JP2004061245A - Fully-automatic surveying system and automatic surveying method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a fully-automatic surveying device and an automatic surveying method for measuring a large number of surveying points automatically, by using targets which are not influenced by the direction of collimation. <P>SOLUTION: The device is provided with a surveying instrument 2, a CCD camera 6 attached to the eye piece portion of the telescope 3 of the surveying instrument 2, and targets 14 provided with global elements 14a arranged at the surveying points 15. The surveying instrument 2 is properly opposed to a target 14 automatically by using an automatic tracking mechanism, so that the scale center C<SB>0</SB>of the telescope 3 may be in an image of the target 14, and approximate collimation is performed. A horizontal deviation H and a vertical deviation V of the position of the center-of-gravity point T<SB>0</SB>of the target 14 from the position of the scale center C<SB>0</SB>of the telescope 3 are computed using an image processing apparatus 11. By adding these deviations βH, βV represented by angles to a horizontal angle αH and a vertical angle αV determined by the approximate collimation, the horizontal angle and the vertical angle of the surveying point 15 are determined, and this operation is repeated for all the surveying points 15 arranged on a surveying object 16. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a fully automatic surveying device and an automatic surveying method for performing automatic surveying using a surveying instrument equipped with a telescope.
[0002]
[Prior art]
In Japanese Patent Application Laid-Open Nos. 9-304053 and 11-2518, the present inventors disclosed a collimated image on a liquid crystal monitor screen and performed collimation by image processing, so that collimation was easily and quickly performed. We propose an automatic surveying device and an automatic surveying method that can perform precise surveying without any collimation error by an operator.
As shown in FIG. 5, the automatic surveying method using the surveying instrument 19 provided with the surveying instrument 19, the CCD camera 21 and the target 23 uses a scale engraved inside the telescope 20 provided in the surveying instrument 19 as shown in FIG. The target 23 of the measurement point is a reflection sheet formed by engraving a concentric circle on a plate material. The CCD camera 21 is attached to the eyepiece of the telescope 20, and the horizontal angle and the vertical angle of the measurement point on which the target 23 is provided are set. The specification of the corner is performed by image processing.
[0003]
That is, as shown in FIG. 6A, the scale center point C of the telescope 20 is placed within a concentric circle of the target 23 provided at the measurement point on the liquid crystal monitor screen 22 where the visual field image of the telescope 20 is captured. _The surveying instrument 19 is roughly directly opposed to the target 23 so that ₀ is included, and the collimation by the operator is completed only by adjusting the focus of the visual field image, and the center of gravity T ₀ of the concentric circle of the target 23 and the scale later. instead of performing the work of fine adjustment to match the center point C _O of the image processing, the difference between the position of the center point C ₀ of the scale position and the telescope 20 of the center-of-gravity point T ₀ of the target 23 from the image The horizontal and vertical angles of the measurement point are calculated by calculating the obtained horizontal and vertical lengths, and adding this to the horizontal angle and vertical angle obtained by the general collimation of the surveying instrument 19 as an angle deviation. It is intended Mel.
[0004]
[Problems to be solved by the invention]
However, these are measurement methods used when only one measuring point is used, and as the number of measuring points increases, operations such as adjusting the direction of the telescope 20 to a plurality of measuring points and adjusting the focus become extremely complicated. It becomes. Further, since the control / operation device 24 for operating the surveying instrument 19 is mounted on a tripod that supports the surveying instrument 19, it is necessary to touch the surveying instrument 19 every time measurement is performed, and the installation state of the surveying instrument 19 is incorrect. Therefore, there was room for further improvement in terms of accuracy.
[0005]
Further, the target 23 uses a reflection sheet obtained by engraving a concentric circle on a plate material. However, as shown in FIG. 6B, when the collimating direction using the telescope 20 does not directly face the target 23, An image that should be a concentric circle is observed as the target 23 in a distorted shape such as an ellipse, and there is a case where an accurate center position cannot be observed. In particular, when using pattern matching or barycentric position measurement in image processing, if the target 23 is regarded as an ellipse, an error in the short axis direction is likely to occur. Also, in the normal visual collimation measurement, as the direction of the target 23 deviates from the facing direction, the laser reflection intensity of a laser distance meter (not shown) provided in the surveying instrument 19 becomes weak, and the distance measurement cannot be performed accurately. .
As a countermeasure, every time a survey is performed, measures such as changing the direction of the target 23 in accordance with the installation position of the surveying instrument 19 have been taken. .
[0006]
In view of the above circumstances, the present invention provides a fully automatic surveying device and an automatic surveying method that automatically measure a large number of surveying points using a target that can always grasp the same shape regardless of the collimating direction. To provide.
[0007]
[Means for Solving the Problems]
According to a first aspect of the present invention, there is provided a fully automatic surveying apparatus comprising: a target disposed at a surveying point set on a surveying object; a surveying instrument for measuring a relative position of the target; and a telescope provided on the surveying instrument. A camera attached to the eye, a control / operation device including a liquid crystal screen for displaying an image captured by the camera, and an operation terminal for performing a measurement operation, and performing image processing using the image captured by the camera An image processing device is provided, the surveying instrument is provided with an automatic tracking mechanism for automatically tracking the target, and the telescope is provided with an auto-focus mechanism for focusing a visual field image, and the target is provided with A sphere having a surface coated with a particulate reflecting prism material is used.
[0008]
A fully automatic surveying device according to a second aspect is characterized in that the control / operation device and the surveying instrument are provided with a remote control function.
[0009]
According to a third aspect of the present invention, the surveying instrument is provided with a penlight so that the surveying instrument has an optical axis parallel to an optical axis of the telescope.
[0010]
An automatic surveying method according to a fourth aspect is an automatic surveying method using the fully automatic surveying device according to any one of the first to third aspects, wherein a target is set to each of a plurality of survey points set on the surveying object. A first step of arranging and recognizing the target by a surveying instrument; and a step of setting a scale center point of a telescope provided in the surveying instrument at a first measurement point captured in a visual field image of the telescope. To enter the image of, the surveying instrument is directly opposed to the target using an automatic tracking mechanism, and the field of view image containing the target is focused using the autofocus mechanism of the telescope. A second step of roughly collimating, and a center of gravity position of the target and a scale of the telescope are obtained from an image taken by the camera by an image processing device provided in the fully automatic surveying device. The horizontal and vertical deviations from the center point position are calculated, and the deviations are added to the horizontal and vertical angles obtained by the general collimation in the second step as angular deviations. The method is characterized by comprising a third step of obtaining a vertical angle and a fourth step of repeating the second step and the third step for all the measurement points.
[0011]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 shows a fully automatic surveying apparatus according to the present invention. The present invention provides a surveying instrument equipped with an auto-tracking mechanism and an auto-focus mechanism in a telescope, which is provided with a function of measuring the position of a target by rough collimation using image processing, whereby the relative positions of a large number of measurement points are automatically determined. It measures the position.
[0012]
As shown in FIG. 1, the fully automatic surveying device 1 includes a surveying instrument 2, a CCD camera 6, a control / operation device 7, an image processing device 11, and a target 14. As the surveying instrument 2, a total station collimated by a telescope 3 generally used is used. The total station has a function of simultaneously measuring the vertical angle, horizontal angle, and distance of a measurement point 15 arbitrarily provided with respect to a survey target 16 whose relative position is to be grasped, and outputting or storing the measured value as electronic data. It is an optical surveying instrument. A scale 4 as shown in FIG. 2 is provided inside the telescope 3 provided in the surveying instrument 2. In the present embodiment, uses a crosshair on the scale 4, it is set to the intersection of the crosshairs as scale center C _0, their shapes are not intended to stick thereto, using a point or other shape Te may be set the center of gravity as the scale center C ₀ if the point or other shapes, as long as the scale center C ₀ can be grasped visually, may also be used either.
Further, a CCD camera 6 is attached to the eyepiece of the telescope 3, and a field-of-view image of the telescope 3 is captured by the CCD camera 6, and the image is displayed on a liquid crystal monitor screen 8 provided in a control / operation device 7. Is displayed. The control / operation device 7 is provided with not only the liquid crystal monitor screen 8 but also an operation panel 9 for performing a measurement operation on the fully automatic surveying device 1 and a remote operation means 10 such as a wireless device or a LAN. Since it is provided together with the surveying instrument 2 and can be used separately from the surveying instrument 2, the worker can operate the fully automatic surveying apparatus 1 from a construction office in the site or a place other than the site. Things.
Note that the surveying instrument 2 of the fully automatic surveying device 1 includes a laser distance meter 5 that is generally used when measuring a distance.
In addition, the fully automatic surveying device 1 is provided separately from the surveying instrument 2, in cooperation with the CCD camera 6, an image processing device 11 for processing images captured by the CCD camera 6, and a battery, a control unit, and the like. A storage box 13 storing the accessory device 12 is provided.
[0013]
On the other hand, as shown in FIG. 1, the target 14 is arranged at a measurement point 15 arbitrarily set on a survey target 16, and a sphere 14 a contained in a visual field image of the telescope 3 of the surveying instrument 2; It is constituted by a mounting jig 14b for fixing the sphere 14a to the measuring point 15. The sphere 14a is a sphere having a surface coated with a particulate reflective prism material made of the same material as that conventionally used for a target reflection sheet. It has the feature that it can be accurately reflected in a given direction.
As shown in FIG. 2, such an image of the target 14 is recognized as a circle having the same shape regardless of the direction from which the target 14 is collimated by the telescope 3 provided in the surveying instrument 2. For this reason, when pattern matching is used for image processing, not only can a circular pattern be used at all times, but also in the center of gravity position measurement for calculating the area center of gravity of the image projected on the liquid crystal monitor screen 8. Is always recognized as a circle, so that there is no direction in which the accuracy decreases as would occur when an image is recognized as an ellipse, and the accuracy can be improved.
Furthermore, since the target 14 can accurately reflect the incident light, even when performing distance measurement using the laser distance meter 5, the direction in which the laser reflection intensity always reflects directly at a high intensity can be obtained. An accurate distance measurement can be performed.
[0014]
By the way, in the present embodiment, an automatic tracking mechanism generally used for the surveying instrument 2 is provided, and a telescope 3 provided for the surveying instrument 2 is provided with an automatic focusing mechanism for automatically adjusting a focus of a visual field image. It has. Thus, the surveying instrument 2 recognizes the target 14 provided at the surveying point 15 in advance, and uses the automatic tracking mechanism to add the image of the target 14 provided at the surveying point 15 to the visual field image of the telescope 3. captured, so that the scale center C ₀ of the telescope 3 to the target 14 falls, performs automatic positive against operation of turning as towards the target 14 which is provided surveying instrument 2 in stations 15, autofocus The operation of automatically adjusting the focus of the image of the target 14 captured in the visual field image of the telescope 3 using a mechanism is performed.
[0015]
An automatic surveying method in the case where a plurality of survey points 15 are set on the survey target 16 using the above-described fully automatic surveying apparatus 1 will be described below.
(First step)
First, as shown in FIG. 1, the target 14 is set for each of a plurality of measurement points 15a, 15b,. At this time, the target 14 is fixed via the mounting jig 14b such that the whole sphere 14a protrudes from the measurement point 15.
Thereafter, the surveying instrument 2 is installed at a position where all of the targets 14 fixed to the plurality of measuring points 15a, 15b,... Can be visually recognized, and all the fixed points are respectively fixed to the plurality of measuring points 15a, 15b,. The survey target 2 is recognized in advance by the surveying instrument 2.
[0016]
(Second step)
Next, the automatic tracking mechanism provided in the surveying instrument 2 is operated to capture the image of the target 14 provided at the first measurement point 15a in the visual field image of the telescope 3, and to set the scale center C _{0 of the} telescope 3 to the same. The surveying instrument 2 is turned so as to face the target 14 provided at the first survey point 15a so that the target falls within the image of the target 14. Thereafter, the autofocus mechanism provided in the telescope 3 is operated, the image of the target 14 is focused, and then the collimation is roughly collimated by the surveying instrument 2 to calculate the horizontal angle αH and the vertical angle αV. (Α in FIG. 4).
As shown in FIG. 2, a field of view captured by the telescope 3 is provided on a liquid crystal monitor screen 8 provided in the control / operation device 7 through a CCD camera 6 provided in an eyepiece of the telescope 3. An image has been captured.
Here, the distance to the first measurement point 15a is measured using the laser distance meter 5 provided in the surveying instrument 2 at the same time as the general collimation. The distance L is measured by transmitting a laser from the laser range finder 5 to the target 14 fixed to the first measurement point 15a and receiving the reflected wave. The distance L is obtained by capturing the surface position of the sphere 14a on the target 14. Therefore, it is not possible to determine which position of the sphere 14a is the distance measurement. For this reason, as shown in FIG. 3, the shortest distance Lmin is adopted as the distance L after repeatedly measuring the vicinity of the center of the sphere 14a several times, and the radius R of the sphere 14a is added thereto. , (Equation 1).
L = Lmin + R (1 equation)
R: radius of the sphere 14a constituting the target 14
(Third step)
Next, as shown in FIG. 2, the position of the circular center of gravity T ₀ which is the image of the target 14 is calculated from the image captured by the CCD camera 6 via the image processing device 11, and similarly, The difference between the position of the center of gravity T _{0 and} the position of the center point C ₀ of the CCD camera 6 (the center point of the scale of the telescope 3) is defined by the CCD camera 6 as horizontal and vertical lengths (deviations) H and V. It is obtained by calculation from the captured image via the image processing device 11. The horizontal angle and the vertical angle of the first measurement point 15a can be obtained by adding these calculation results to the horizontal angle αH and the vertical angle αV obtained by the collimation of the surveying instrument 2 as the angle deviation.
That is, as shown in FIG. 4, when the distance from the surveying instrument 2 to the target 14 fixed to the first measurement point 15a (oblique distance obtained by approximate collimation) is L, the horizontal angle deviation βH And the deviation βV of the vertical angle (β in FIG. 4) can be expressed by (Equation 2) and (Equation 3).
βH = tan ⁻¹ (H / L) (2 equations)
βV = tan ⁻¹ (V / L) (3 equations)
H: Horizontal deviation (length) obtained from the image
V: Vertical deviation (length) obtained from the image
[0018]
Therefore, the horizontal angle and the vertical angle of the first measurement point 15a can be obtained by adding the horizontal angle αH and the vertical angle αV obtained by the approximate collimation to the horizontal angle deviation βH and the vertical angle deviation βV. , (4) and (5).
Horizontal angle = αH + βH (4)
Vertical angle = αV + βV (5)
αH: Horizontal angle obtained by approximate collimation αV: Vertical angle obtained by approximate collimation βH: Deviation of horizontal angle βV: Deviation of vertical angle
Here, the expected angle measurement accuracy is as follows.
When the measuring distance is 50 m and the magnification of the telescope 3 is 30 times, the range that can be accommodated in the CCD camera 6 is about 200 mm, and when the resolution of the image is about 400 (assumed from the nature of NTSC signal), the above length is obtained. The resolution is 200/400 = 0.5 mm.
Further, if the measurement distance is 50 m, the angle difference of 10 seconds has a line length of about 2.5 mm, so the above resolution is equivalent to (0.5 / 2.5) × 10 = 2.0 seconds. I do. Therefore, the condition of the error range of 1 to 2 seconds as the angle error is cleared by the present method.
[0020]
(Fourth step)
After the surveying of the first surveying point 15a is completed by the above-described method, the automatic tracking mechanism provided in the surveying instrument 2 is operated again, and the image of the target 14 provided at the second surveying point 15b is transferred to the telescope. with taken in third field image, as the scale center C ₀ of the telescope 3 fits into the image of the target 14, toward the surveying instrument 2 to the target 14 provided on the second measurement point 15b directly faces as The direction is changed, and the second step and the third step are performed. In this way, the above-described second step and third step are repeated for all of the plurality of measurement points 15 provided on the survey target 16.
[0021]
The full-automatic surveying device 1 may have a configuration in which a penlight 17 is installed above the CCD camera 6 as shown in FIG. This is performed by positioning the optical axis of the telescope 3 so that the optical axis of the penlight 17 is parallel to the optical axis of the penlight 17. However, in order to provide sufficient brightness to enter the telescope 3 in parallel, even when the surveying target 16 is in a dark place such as in a tunnel, the visual field image of the telescope 3 can be easily grasped on the liquid crystal monitor screen 8. Things.
[0022]
According to the above-described configuration, the fully automatic surveying apparatus 1 is provided with the automatic tracking mechanism in the surveying instrument 2 and the autofocus mechanism in the telescope 3 provided in the surveying instrument 2, and is provided on the survey target 16. Can be automatically collimated with respect to the survey point 15, and the position of the center of gravity T _{0 of the} target 14 and the center point C ₀ of the telescope 3 can be aligned with the CCD camera provided in the fully automatic surveying apparatus 1. 6 is automatically performed by an image processing operation using an image processing device 11 that processes an image captured by the CCD camera 6, so that the worker can move to the measurement point 15 set on the survey target 16. Since the surveying operation can be automatically performed only by installing the fully automatic surveying apparatus 1 including fixing of the target 14, labor can be saved, and the operator can perform the surveying. Without systematic error occurs, it is possible to improve the accuracy of the survey.
[0023]
In addition, since the sphere 14a is used as the target 14, the target 14 can be captured as a circular image from any position using the surveying instrument 2, so that image processing or the use of the laser distance meter 5 is required. There distance measurement or the like, in any case, it is possible to improve the positional accuracy of the center-of-gravity point T ₀ of the target 14.
Furthermore, no matter from which position the target 14 is collimated using the surveying instrument 2, the target 14 having the sphere 14 a is directly opposed to the surveying instrument 2. It is not necessary to make adjustments such as changing the mounting angle of the target 14 in accordance with the above, maintenance other than cleaning is unnecessary, and workability can be greatly improved.
[0024]
Since the control / operation device 7 including the liquid crystal monitor screen 8 and the operation panel 9 is provided with the remote control means 10 together with the surveying instrument 2, it can be used separately from the surveying instrument 2. It is not necessary to touch the surveying equipment 2 more than necessary, and it is possible to maintain the installation accuracy, and it is also possible to carry out the surveying work at a construction office in the site remote from the survey target 16 or at a place other than the site. It becomes possible.
[0025]
In the fully automatic surveying device 1, since the penlight 17 is installed above the CCD camera 6, the light of the penlight 17 reflected by the target 14 fixed to the measurement point 15 is transmitted into the telescope 3. In order to supply sufficient brightness to enter the parallel, the field of view image of the telescope 3 can be easily grasped on the liquid crystal monitor screen 8 even when the survey target 16 is in a dark place such as in a tunnel.
[0026]
As described above, the fully automatic surveying device 1 performs the surveying work only by installing the fully automatic surveying device 1 including fixing the target 14 to the survey point 15 arbitrarily set on the survey target 16. Can be automatically performed, and if the surveying device 2 recognizes the targets 14 provided at each of the plurality of survey points 15 in advance, the survey work at all of the plurality of survey points 15 can be automatically performed. In addition, since no operator is involved, it is possible to perform surveying while maintaining a certain accuracy for the plurality of measurement points 15.
[0027]
【The invention's effect】
According to the fully automatic surveying device according to claim 1, a target disposed at a survey point set on a surveying object, a surveying instrument for measuring a relative position of the target, and a telescope provided in the surveying instrument A camera attached to the eyepiece, a control / operation device including a liquid crystal screen for displaying an image captured by the camera, and an operation terminal for performing a measurement operation, and image processing using the image captured by the camera The surveying instrument is provided with an automatic tracking mechanism for automatically tracking the target, and the telescope is provided with an auto-focus mechanism for focusing a field-of-view image. Is a sphere coated with a particulate reflective prism material on its surface, so it is possible to automatically collimate roughly the measurement points provided on the survey object. Together, a center-of-gravity point T ₀ of the target, the alignment between the center C ₀ of the telescope, since it is automatically performed by image processing operations, workers targets to measuring points set in the surveying object Only by performing the installation of the fully automatic surveying apparatus including the fixing, it is possible to automatically perform the surveying work, it is possible to achieve labor saving, without measurement errors by workers, It is possible to improve the accuracy of surveying.
[0028]
In addition, since a sphere is used as the target, even if the target is collimated from any position using a surveying instrument, it can be captured as a circular image, so that image processing or distance measurement using a laser distance meter, in any case, it is possible to improve the positional accuracy of the centroid T _0. Furthermore, no matter where the target is collimated using the surveying instrument, the target will be directly facing the surveying instrument, so the target mounting angle is changed according to the installation position of the surveying instrument during surveying There is no need to perform adjustments such as cleaning, and maintenance other than cleaning is not required, and workability can be greatly improved.
[0029]
According to the fully automatic surveying device of the second aspect, since the control / operation device and the surveying device are provided with a remote control function, the control / operation device can be used separately from the surveying device. It is not necessary to touch the surveying equipment more than necessary at the time, it is possible to maintain the installation accuracy, and it is also possible to carry out surveying work at a construction office in the site distant from the surveyed object or at a place other than the site It becomes possible.
[0030]
According to the fully automatic surveying device according to claim 3, since the surveying instrument is provided with the penlight so as to have an optical axis parallel to the optical axis of the telescope, a target fixed to the surveying point is used. The reflected light from the penlight enters the telescope in parallel and supplies sufficient brightness, so that even when the object to be surveyed is in a dark place such as in a tunnel, the field image of the telescope can be easily grasped on the LCD monitor screen. It is possible to do.
[0031]
According to an automatic surveying method according to a fourth aspect of the present invention, there is provided an automatic surveying method using the fully automatic surveying device according to any one of the first to third aspects, wherein each of the plurality of survey points set on the surveying object is provided. A first step of arranging a target and causing the surveying instrument to recognize the target, and a scale center point of a telescope provided in the surveying instrument is provided at a first surveying point captured in a visual field image of the telescope. The surveying instrument is directly opposed to the target using an automatic tracking mechanism so as to enter the image of the target, and the field of view image in which the target is stored is focused using the autofocus mechanism of the telescope, and the surveying is performed. A second step of roughly collimating by an apparatus, and an image processing apparatus provided in the fully automatic surveying apparatus, from an image captured by the camera, a center of gravity position of the target and a telescope. Calculate the horizontal and vertical deviation from the scale center point position, and add this horizontal angle and vertical angle obtained by the approximate collimation in the second step as the angle deviation, thereby obtaining the horizontal angle and the horizontal angle of the measurement point. Since the third step of obtaining the vertical angle and the fourth step of repeating the second step and the third step for all the measurement points are performed, the surveying work at the plurality of measurement points is automatically performed. In addition, since no operator is involved, it is possible to perform surveying while maintaining a certain accuracy for a plurality of measurement points.
[Brief description of the drawings]
FIG. 1 is a diagram showing a fully automatic surveying device of the present invention.
FIG. 2 is a view showing a liquid crystal monitor screen of the fully automatic surveying device of the present invention.
FIG. 3 is a diagram showing distance measurement using the laser distance meter of the present invention.
FIG. 4 is a diagram showing the principle of the surveying method of the present invention.
FIG. 5 is a diagram showing a conventional automatic surveying device.
FIG. 6 is a view showing a liquid crystal monitor screen of a conventional automatic device.
[Explanation of symbols]
REFERENCE SIGNS LIST 1 Fully automatic surveying device 2 Surveying device 3 Telescope 4 Scale 5 Laser distance meter 6 CCD camera 7 Control / operation device 8 LCD monitor screen 9 Operation panel 10 Remote operation means 11 Image processing device 12 Auxiliary equipment 13 Storage box 14 Target 14a Sphere 14b Mounting jig 15 Measurement point 15a First measurement point 15b Second measurement point 16 Survey object 17 Penlight 18 Automatic surveying device 19 Surveying device 20 Telescope 21 CCD camera 22 LCD monitor screen 23 Target 24 Control / operation device

Claims (4)

A target located at the survey point set for the survey target,
A surveying instrument for measuring the relative position of the target,
A camera attached to an eyepiece of a telescope provided in the surveying instrument;
A control and operation device including a liquid crystal screen for displaying an image captured by the camera and an operation terminal for performing a measurement operation;
An image processing apparatus that performs image processing using an image captured by the camera,
The surveying instrument is provided with an automatic tracking mechanism for automatically tracking the target,
The telescope is provided with an auto-focus mechanism for focusing a field of view image,
A fully automatic surveying apparatus, wherein the target is a sphere having a surface coated with a particulate reflecting prism material. The fully automatic surveying device according to claim 1,
A fully automatic surveying device, wherein the control / operation device and the surveying device are provided with a surveying device remote control function. The fully automatic surveying device according to claim 1 or 2,
A fully automatic surveying device, wherein the surveying instrument is provided with a penlight so as to have an optical axis parallel to an optical axis of the telescope. An automatic surveying method using the fully automatic surveying device according to any one of claims 1 to 3,
A first step of arranging a target at each of the plurality of measurement points set on the surveying object and causing the surveying instrument to recognize the target;
The surveying instrument using an automatic tracking mechanism, so that the scale center point of the telescope provided in the surveying instrument falls within the image of the target provided at the first surveying point captured in the visual field image of the telescope. A second step of directly focusing on the target, focusing the visual field image in which the target is stored using the autofocus mechanism of the telescope, and roughly collimating by the surveying instrument;
By the image processing device provided in the fully automatic surveying device, from the image captured by the camera, calculate the horizontal and vertical deviation between the center of gravity position of the target and the scale center point position of the telescope, this deviation A third step of obtaining the horizontal angle and the vertical angle of the measurement point by adding the horizontal angle and the vertical angle obtained by the approximate collimation in the second step as the angle deviation;
An automatic surveying method, comprising: a fourth step of repeating the second step and the third step for all the measurement points.

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