Measuring method using automatic tracking function and automatic tracking survey system

Abstract

To provide an automatic tracking survey system that highly accurately and easily measures coordinates of a measuring object situated in a blind spot of a survey instrument.SOLUTION: A prism 1 is attached to a tip of a rod 21. A distance L up to the prism from the center of the prism 1 until reaching a rod fixed point P is set to be constant at all times, and the rod fixed point P is set as a steady point "whose position does not fluctuate with oscillation of the rod 21". Then, coordinates of the prism 1 are measured using an automatic tracking mode of a survey instrument 10, while rotating the rod 21 about a vertical axis in an inclined state relative to the vertical axis. Regarding three survey points pC1, pC2, pC3 extracted randomly from an acquired survey point group of the prism 1, coordinates of an intersection of three spheres in which the survey points are the centers of the spheres and the distance L up to the prism is held in a radius, are defined as coordinates of the rod fixed point P. The coordinates of the rod fixed point P are searched until the number of residual survey points is less than 3, and coordinates of a measuring object 50 are calculated from an arithmetic average of the coordinates of the rod fixed point P.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a measurement method and an automatic tracking surveying system using an automatic tracking function, and more particularly to a measurement method and an automatic tracking surveying system using an automatic tracking function that can measure the coordinates of a measurement object that is in a blind spot of a surveying instrument with high accuracy and simply. [Background technology]

[0002] A total station is a surveying instrument that has a distance measurement function using light waves (laser light) and an angle measurement function using an encoder. In addition, a total station can construct the same coordinate system as the previous one by sighting two known points (reference points) whose coordinates are known. Some total stations have an automatic sighting function that automatically searches for and sights a target (prism) to measure the target's coordinate values, as well as an automatic tracking function that automatically tracks the target and measures the target's coordinate values ​​when the target moves.

[0003] In this way, the total station shines a laser beam onto the prism and receives the reflected light to measure the coordinates of the measurement point where the prism is installed. Therefore, if there is an obstacle between the total station and the prism that blocks the laser beam, that is, if the measurement point is located in the blind spot of the total station, the total station will not be able to measure the coordinates of the measurement point.

[0004] Conventionally, if there was an obstacle between the total station and the prism that blocked the laser light, the total station was moved to a position where there was no obstacle blocking the laser light, and the coordinates of the prism were measured again.

[0005] Also, an invention is known relating to a surveying target and a total station surveying method in which two reflecting mirrors are mounted coaxially with the main axis of the target so that they can slide up and down, and when the total station aims at the first reflecting mirror, the second reflecting mirror is shielded, and conversely, when the total station aims at the second reflecting mirror, the first reflecting mirror is shielded (for example, see Figure 4 of Patent Document 1).

[0006] In the total station surveying method described in Patent Document 1, first, the total station sights the first reflector to obtain the central coordinate of the first reflector. Next, the central coordinate of the second reflector is obtained using a similar procedure. From these two central coordinates, the equation of the spindle is known. Then, the coordinate of the spindle tip is calculated from the distance from the second reflector to the spindle tip and the equation of the spindle (for example, see

[0036] in Patent Document 1).

[0007] In addition, an invention is known that relates to a survey data processing device that uses a drone equipped with a prism to calculate the position of a second surveying instrument when there is a hill, mountain, forest, building, etc. between a first surveying instrument whose position is known and a second surveying instrument whose position is unknown, and the second surveying instrument is not visible from the first surveying instrument (see, for example, Patent Document 2).

[0008] In the surveying data processing device described in Patent Document 2 above, the position of the second surveying instrument is calculated based on the relative position between the first surveying instrument and the drone's prism, which is obtained by the first surveying instrument and the second surveying instrument simultaneously positioning the drone's prism multiple times, and the relative position between the second surveying instrument and the drone's prism (for example, see

[0078] to

[0080] in Patent Document 2). [Prior art documents] [Patent documents]

[0009] [Patent Document 1] JP 2013-152139 A [Patent Document 2] JP 2023-41316 A Summary of the Invention [Problem to be solved by the invention]

[0010] A surveying instrument has a coordinate system that depends on the position and direction at which it is installed. Therefore, as mentioned above, when the surveying instrument is relocated, the coordinate system must be reproduced at the new position. To do this, two or more reference points with known coordinates are required in positions where the new instrument can directly irradiate laser light. In other words, if reference points cannot be prepared, the relocation of the surveying instrument itself cannot be carried out. Even if reference points can be prepared, it is often time-consuming to relocate the instrument, and the assumption is that the instrument cannot be moved in the first place. Therefore, a technique is needed to measure the coordinates of a prism in a blind spot of an obstacle without moving the surveying instrument from its initial position.

[0011] On the other hand, in the case of the surveying target described in the above Patent Document 1, two prisms are required as the measurement target, and the coordinates must be calculated for each prism, which increases the work time.

[0012] Furthermore, the survey data processing device described in Patent Document 2 requires two surveying instruments and one drone, which increases the cost of operations.

[0013] Therefore, the present invention has been made in consideration of the problems of the above-mentioned conventional technology, and its object is to provide a measurement method and an automatic tracking surveying system that use an automatic tracking function that can measure the coordinates of a measured object located in a blind spot of a surveying instrument with high accuracy and easily. [Means for solving the problem]

[0014] In order to achieve the above-mentioned object, the measurement method using the automatic tracking function of the present invention is a measurement method using the automatic tracking function of the surveying instrument (10) for measuring the coordinates of the object to be measured (50) when the object to be measured is located in the blind spot of the surveying instrument (10), characterized in that a prism (1) targeted by the surveying instrument (10) is attached to one end of a rod-shaped body (21), and the other end of the rod-shaped body (21) is set as a fixed point (P) whose position does not change in response to the swinging of the rod-shaped body (21), and the coordinates of the prism (1) are measured using the automatic tracking function of the surveying instrument (10) while the rod-shaped body (21) is randomly swung around the fixed point (P).

[0015] In the above configuration, the distance (L) from the fixed point (P) of the rod-shaped body (21) to the center of the prism (1) is always constant. Also, since the fixed point (P) is a point whose position does not change (a fixed point), the fixed point (P) of the rod-shaped body (21) can be regarded as a point on a spherical surface with the prism (1) as the center and a radius equal to the distance (L) to the prism, or as the center point of a spherical surface with the prism (1) as the point on the spherical surface and a radius equal to the distance (L) to the prism.

[0016] Therefore, when extracting any three points (pC1, pC2, pC2) from the group of measurement points ({p1, p2, . . . , pN}) of the prism (1) acquired by the automatic tracking function of the surveying instrument (10), it is possible to calculate the coordinates (x, y, z) of the fixed point (P) by considering them as the intersection point of the above three spheres or the center point of a sphere passing through the three measurement points. Therefore, when the relative positional relationship between the fixed point (P) of the rod-shaped body (21) and the measured object (50) is known, it is possible to calculate the coordinates of the measured object (50) based on the calculated "coordinates (x, y, z) of the fixed point (P)" and the "relative positional relationship between the fixed point (P) and the measured object (50)".

[0017] A second feature of the measurement method using the automatic tracking function of the present invention is to randomly extract three measurement points (pC1, pC2, pC3) from the group of measurement points ({p1, p2, ..., pN}) for the prism (1) obtained by the automatic tracking function, create a spherical equation (sp1, sp2, sp3) with the three extracted measurement points (pC1, pC2, pC3) as its center and the distance (L) from the center of the prism (1) to the fixed point (P) as its radius, and calculate the coordinates of the fixed point (P) as the intersection of the spherical equations (sp1, sp2, sp3).

[0018] In the above configuration, the coordinates of the fixed point (P) of the rod-shaped body (21) are calculated as the coordinates of the common intersection point of the three spherical surfaces (sp1, sp2, sp3).

[0019] A third feature of the measurement method using the automatic tracking function of the present invention is to exclude the three extracted measurement points from the group of measurement points ({p1, p2,..., pN}), repeatedly calculate and newly store the coordinates of the fixed point (P) until the number of measurement points in the excluded group of measurement points ({p1, p2,..., pN}) becomes less than three, take an arithmetic average of all the calculated and newly stored coordinates for each component, and calculate the coordinates of the object to be measured (50) based on the arithmetic average of the coordinates of the fixed point (P).

[0020] In the above configuration, errors contained in the coordinate values ​​of the prism (1) acquired by the automatic tracking function of the surveying instrument (10) are cancelled out by arithmetically averaging the calculated coordinates of all the fixed points (P). As a result, the arithmetically averaged coordinates of the fixed points (P) converge to a value that is extremely close to the true value.

[0021] A fourth feature of the measurement method using the automatic tracking function of the present invention is that the coordinates of the prism (1) are measured using the automatic tracking function of the surveying instrument (10) while rotating the rod-shaped body (21) around the vertical axis with the fixed point (P) as the center while tilting the rod-shaped body (21) with respect to the vertical axis.

[0022] With the above-described configuration, the rod-shaped body (21) can be easily operated.

[0023] In order to achieve the above-mentioned object, the automatic tracking surveying system of the present invention is an automatic tracking surveying system that measures the coordinates of a measured object (50) located in the blind spot of a surveying instrument (10) by using the automatic tracking function of the surveying instrument (10), characterized in that a prism (1) targeted by the surveying instrument (10) is attached to one end of a rod-shaped body (21), a fixed point (P) of the rod-shaped body (21) is a fixed point whose position does not change in response to the swinging of the rod-shaped body (21), and the distance (L) from the center of the prism (1) to the fixed point (P) is always constant.

[0024] In the above configuration, the measurement method using the automatic tracking function can be suitably carried out.

[0025] A second feature of the automatic tracking surveying system of the present invention is that the rod-shaped body (21) is fixed to a rotating table (22) having a rotation axis (22b) by a fixing device (23), and the intersection point (P) where the virtual center line (CL1) of the rod-shaped body (21) and the virtual center line (CL2) of the fixing device (23) intersect is located coaxially with the rotation axis (22b).

[0026] In the above-described configuration, the fixed point (P) of the rod-shaped body (21) can be a fixed point that is not dependent on the swinging motion of the rod-shaped body (21). Effect of the Invention

[0027] According to the measurement method and automatic tracking surveying system using the automatic tracking function of the present invention, it is possible to measure the coordinates of an object to be measured that is in a blind spot of the surveying instrument with high accuracy and simply. [Brief description of the drawings]

[0028] [Figure 1] 1 is an explanatory diagram showing an automatic tracking surveying system according to an embodiment of the present invention; [Diagram 2] FIG. 2 is an explanatory diagram showing a prism support base according to the present invention. [Diagram 3]1 is a flow diagram showing a method for easily and accurately calculating the coordinates of an object to be measured when the object is in a blind spot of a surveying instrument. [Figure 4] FIG. 13 is an explanatory diagram showing a case in which the coordinates of the fixed point of the rod-shaped body are calculated as the intersection of three spheres having the three extracted measurement points at the center of the sphere and the distance to the prism as the radius. [Diagram 5] 11 is an explanatory diagram showing another embodiment of the prism support base according to the present invention. FIG. [Figure 6] FIG. 13 is an explanatory diagram showing a case in which the coordinates of the fixed point of the rod-shaped body are calculated as the center of a sphere that passes through the three extracted measurement points and has a radius equal to the distance to the prism. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0030] Fig. 1 is an explanatory diagram showing an automatic tracking surveying system 100 according to an embodiment of the present invention. Fig. 2 is an explanatory diagram showing a prism support base 20 according to the present invention. Fig. 3 is an explanatory diagram showing a measurement method for a measurement target object 50 using the automatic tracking surveying system 100.

[0031] This automatic tracking surveying system 100 is a surveying system that can measure the coordinates of the object to be measured 50 with high accuracy and simply when there is an obstacle between the surveying instrument 10 and the object to be measured 50 and the surveying instrument 10 is unable to aim at the object to be measured 50.

[0032] To achieve this, the automatic tracking surveying system 100 is configured to include a surveying instrument 10 that measures the coordinates of the prism 1, a prism support base 20 that supports the prism 1 so that it can rotate around the vertical axis Z while maintaining a desired vertical angle θ, and a computer 30 that calculates the coordinates of the object 50 to be measured based on the group of coordinate points for the prism 1 acquired by the surveying instrument 10. Each component will be described in further detail below.

[0033] A 360° prism or a single element prism can be used as the prism 1. The prism 1 is screwed onto the tip of a rod 21 and is firmly fixed thereto.

[0034] The surveying instrument 10 has an angle measurement function using an encoder, and a distance measurement function using the prism 1 and measurement light. In addition to these functions, it has an automatic collimation function that automatically searches for and collimates the prism 1, and an automatic tracking function that automatically tracks and collimates the prism 1 when the prism 1 moves. The surveying instrument 10 also has a short-range wireless communication function such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), and is configured to be able to wirelessly transmit the measured coordinate point group to the computer 30.

[0035] Prism support base 20 supports prism 1 at a height H1 at which surveying instrument 10 can collimate prism 1. Distance L from the center of prism 1 to rod fixing point P of rod 21 is always constant. In addition, although details will be described later with reference to FIG. 2, rod 21 is configured to be rotatable around vertical axis Z and rotatable around a horizontal axis perpendicular to vertical axis Z.

[0036] Furthermore, the rod fixing point P is a fixed point whose position does not change even when the rod 21 rotates or swings.

[0037] The computer 30 is configured by a personal computer, a mobile terminal device such as a tablet or a smartphone, or a control device such as a PLC (Programmable Logic Controller). The computer 30 is also configured to be connected to the Internet by short-range wireless communication such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), or a wireless communication line (so-called 4G or 5G) via a SIM card provided by a mobile phone company, and to be able to access a company's own server or a cloud server constructed on the Internet to transmit and receive programs or data. The measured coordinate point cloud for the measured object 50 is stored, for example, in the internal storage area of ​​the computer 30, the company's own server or cloud server on the Internet, or a portable storage medium such as a USB memory.

[0038] Fig. 2 is an explanatory diagram showing a prism support base 20 according to the present invention. Fig. 2(a) shows a front view of the prism support base 20. Fig. 2(b) is a right side view of Fig. 2(a). For convenience of explanation, a prism 1 is attached to the tip of a rod 21.

[0039] 2(a), the prism support base 20 is composed of a rod 21 having one end to which the prism 1 is fixed and the other end to which is fixed by a bolt 23 and a nut 24, a rotating base 22 having a rotating shaft 22b to which the end of the rod 21 is engaged, a bolt 23 and a nut 24 for fixing the end of the rod 21 to an L-shaped member 22a of the rotating base 22, a thrust bearing 25 for supporting the rotating shaft 22b rotatably in the axial direction, a radial bearing 26 for supporting the rotating shaft 22b rotatably in the radial direction, a stopper 27 for preventing the radial bearing 26 from coming off, and a base 28 for supporting the rotating base 22. Each component will be described in further detail below.

[0040] The rod 21 is a long shaft bar with a circular cross section. The end of the rod 21 is a flat portion, and a through hole (not shown) for passing the bolt 23 is formed in the flat portion. The rod 21 is made of a highly rigid material that is difficult to deform, such as CFRP (carbon fiber reinforced plastic), as well as iron-based metal, titanium-based metal, or aluminum-based metal. Therefore, as shown in FIG. 2(b), when the intersection point of the imaginary center line CL1 of the rod 21 and the imaginary center line CL2 of the bolt 23 is the rod fixing point P, the distance L from the center of the prism 1 to the rod fixing point P is always constant.

[0041] In this case, the rod fixing point P becomes a fixed point, and the difference H2 in the height direction between the rod fixing point P and the object 50 to be measured becomes a constant value. In addition, among the XYZ coordinates of the rod fixing point P, the coordinate obtained by subtracting H2 from the Z coordinate becomes equal to the coordinate of the object 50 to be measured. Therefore, obtaining the coordinate of the rod fixing point P is equivalent to obtaining the coordinate of the object 50 to be measured.

[0042] The rotating table 22 is formed by combining an L-shaped member 22a with a cylindrical rotating shaft 22b. The L-shaped member 22a and the rotating shaft 22b may be integral or separate. The L-shaped member 22a has a through hole through which a bolt 23 passes.

[0043] In addition, the rotating shaft 22b is inserted into a hole 28a of a base 28 via a thrust bearing 25 and a radial bearing 26. This allows the rod 21 to rotate smoothly without mechanical backlash. This prevents the coordinates of the rod fixing point P, where the imaginary center line CL1 of the rod 21 and the imaginary center line CL2 of the bolt 23 intersect, from fluctuating even when the rod 21 rotates.

[0044] A cylindrical hole 28a into which the rotary shaft 22b is inserted is formed in the center of the base 28. The entrance of the hole 28a is enlarged in diameter so that the thrust bearing 25 can be fitted therein.

[0045] FIG. 3 is a flow diagram showing a method for easily and highly accurately calculating the coordinates of the object 50 to be measured when the object 50 is in a blind spot of the surveying instrument 10. In FIG. First, in step S1, the base 28 is placed directly above the measurement target 50. In this case, the base 28 is placed so that the measurement target 50 is located on an extension of the rotation axis 22b of the turntable 22.

[0046] Next, in step S2, the rod 21 is fixed to the rotating table 22 by the bolt 23 and nut 24 while being inclined with respect to the vertical axis Z. The inclination angle θ may be any angle that allows the surveying instrument 10 to collimate the prism 1.

[0047] Next, in step S3, the prism 1 is collimated using the automatic tracking mode of the surveying instrument 10.

[0048] Next, in step S4, the rotary table 22 is rotated relative to the base .

[0049] Next, in step S5, three measurement points pC1, pC2, and pC3 are randomly extracted from the group of measurement points {p1, p2, . . . , pN} for prism 1 acquired in the automatic tracking mode.

[0050] Next, in step S6, an equation of a sphere of radius L centered on the three extracted measurement points pC1, pC2, and pC3 is created, and the coordinates of the rod fixing point P are calculated. First, the equation of each sphere is expressed as the following Equation 1, Equation 2, and Equation 3. (Formula 1):(X-x1) 2 +(Y-y1) 2 +(Z-z1) 2 =L 2 , where pC1 = (x1, y1, z1) (Formula 2):(X-x2) 2 +(Y-y2) 2 +(Z-z2) 2 =L 2 , where pC2 = (x2, y2, z2) (Formula 3):(X-x3) 2 +(Y-y3) 2 +(Z-z3) 2 =L 2 , where pC2 = (x3, y3, z3)

[0051] Next, the spherical equation is solved to find the coordinates of the rod fixing point P. Since the above equations 1, 2, and 3 are quadratic equations with three variables, there are two solutions. Since the rod fixing point P, which is the intersection of the rod virtual center line CL1 of the rod 21 and the bolt virtual center line CL2 of the bolt 23, is located below the prism 1, the one with the smaller Z coordinate of the two solutions will be the coordinate of the rod fixing point P. Note that if the rod fixing point P is located above the prism 1, the one with the larger Z coordinate of the two solutions will be the coordinate of the rod fixing point P.

[0052] It should be noted that when the surveying instrument 10 is set to automatic tracking mode, the accuracy generally drops compared to single distance measurement. For a surveying instrument 10 with a single distance measurement accuracy of 1 mm, the accuracy often drops to about 3 mm standard deviation in automatic tracking, so measures are required. Fortunately, it is known that the measurement error of the surveying instrument 10 generally follows a normal distribution, so this problem can be solved by continuing to move prism 1 until the number of measurement points N of the measurement point group for prism 1 obtained in step S5 reaches a sufficient value. Specifically, the procedure is as follows.

[0053] Next, in step S7, the calculated coordinates of the rod fixing point P are newly saved as Pk = (xPk, yPk, zPk) (k = 1,...), and 3 is subtracted from the number of measurement points N.

[0054] Next, in step S8, it is determined whether the number of remaining measurement points is less than 3. If the number of remaining measurement points is less than 3 (YES), step S9 is executed. On the other hand, if the number of remaining measurement points is 3 or more (NO), step S5 is executed again.

[0055] In step S9, the arithmetic mean of the calculated and stored coordinates of all the rod fixing points P is calculated to calculate the coordinates of the measurement target 50. The arithmetic mean is calculated for each of the x, y, and z components as shown below. The arithmetic mean of the rod fixing points P = ((ΣxPk) / m, (ΣyPk) / m, (ΣzPk) / m), where m is the total number of the calculated and stored rod fixing points P.

[0056] Therefore, the coordinates of the object to be measured 50 are When there is a difference H2 in the height direction between the rod fixing point P and the object 50 to be measured, it can be obtained by subtracting the height H2 from the z coordinate of the rod fixing point P as ((ΣxPk) / m, (ΣyPk) / m, ΣzPk) / m-H2). When there is no difference H2 in the height direction, the coordinate of the rod fixing point P becomes equal to the coordinate of the object 50 to be measured.

[0057] If N is a sufficiently large value here, the surveying error follows a normal distribution, and so the arithmetic mean value of the coordinates of the rod fixing point P calculated in step S9 will converge to a value extremely close to the true value. For example, if you want to obtain a surveying accuracy of 1 mm with a 95% probability using this calculation method, and the accuracy of automatic tracking is 3 mm, then N ≒ 35. In general, the number of measurement points N can be calculated using known statistical calculations as shown in Equation 4 below. (Formula 4):N=(2×1.96 / (T×2)) 2 ×E 2

[0058] FIG. 4 is an explanatory diagram showing a method for calculating the coordinates of a measurement object 50 using a prism support base 20 according to the present invention. The dotted line represents the rotation locus Tr of the prism 1. Incidentally, the rotation locus Tr of the prism 1 is a circle with a radius of L × (sinθ). Moreover, the above formula 1 represents the equation of the first spherical surface sp1. Similarly, the above formula 2 represents the equation of the second spherical surface sp2. Similarly, the above formula 3 represents the equation of the third spherical surface sp3.

[0059] The line of intersection between the first sphere sp1 and the second sphere sp2 is a circle, and if this is called the first intersection circle C1, the first intersection circle C1 passes through the rod fixed point P. Similarly, the line of intersection between the second sphere sp2 and the third sphere sp3 is a circle, and if this is called the second intersection circle C2, the second intersection circle C2 passes through the rod fixed point P. The first intersection circle C1 and the second intersection circle C2 intersect at two points, so there are two intersection points. Of the two intersection points, the one with the smaller Z coordinate corresponds to the coordinate of the rod fixed point P.

[0060] The relationship between the second intersecting circle C2 and the third intersecting circle C3, or the relationship between the third intersecting circle C3 and the first intersecting circle C1, is equivalent to the relationship between the first intersecting circle C1 and the second intersecting circle C2. Therefore, it is possible to find the coordinates of the rod fixing point P from the relationship between the second intersecting circle C2 and the third intersecting circle C3, or the relationship between the third intersecting circle C3 and the first intersecting circle C1.

[0061] In this way, the method of calculating the coordinates of the measured object 50 using the prism support base 20 is characterized by the fact that the distance L from the center of the prism 1 to the rod fixing point P is always constant, and that the rod fixing point P is a fixed point whose position does not change in response to the swinging of the rod 21.

[0062] As described above, the automatic tracking surveying system 100 of the present invention has been described with reference to the drawings, but the present invention is not limited to the above. In other words, various modifications, changes, additions, etc. can be made within the scope of the technical scope of the present invention. For example, the rod 21 may be a square bar type. Also, as shown in FIG. 5, instead of the bolt 23 and the nut 24, the rotating shaft of the horizontal axis motor 23' and the end of the rod 21 may be directly connected. Also, the rotating shaft of the vertical axis motor 24' may be directly connected to the rotating shaft 22b.

[0063] Also, as shown in FIG. 6, the coordinates of the rod fixing point P may be calculated as the central coordinates of the equation of a sphere of radius L that passes through the three extracted measurement points pC1, pC2, and pC3.

[0064] In the above embodiment, the coordinates of the prism 1 are measured using the automatic tracking mode of the surveying instrument 10 while rotating the rod 21 around the vertical axis in a state inclined at an inclination angle θ with respect to the vertical axis. However, it is not necessary to fix the inclination angle at all, and the coordinates of the prism 1 may be measured while swinging the rod 21 randomly back and forth or left and right. That is, the present invention calculates the coordinates of the fixed point P of the rod 21, and further the coordinates of the measured object 50, as the intersection of three spheres having three measurement points of the prism 1 randomly extracted from the measurement point group {p1, p2, . . . , pN} for the prism 1 acquired in the automatic tracking mode, at the center of the sphere and the distance L to the prism as the radius. Therefore, the present invention can be executed without any problem as long as the measurement point group {p1, p2, . . . , pN} for the prism 1 can be acquired in the automatic tracking mode, and does not depend on the swing state of the rod 21 and the moving path of the prism 1. [Explanation of symbols]

[0065] 1 Prism 10 Surveying instruments 20 Prism support stand 21 Rod (rod-shaped body) 22 Rotating table 22a L-shaped member 22b Rotation axis 23 Bolt (fixture) 24 Nut 25 Thrust bearing 26 Radial bearing 27 Stopper 28 Base 28a hole 30 Computers 50 Object to be measured 100 Automatic Tracking Survey System CL1 Rod virtual center line CL2 Bolt virtual centerline P Rod fixing point (fixing point)

Claims

1. A measurement method using an automatic tracking function for measuring coordinates of a measured object (50) using the automatic tracking function of a surveying instrument (10) when the measured object (50) is located in a blind spot of the surveying instrument, comprising: The prism (1) targeted by the surveying instrument (10) is attached to one end of a rod-shaped body (21), and the other end of the rod-shaped body (21) is set as a fixed point (P) whose position does not change in response to the swinging of the rod-shaped body (21). The rod-shaped body (21) is swung randomly around the fixed point (P) while the coordinates of the prism (1) are measured using the automatic tracking function of the surveying instrument (10). A measurement method using an automatic tracking function, characterized in that

2. 2. A measuring method using the automatic tracking function of a surveying instrument according to claim 1, Three measurement points (pC1, pC2, pC3) are randomly extracted from the group of measurement points ({p1, p2, ..., pN}) for the prism (1) obtained by the automatic tracking function, and a spherical equation (sp1, sp2, sp3) is created with the three extracted measurement points (pC1, pC2, pC3) as its center and the distance (L) from the center of the prism (1) to the fixed point (P) as its radius, and the coordinates of the fixed point (P) are calculated as the intersection of the spherical equations (sp1, sp2, sp3). An automatic tracking surveying method comprising:

3. 3. A measuring method using the automatic tracking function of a surveying instrument according to claim 2, The three extracted measurement points are excluded from the group of measurement points ({p1, p2, ..., pN}), and the coordinates of the fixed point (P) are repeatedly calculated and newly stored until the number of measurement points in the excluded group of measurement points ({p1, p2, ..., pN}) becomes less than three. An arithmetic average is taken for each component of all the calculated and newly stored coordinates, and the coordinates of the measured object (50) are calculated based on the arithmetic average of the coordinates of the fixed point (P). An automatic tracking surveying method comprising:

4. 2. A measuring method using the automatic tracking function of a surveying instrument according to claim 1, The rod-shaped body (21) is rotated around the vertical axis with the fixed point (P) as the center while being tilted with respect to the vertical axis, and the coordinates of the prism (1) are measured using the automatic tracking function of the surveying instrument (10). An automatic tracking surveying method comprising:

5. An automatic tracking surveying system for measuring coordinates of a measured object (50) located in a blind spot of a surveying instrument (10) by an automatic tracking function of the surveying instrument, The prism (1) targeted by the surveying instrument (10) is attached to one end of a rod-shaped body (21), and a fixed point (P) of the rod-shaped body (21) becomes a fixed point whose position does not change in response to the swinging of the rod-shaped body (21), and The distance (L) from the center of the prism (1) to the fixed point (P) is always constant. An automatic tracking surveying system.

6. 6. The automatic tracking surveying system according to claim 5, The rod-shaped body (21) is fixed to a rotating table (22) having a rotation axis (22b) by a fixture (23), and an intersection point (P) where a virtual center line (CL1) of the rod-shaped body (21) and a virtual center line (CL2) of the fixture (23) intersect is located coaxially with the rotation axis (22b). An automatic tracking surveying system.

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