V DiL The vertical direction value is the left sight axis direction of the reference point D disk.

2. The fully automatic settlement measurement method based on a total station according to claim 1, characterized in that: In step S1, the image total station is placed on the observation pier and connected to computer A via a data cable to control the image total station. At the same time, computer B is set to wirelessly connect to computer A to remotely control computer A.

3. The fully automatic settlement measurement method based on a total station according to claim 1, characterized in that: In step S3, the specific steps for the n rounds of observation at benchmark point D are as follows: a. First, the computer sends the reference point D direction value (H) to the image total station. D1 V D1 The telescope of the image total station is aimed at the reference point D without the need for precise aiming; b. After the instrument stabilizes, the computer sends an angle measurement command to the total station, driving the total station to perform angle measurement and record the horizontal value H in the left-side sight axis direction. D1L and vertical value V D1L ; c. The computer sends m / 2 sequential commands to the total station to take and save photos using the coaxial camera, capturing and saving photos of reference point D, resulting in photo P. D11 P D12 ... P D1m / 2 ; d. The computer sends a flip command to the total station, changing the total station from left-face to right-face. After the instrument stabilizes, the computer sends an angle measurement command to the total station, driving it to perform angle measurement and record the horizontal value H of the right-face line of sight. D1R And vertical direction refers to V D1R ; e. The computer sends m / 2 sequential commands to the total station to take and store photos using the coaxial camera, capturing and storing the reference point to obtain photo P. D1m / 2+1 P D1 m / 2+2 ... P D1m ; f. The computer sends a flip command to the total image station, which changes from right-hand to left-hand, completing one round of observation of the reference point D. g. Repeat step af until (n-1) times, completing n rounds of observations of the reference point D.

4. The fully automatic settlement measurement method based on a total station according to claim 1, characterized in that: In step S3, the specific steps for the n rounds of settlement observation at point C are as follows: a. First, the computer sends the settlement observation point C direction value (H) to the image total station. C1 V C1 The telescope of the total station can be aimed at the settlement observation point C without precise aiming. b. After the instrument stabilizes, the computer sends angle and distance measurement commands to the total station, driving the total station to perform angle and distance measurements and record the horizontal value H in the left-side sight axis direction. C1L Vertical value V C1L and distance S C1L ; c. The computer sequentially sends m / 2 commands to the total station to take and save photos using the coaxial camera, thus capturing and saving photos at settlement observation point C, resulting in photo P. C11 P C12 ... P C1m / 2 ; d. The computer sends a flip command to the total station, changing the total station from left-face to right-face. After the instrument stabilizes, the computer sends angle and distance measurement commands to the total station, driving it to perform angle and distance measurements and record the horizontal value H of the right-face sight axis. C1R Vertical direction refers to V C1R and distance S C1R ; e. The computer sends m / 2 sequential commands to the total station to take and store photos using the coaxial camera, capturing and storing the reference point to obtain photo P. C1m / 2+1 P C1m / 2+2 ... P C1m ; f. The computer sends a flip command to the total station, which changes from right-hand to left-hand, completing one round of measurement for settlement observation point C. g. Repeat step af until (n-1) times, to complete n rounds of observations at settlement observation point C.

5. The fully automatic settlement measurement method based on a total station according to claim 4, characterized in that: In step S5, the mean distance S of n measurements at settlement observation point C is... C for: ； Among them, S CiL S CiR These are the distances from the left and right sight axes of the settlement observation point C, respectively.

6. The fully automatic settlement measurement method based on a total station according to claim 1, characterized in that: In step S5, the change in the angle of settlement at settlement observation point C, ∆V CDi The calculation process is as follows: First, calculate the vertical angle difference V between the settlement observation point C and the benchmark point D during this settlement observation. CDi , ； Then calculate the angular change ∆V of the settlement observation point C. CDi The change in the angle of settlement at settlement observation point C is equal to the difference in the vertical angle between settlement observation point C and reference point D during this settlement observation, minus the difference in the vertical angle between settlement observation point C and reference point D during the previous settlement observation. The calculation is as follows: .

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