JP2002090144A - Secular change monitoring system using automatic tracking total station and storage medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To set a total station in a free position and efficiently and precisely monitor the secular change of a structure such as building without requiring a skilled operation. SOLUTION: In this secular change monitoring system using automatic tracking total station, a plurality of observation target points Pi (i=1-n, n+1-n+m, etc.), provided in buildings BL1, BL2, etc., is observed in a total station 1 at the first of secular change monitoring, whereby a basic data is gained and stored. In a fixed point observation is performed at prescribed time intervals to observe the secular change of the buildings, the automatic tracking total station 1 is set in an optional position PM allowing the observation operation, and successively turned to track each observation target point Pi on the basis of each point observation order and each point coordinate of the basic data to obtain a fixed point observation coordinate data for each point Pi. The coordinate of an equipment point PM is automatically calculated by equipment coordinate calculating function by observing at least two reference points PB and PC.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an aging monitoring system using an automatic tracking total station for investigating structural aging such as distortion of a building or displacement of the ground using a total station.

[0002]

BACKGROUND OF THE INVENTION Buildings, for example, building columns, must be repaired if they become structurally distorted. For this reason, it is necessary to inspect the columns of the building for distortion several times a year and monitor and manage the degree of distortion. In land management, it is also necessary to investigate whether the ground has shifted due to landslides or the like. Then, a method of investigating the secular change of a building or land using a total station is considered.

For example, in FIG. 1, when investigating a plurality of pillars of a building BL, a predetermined reference point PA is set as an instrument point PM, and a total station TS is horizontally set on this point. The reference point PB is collimated as a rear viewpoint to obtain a basic angle, and the observation target points P1, P2,
, Pn (i = 1, 2,..., N: observation target point number) are provided with prism mirrors (also simply referred to as prisms or mirrors) for observation, and the basic coordinates P10 ( x10, y10, z10), P20 (x20,
y20, z20), ..., Pn0 (xn0, yn0, zn
0) is calculated and recorded as basic coordinate data Pi0 before the survey. Thereafter, every time a predetermined period elapses, a survey is performed, the total station TS is horizontally set on the same instrument point PM, the same rear viewpoint PB is collimated by the total station, and the basic angle is acquired. (Inspection coordinates) P1k (x1k, y1k, z1k), P
2k (x2k, y2k, z2k),..., Pnk (xn
k, ynk, znk) to calculate the survey coordinate data Pik
(K = 1, 2, 3,...: Investigation point number), and the deviation amount ΔPik = Pi0−P compared with the basic coordinate data Pn0
ik is calculated and recorded.

[0004] In such a method, there are the following problems: (1) It is very time-consuming to install the instrument horizontally on the reference point (instrument point) PM unless a person skilled in surveying work is used. It is a tedious task. (2) If the person who collimates the mirror when acquiring the basic coordinate data Pi0 is not the same as the person who collimates the mirror during the survey, a collimation error occurs. (3) Manually performing all collimation operations using the total station TS imposes a great burden on the observer as the number of observation points increases. (4) Since it is artificially checked which inspection coordinate Pik is to be compared with which basic coordinate Pi0, it takes time to search the observation target point Pi of the basic coordinate to be compared and the inspection coordinate.

[0005]

SUMMARY OF THE INVENTION In view of such circumstances, the present invention monitors the positions of a plurality of locations in a building with a total station after a predetermined period of time, and monitors the secular change of the structure of the building and displacement of points. At this time, using a total station with an automatic tracking function, the locations to be monitored are sequentially
It is an object of the present invention to provide a labor-saving aging monitoring system capable of automatically and accurately observing and enabling a total station to be installed at a free position.

[0006]

According to a main feature of the present invention, a means for storing first observation data obtained by observing an observation target point to be monitored, a method for storing the first observation data in the stored first observation data, Aging monitoring using an automatic tracking total station comprising a tracking means for tracking the automatic tracking total station to the observation target point based on the data, and a data processing means for acquiring the second observation data of the observation target point tracked by the automatic tracking total station. System, and a program readable in an observation data processing system capable of communicating with the automatic tracking total station, wherein the automatic tracking total station is configured based on the first observation data obtained by observing the observation target point to be monitored. Steps to track the observation target point and automatic tracking total step Deployment recording medium for aging monitor that records a program comprising a step of obtaining the second observation data of observation target point tracking is provided.

According to another feature of the present invention, a means for storing first observation data obtained by observing an observation target point to be monitored, and an observation operation based on the stored first observation data. An automatic tracking total station comprising a tracking means for tracking an automatic tracking total station installed at any possible position to an observation target point, and a data processing means for acquiring second observation data of the observation target point tracked by the automatic tracking total station. The aging monitoring system used is provided.

[0008] In the aging monitoring system using the automatic tracking total station according to the present invention, the first observation data includes an observation sequence number and observation target point coordinate information, and the tracking means responds in an order according to the observation sequence number. The automatic tracking total station can be configured to turn near the position indicated by the observation target point coordinate information. Further, the data processing means can be configured to calculate the coordinates of the observation target point for the second observation data, and to perform a comparison test with the first observation data.

According to the main feature of the present invention, at the beginning of the aging monitoring, the structure (BL1,
BL2) and other observation target points [Pi
(I = 1 to n, n + 1 to n + m,...)], And obtains and records the first observation data [basic data] (Pi0 and the like). When performing fixed-point observation after a predetermined period in order to check the secular change of a building, the automatic tracking total station (1) is used, and the first observation data (Pi0) stored by the automatic tracking (collimation) function is used. Etc.), the total station is tracked to each observation target point (Pi), and the second observation data [fixed-point observation data] (Pik etc.) of each tracked observation target point (Pi) is obtained.

The above-mentioned first observation data [basic data]
When acquiring (Pi0 or the like), for example, the coordinate calculation and recording of the basic data can be performed by using a numeric plate function of a portable computer for the field called an “electronic flat plate” such as a pen computer. It is possible to eliminate entry errors. Moreover, since the automatic collimation function of the automatic tracking total station is used for collimating the prism (mirror) of each observation target point (Pi), the observation operator does not need to be an expert.

According to another feature of the present invention, the automatic tracking total station is set at an arbitrary position where observation operation is possible at the time of aging investigation, and it is not necessary to set the total station at the reference point (PA). The reference station PA or any other place may be installed at any position.) Therefore, even a person who is not used to the surveying work can easily install the total station. In this case, the instrument point (P
M) coordinates (Pmk) are two or more reference points (PB, PB
By observing C), it can be automatically calculated by the instrument coordinate calculation function.

In the aging monitoring system according to the present invention, the first observation data [basic data] (Ni, Pi0
Etc.) include the observation order number (Ni) and the observation target point coordinate information (Pi0), and when performing automatic tracking, the corresponding observation target point coordinate information (Pi0) in the order according to the observation order number (Ni). The automatic tracking total station (1) is turned near the position indicated by ()). That is, at the time of the survey (inspection), for example, the coordinate values (Pi0) of the first observation data are automatically and in order in the order (Ni) registered in the on-site portable computer (electronic flat plate).
, The automatic tracking total station (1) is automatically turned, and the prism (mirror) is automatically collimated to acquire the second observation data. Therefore, it is possible to sequentially and accurately observe the locations to be observed of the building without requiring a skilled operation technique.

In the aging monitoring system according to the present invention, the second observation data is further processed to calculate the coordinates [Pik (xik, yik, zik)] of each observation target point, and the first observation data [Pi0]. (Xi0, yi
0, zi0)]. As described above, the coordinate calculation is automatically performed, and even the inspection with the first observation data (basic data) is automatically performed, so that the number of workers can be significantly reduced. further,
All surveys (inspections) for monitoring secular changes are performed automatically, and by automatically checking coordinates, observations are made at a predetermined time regardless of the survey (observation) environment. An investigation work schedule can be easily created.

[0014]

Preferred embodiments of the present invention will be described below in detail with reference to the drawings. The following embodiment is merely an example, and various modifications can be made without departing from the spirit of the present invention.

FIG. 2 is a system block diagram of a total station in an aging monitoring system using an automatic tracking total station according to an embodiment of the present invention. Total station (T
S) 1 is also called a motorized total station, and includes a control unit 11, a lens barrel unit 12, a driving unit 13, a light emission control unit 14, a light reception control unit 15, an angle measurement unit 16, an input / output interface 17, and the like, which are not shown. However, an operator such as a keyboard for performing various instructions on control, and a display (LCD display) for displaying operation guide information and various data necessary for observation work are arranged on the outer surface of the TS housing.

The control unit 11 includes a main memory (RAM) and a read-only memory (RO) in addition to the central processing unit (CPU).
M), a static RAM (SRAM), an IC card drive, and the like. The lens barrel 12 includes a tracking optical system, a collimating telescope, and a distance measuring unit. Can rotate horizontally and vertically.

In the control section 11, programs such as a calculation program necessary for functioning as a total station are recorded in the ROM, and can be configured to be updatable by using, for example, a flash ROM. In addition, I card drive
By setting the C card, an attached program for adding various additional functions as needed can be used. Therefore, the control unit 11 uses the processing function of the CPU to
Alternatively, based on the total station control program stored in the IC card memory (set in the IC card drive), the system controls each part of the system while storing the data being calculated in the main memory. Then, observation data obtained by the TS observation can be stored in the SRAM. In this case, various commands can be given from the on-site computer 2 via the interface 17, and the observation data obtained in the SRAM can be transmitted to the on-site computer 2 via the interface 17. It can also be transmitted to a host computer (not shown).

The control unit 11 drives the lens barrel 12 in the horizontal and vertical directions via the respective servo motors of the drive unit 13 to move the lens barrel 12 from the tracking optical system 12 controlled by the light emission control unit 14 to a target point. The emitted laser beam is scanned two-dimensionally in the horizontal and vertical directions. When the tracking optical system 12 receives the reflected beam from the prism (mirror) installed at the target point in response to the emission of the laser beam, the controller 1
1 detects the reflected beam signal via the light receiving control unit 15 and drives each servo motor of the drive unit 13 so that the detected position is always located at the center of the scanning range. Therefore,
The control unit 11, the tracking optical system, and the driving unit 13 function as an automatic tracking (automatic collimation) system that automatically tracks a target point and automatically collimates the target point.

The control unit 11 controls the lens barrel 1 via a driving unit 13.
When the target 2 is collimated by driving 2 horizontally and vertically,
The angle measuring unit 14 functions as an angle measuring system by measuring the horizontal angle and the vertical angle of the target point based on the horizontal and vertical rotation angle signals. When collimating the target point, the control unit 11 measures the distance to the target point based on the outgoing signal of the transmitted light and the incoming signal of the received light at the distance measuring unit of the lens barrel unit 12 to measure the distance. Functions as a distance system.

The electronic flat plate 2 is a portable computer for a site (pen computer) that mainly performs the secular change observation work according to the present invention in cooperation with the total station 1, and includes a CPU 21, a system memory 22, an external storage device 23, An input operation device 24 having a pen-shaped operation element, a display device 25 such as a display, an interface 26, and the like are provided. These devices 21 to 26 are connected to each other via a bus 27.

The CPU 21 for controlling this system performs various controls in accordance with various observation application programs, and particularly, in accordance with the processing program (aging monitoring program) relating to the aging observation business according to the present invention, basic data observation and fixed point observation. And a system memory (ROM & RAM) 22 stores a basic program and fixed data / parameters in a ROM.
(Read only memory) and RAM (random access memory) for temporarily storing various observation application programs and data. The external storage device 23 stores a CD-ROM in addition to the HDD (hard disk drive).
A storage device using a storage medium such as an R / FDD (floppy disk) / MO (magneto-optical) disk is included, and various processing programs related to secular change observation (secular change observation program, etc.) / Data (basic data file, fixed point observation Data files, etc.).

The input operation device 24 is operated by mainly performing a simple operation on a screen by a pen-type operator while visually recognizing various screens displayed on a display 25 such as an LCD (liquid crystal display). This is an input for performing various processes for the secular change observation business. The electronic flat plate 2 can communicate with the total station 1 via the interface 26, and can communicate with a host computer (not shown).

For example, as shown in FIG. 1, a user who performs the secular change observation work has a total station (TS).
1 is set at a predetermined instrument point PM, an instruction is issued from the electronic flat plate 2, and the observation target point Pi (i = 1, 2, 3, 3) of the building (building) BL is transmitted by the total station (TS) 1.
.., N) are observed. When the observation data is transmitted from the total station (TS) 1 to the electronic flat plate 2 via the interfaces 17 and 26, the electronic flat plate 2 processes the observation data to obtain the position coordinates (xik, yik, zik) [k is the number of observations, k =
0 represents the number of observations at the beginning of monitoring, and k = 1, 2,... Represents the number of observations at a fixed point. ] Is calculated. The interfaces 17 and 26 are connected to the total station 1 after on-site observation.
Alternatively, it is used to connect the electronic flat plate 2 to a host computer (not shown) for editing observation data located indoors.

[Observation work for obtaining basic data] FIG. 3
FIG. 4 shows an example of an observation work flow for acquiring basic data in an aging monitoring system using an automatic tracking total station according to an embodiment of the present invention. In this work flow, first, in a first step S1, prisms (mirrors) are installed at all the observation target points Pi (i = 1 to n) from which the basic data Pi0 should be acquired, as in FIG. In the next step S2, predetermined reference points PA, P
For B, the reference point PA is set to the instrument point PM, and the reference point PB is set to the back viewpoint. Then, in step S3, the automatic tracking total station is set on the set instrument point PM (= reference point PA). Set 1 horizontally.

Next, in step S4, the electronic flat plate 2 is started, and in the next step S5, the mechanical point PB is set on the electronic flat plate 2.
And the rear viewpoint PA. In response, step S
In step 6, the total station 1 is manually collimated toward the rear viewpoint to obtain a basic angle φ0 of the coordinate system, and an observation target point (also referred to as a “basic point”) Pi in step S7 (FIG. 4) and subsequent steps. Enter basic observation work.

In step S7, the total station 1 is manually orientated in the direction of the observation target point Pi which is a basic point to be observed in the subsequent fixed point observation. In the next step S8, the automatic collimation function of the automatic tracking total station 1 is set. The prism (mirror) set at the observation target point Pi is automatically collimated by using the same. Subsequently, in step S9, the horizontal angle of the collimated observation target point Pi is measured by the angle measuring and distance measuring functions of the total station 1. Obtain αi, the vertical angle θi, and the oblique distance Si to obtain basic observation data. Then, step S1
0, the electronic flat plate 2 calculates the observation target point P from the basic angle φ0 and the basic observation data αi, θi, Si.
The three-dimensional coordinate value Pi0 (xi0, yi0, zi0) of i is calculated and stored in the RAM of the memory 22 together with the observation sequence number (observation sequence number) Ni, and then step S11 is performed.
Proceed to.

In step S11, it is determined whether or not the basic data to be acquired still exists.
In step S), the process returns to step S7 to repeat the operations in steps S7 to S11. Otherwise (NO), the process proceeds to step S12. Then, in step S12, the observation order Ni and the three-dimensional coordinate values Pi0 (xi0, yi0, xi) of the observation target point Pi stored in the RAM (22) of the electronic flat plate 2 are stored.
A series of data for each instrument point PM consisting of zi0) is output as a file to the external storage device 23, and is recorded as basic data in the basic data file storage area. In this way, the work flow for acquiring the basic data using the total station 1 on a certain instrument point PM ends.

In the above-described basic data acquisition and observation work, the total station 1 is set at a predetermined reference point PA.
Has been described as an example, but if there is no reference point at the observation site where the total station 1 can be installed,
It is possible to adopt a method in which the total station 1 is freely set at a point where two or more reference points can be seen, and the machine point coordinates of this point are calculated. For example, as shown in FIG. 5, when the total station 1 cannot be set at the reference point PA, a point at which the plurality of reference points PB and PC can be collimated is set at the instrument point PM, and the instrument point PM is set. These reference points PB, PC from total station 1 installed in
Observe Then, the instrument point P is obtained from the observation data of the reference points PB and PC using the backward resection method or the instrument coordinate calculation function.
The coordinate value Pm0 (xm0, ym0, zm0) of M is calculated.

Although the automatic tracking total station 1 is used in the basic data acquisition and observation stage in the above-described example, a total station having no automatic tracking function may be used. However, it is better to use the automatic tracking total station in order to eliminate the collimation error of each observer and perform accurate observation. Further, in the above-described basic data acquisition observation work, the observation target point P1 of one building from the total station 1 installed at a certain instrument point P is used.
Although the case of observing .about.Pn has been described as an example, as shown in FIG. 5, when there are a plurality of buildings to be monitored, the observation target points P1 to Pn and Pn + 1 of each of the buildings BL1 and BL2.
~ Pn + m can be observed from the total station 1 on the instrument point PM. In this case, a building identification code is added to the observation target points P1 to Pn and Pn + 1 to Pn + m. In any case, among the observation target points (P1 to Pn, Pn + 1 to Pn + m), for the observation target point that cannot be collimated from the total station 1 on the instrument point PM, the instrument point that is set separately is FIG.
Needless to say, observation is performed according to the work flow after step S2 in FIG.

As described above, the basic data obtained in the basic data obtaining operation is provided with an identification code for each building and each machine point, and is used as a basic data file in the electronic flat board 2.
Is recorded in the basic data file storage area of the external storage device. This basic data file is further transferred from the electronic flat plate 2 to the host computer and stored in the aging management system built in the host computer.

Here, the aging monitoring system using the automatic tracking total station according to the present invention will be described in brief with reference to FIG. 5. In this system, at the beginning of the aging monitoring, a plurality of buildings provided in the buildings BL1 and BL2 are provided. Observation target point Pi (i = 1 to n, n + 1 to n + m,...)
Are sequentially observed by the automatic tracking total station 1 to obtain basic data (first observation data) Ni, Pi.
0 is acquired and stored. When performing fixed point observation after a predetermined period in order to check the secular change of the building, the automatic tracking total station 1 is installed at an arbitrary position PM where the observation can be performed, and the basic data is read. Then, based on each point observation order Ni and each point coordinate Pi0 of the basic data, each observation target point Pi is sequentially turned and tracked to acquire fixed point observation coordinate data (second observation data) Pik of each point Pi. .
The coordinates Pmk of the instrument point PM are two or more reference points PB, P
By observing C, it can be automatically calculated by the backward resection method or the instrument coordinate calculation function.

More specifically, in an observation operation for acquiring basic data, two or three or more reference points PA are used.
PC is set, and the total station 1 is set horizontally at an arbitrary position (in the case of FIG. 5) or one of the reference points PA (see FIG. 1). Next, the coordinates of the machine point PM at which the total station is installed are calculated using the rear intersection method or the machine coordinate calculation function, or are obtained from the coordinates of the one reference point PA. Also, required observation target points P1, P2,..., Pn to be monitored of the buildings BL1, BL2; Pn + 1,
, A prism (mirror) is installed at Pn + m. In this case, the observation target point is arbitrarily set in accordance with the required monitoring content. For example, the upper P is attached to one pillar of the building BL1.
3. In some cases, only a specific part in a building is set as an observation target point, such as installing mirrors in the middle part P4 and the lower part P5. Then, each observation target point is efficiently and accurately observed using the automatic collimation function of the total station 1, and the basic coordinates of each observation target point are automatically calculated on the electronic flat plate 2 based on the observed data. It is recorded as basic data in the electronic flat plate 2 (external storage device 23). Such automatic tracking observation and coordinate calculation / recording work are repeated for the number of observation target points.

In the subsequent investigation work called "fixed-point observation work", the total station 1 is set horizontally at an arbitrary position (in the case of FIG. 5), and the coordinates of the instrument point PM are calculated by using the rear intersection method or the function. [The same reference point PA as the basic data acquisition work may be used as the instrument point PM.
In this case, the coordinate value of the reference point PA is used]. Next, the recorded basic data is read into the work area of the electronic flat plate 2. When an observation start instruction is given, observation is automatically performed for all observation target points according to the contents of the basic data [turn to the observation point → automatic tracking (automatic collimation) → angle /
Obtain distance], calculate the coordinates of each observation target point, check the comparison with the basic coordinates of the basic data, and end the investigation work.

From this, the problems can be solved as follows: (1) Since the total station does not need to be installed on the reference point, anyone can easily install the instrument. (2) Since all observation and inspection operations are automatically performed, human errors such as collimation errors, recording errors, calculation errors, and inspection errors can be prevented. (3) Since the observation or inspection work is automated, it is easy to manage the aging monitoring schedule. And so on.

[Fixed Point Observation Work] FIGS. 6 to 9 show an example of a fixed point observation work flow in the aging monitoring system using the automatic tracking total station according to one embodiment of the present invention. This work flow is performed periodically or irregularly after a predetermined period after the observation work for acquiring the basic data. In the following description, it is assumed that the survey time point number k indicates that it is the k-th fixed point observation work after the basic data acquisition observation work (k ≧ 1).

First, in the first step Q1, as in FIGS. 1 and 5, all observation target points from which observation data Pik should be obtained, that is, observation target points Pi from which basic data (coordinate values Pi0, etc.) have been obtained. A prism (mirror) is installed at (i = 1 to n). This operation is unnecessary when the prism (mirror) is permanently installed at each observation target point.

Next, in step Q2, two or more reference points PB and PC are set as shown in FIG.
B, Install a prism (mirror) on PC. Note that this installation work is not necessary if already installed. In a succeeding step Q3, an instrument point PM at which these reference points PB and PC can be collimated is set, and the instrument point PM is set.
The total station 1 is set horizontally on top. The instrument point PM set here is an instrument point (reference point PA or a point set separately) coordinate value Pm at the time of basic data acquisition observation work.
0, all the observation target points P observed from the position of the coordinate value Pm0 during the basic data acquisition observation work.
It is preferable that i be a point that can be observed. In the next step Q4, the set mechanical point P on the electronic flat plate 2 is set.
The basic data on M is read from the basic data file storage area of the external storage device 23 into the RAM (in the memory 22).

Subsequently, in step Q5, the set reference point (PB, PC) is designated from the electronic flat plate 2.
In the next step Q6, in response to this instruction, the user manually points the total station 1 in the direction of the reference point (PB, PC), and uses the automatic collimation function to set the reference point (PB, PC).
Of the reference point (PB, PB)
Observe the horizontal angle, vertical angle and oblique distance of C). After this,
In step Q7, it is determined whether two or more reference points have been observed. If two or more reference points have been observed (YES), the flow proceeds to step Q8 (FIG. 7). Returning to Q5, the operations of steps Q5 to Q7 are repeated.

When the processing of steps Q5 to Q7 is performed for two or more reference points (PB, PC) and the process proceeds to step Q8 (FIG. 7), the electronic flat plate 2 uses the backward resection method or the instrument coordinate calculation function. From the observation data (horizontal angle, vertical angle and oblique distance) on the set reference points PB and PC, the coordinate value Pmk (xmk, ymk, zmk) of the instrument point PM where the total station 1 is currently installed and the new coordinates are obtained. When the horizontal angle of the total station 1 is 0, x
−How many times the coordinate is on the y coordinate axis (= angle φk formed with the y axis)] is calculated and stored in a predetermined area of the RAM (22). The accuracy of the calculated instrument point coordinate value Pmk is determined in step Q9. If the accuracy is determined in step Q9 to be poor (NO), the process returns to step Q5 (FIG. 6) and returns to step Q5. Redo the work in Q9. If the accuracy is within the correct range, step Q9
From (YES), the fixed point observation processing of step Q10 and thereafter is started.

In step Q3, if there is a reference point at which the total station 1 can be installed at the observation site (for example, if the total station can be installed at the reference point PA as shown in FIG. 1), the reference point ( P
A total station may be installed in A). In this case, step S5 is replaced with step Q5 to step Q8.
5, S6 (FIG. 3).

In step Q10, when the observation order Ni is set to "1" with respect to the basic data to start fixed-point observation, the electronic flat panel 1 follows the observation order Ni set in the next step Q11. The basic coordinate data Pi0 of the observation target point Pi is obtained from the basic data, and subsequently, in step Q12, based on the basic coordinate data Pi0, the angle (turn angle) αi0 at which the total station 1 should turn to observe each observation target point Pi. [Turning horizontal angle] and θi0 [turning vertical angle] are calculated, and in step Q13, an automatic turning command is issued to the total station 1 so as to turn by the turning angles αi0 and θi0.

The total station 1 responds to the automatic turning command from the electronic flat plate 1 as shown in step Q14.
The vehicle automatically turns around the observation target point Pi. Then, in step Q15 (FIG. 8), when "automatic tracking" is instructed to the total station 1, the operation starts to capture the prism (mirror) installed at the observation target point Pi using the automatic tracking / collimating function. In response to this, the electronic flat plate 1 acquires the state signal of the capturing operation in step Q16, and performs the analysis processing in subsequent steps Q17 to Q25. First, in step Q17, it is determined whether or not the total station 1 has captured the prism (mirror) at the observation target point Pi. If the total station 1 has captured the prism (mirror) (YES), the process proceeds to step Q18, otherwise (NO). Proceed to step Q19.

If the process has proceeded to step Q18,
Observation data of the observation target point Pi (horizontal angle αik, vertical angle θ
ik and the oblique distance Sik) are obtained, and the next step Q20
Then, based on the observation data, the coordinate value Pik (xik, yik, zik) of the observation target point Pi is calculated, and subsequently, in step Q21, the calculated coordinate value Pik (xi
k, yik, zik) is compared with the observation target point coordinate value Pi0 (xi0, yi0, zi0) of the basic data. Further, in step Q22, it is determined whether or not the comparison result is within the accuracy range. Here, the accuracy range is a threshold value for the structural displacement of the observation target point, and can be set in advance by the user. If the comparison result is within the accuracy range, the process advances from step Q22 (YES) to step Q23 (FIG. 9) to display an “O” mark on the screen of the display 25 of the electronic flat plate 1; (NO), a "@" mark is displayed on the screen in step Q24. Therefore, by this display, it is possible to visually recognize whether the coordinates of the observation target point are displaced beyond the predetermined range.

On the other hand, when the total station 1 has not captured the prism (mirror) of the observation target point Pi and has proceeded from step Q17 (NO) to step Q19, the total station 1 receives a turning command in step Q19. It is determined whether a predetermined time has elapsed since the start of the turn. Here, if the fixed time has not elapsed (NO), the process returns to step Q15 and returns to steps Q15 to Q15.
Like Q19, prism (mirror) at observation target point Pi
The capturing operation is continued by the total station 1 until the capturing is performed. However, if the image is not captured even after the elapse of the predetermined time, the process proceeds from step Q17 to step Q25 (FIG. 9) via step Q19, and an “X” mark is displayed on the screen (22) of the electronic flat plate 1. Since the "x" mark indicates that the observation target point to which the mark is added no longer exists or cannot be collimated from the instrument point PM, the mark is visually determined.

After the display processing of steps Q23 to Q25, the process proceeds to step Q26. In step Q26, it is determined whether or not basic data relating to another observation target point still exists. If other basic data exists, the observation order Ni is set to a value obtained by incrementing “+1”. Returning, the fixed point observation processing of steps Q11 to Q25 is performed for the next observation target point Pi, and the fixed point observation processing is sequentially repeated for the observation target point Pi in the basic data according to the observation order Ni. When the fixed point observation processing of all the observation target points Pi in the basic data is completed, the process proceeds from step Q26 to step Q27.

In step Q27, the basic data (Pi
0) is updated or not, and when it is updated (YE
In step S28, after the basic data file is updated (Pi0 ← Pik) in step Q28, or immediately when the data is not updated, the fixed-point observation work on the instrument point PM is terminated. 6 to 9 for an observation target point that does not belong to the instrument point PM, from an instrument point set separately.
Observe according to the work flow of.

In step Q28, each coordinate value Pmk, Pi obtained in the current (k-th) fixed point observation is obtained.
The basic data file in the external storage device 23 may be updated so that fixed-point observation coordinate data such as k is sequentially added to the (k-1) -th basic data. By doing so, any observation target point coordinate data (Pi0,
.., Pik−1) can be compared with the current (k-th) observation target point coordinate data Pik.

Regardless of such data update and its presence or absence, various data (including ○, Δ, and X marks) acquired in this fixed point observation work are stored in a predetermined storage area (fixed point observation Data file). For example, the observation target point marked with “x” can be used for re-observing again in a fixed point observation work from a separately set instrument point.

As described above, the fixed point observation coordinate data (Pmk, Pi
k) and the like are recorded as a fixed-point observation data file (or a basic data file to which the fixed-point observation coordinate data of each time is sequentially added is recorded). This fixed point observation data file (or sequential data added basic data file)
Is further transferred from the electronic flat plate 2 to the host computer and stored in the aging management system built in the host computer.

Therefore, in the aging management system of the electronic plate 2 or the host computer, the basic three-dimensional coordinate data Pi0 of the observation target point Pi is obtained from these files.
The difference between (xi0, yi0, zi0) and the current (k-th) three-dimensional coordinate data Pik (xik, yik, zik) is calculated, and the three-dimensional structure of the building (BL1, BL2) between the initial state and the current state is calculated. By grasping the various shape differences, it is possible to accurately monitor the secular change of the building.

[Calculation of Coordinates of Instrument Point and Determination of Coordinate System] In one embodiment of the present invention, step Q of the fixed point observation work is performed.
As described in FIG. 8 (FIG. 7), the coordinates of the machine point are calculated by the machine coordinate calculation function to determine the coordinate system. When the total station 1 is installed at an arbitrary position in the fixed point observation work, the coordinate value of the instrument point at which the total station 1 is installed is calculated using a known coordinate calculation method such as a backward intersection method based on reference point observation information from the instrument point. Although it can be determined, it can be determined more accurately by using the instrument coordinate calculation function described below. Therefore, a method of calculating the coordinates of the machine point by this machine coordinate calculation function and determining the coordinate system will be described with reference to FIGS.

In the fixed point observation work, first, step Q
6, Q7 (FIG. 6), two or more reference points P
Observe B, PC, ... In this observation, as shown in FIG. 10, the total station 1 was installed with the instrument height hm on the instrument point Pmk (xmk, ymk, zmk).
The known reference points PB, PC,... Are observed from the observation position P of the total station 1.

For example, the reference point PB (xb, yb, zb)
, The reference target point P higher than the observation position P of the total station 1 by the target height hb from the reference point PB.
By collimating B ′ and observing it, the oblique distance Sb, the vertical angle (horizontal is 0 °) θb, and the horizontal angle (clockwise) αbk with respect to the reference target point PB ′ (see FIG. 13) ) To get. Therefore, the reference target point P viewed from the observation position P
The horizontal distance Rb and the vertical distance Hb of B ′ are expressed by the following equation (1),
Rb = Sb × cos θb (1) Hb = Sb × sin θb (2)

Therefore, the z coordinate value zmk of the instrument point Pmk
Can be calculated by the following equation (3) from the relationship in FIG. zmk = (zb + hb) − (hm + Hb) = (zb + hb) − (hm + Sb × sinθb) (3)

Similarly, the reference point PC (xc, yc, z
As for c), by collimating / observing the reference target point PC ′ higher than the reference point PC by the target height hc, the oblique distance Sc, the vertical angle θc, and the horizontal angle (clockwise rotation) with respect to the reference target point PC ′ are obtained. ) Acquire αck (not shown). Thereby, the horizontal distance R of the reference target point PC ′ from the observation position P is obtained.
c and the vertical distance Hc can be obtained by the following equations (4) and (5): Rc = Sc × cos θc (4) Hc = Sc × sin θc (5)

Therefore, the z coordinate value zmk of the instrument point Pmk
Can also be calculated by the following equation (6). The formal z-coordinate value zmk of the instrument point Pmk is expressed by the following equation (3),
The average value of (6) is adopted (any one of the equations may be adopted): zmk = (zc + hc) − (hm + Hc) = (zc + hc) − (hm + Sc × sinθc) (6) )

On the other hand, the xy coordinate values (xm
k, ymk) is calculated as follows. First, as shown in FIG. 11, each reference point PB (xb, yb), PC
When arcs CRb and CRc having the radius of the horizontal distances Pb and Pc from (xc, yc) are drawn, one of the intersections P1 and P2 becomes the instrument point Pmk (xmk, ymk). here,
Angle βbc formed between a straight line between both reference points PB and PC and the x-axis
Is represented by the following equations (7) and (8):

(Equation 1)

Then, the instrument point Pmk (xmk, ymk)
In order to facilitate the determination and calculation of
(Xb, yb) is translated in parallel to the origin of the xy coordinates, and rotated by an angle βbc about the origin O (0, 0). That is, by the coordinate transformation represented by the following equation (9), the new coordinate system (X, Y) of FIG.
Get:

(Equation 2)

In the transformed new coordinate system (X, Y), as shown in FIG. 12, the reference point PB (xb, yb)
B (Xb, Yb) corresponding to the reference point PC (xc, yc) overlaps with the origin C (Xc, yc).
c, Yc) rides on the X axis (X, 0). Therefore, in this coordinate system (X, Y), the arcs CRb ', CRc' of the radii Pb, Pc centered on the points B (= O), C are expressed by the following equation (1).
0), (11):

(Equation 3)

Accordingly, the coordinate values (Xp, Yp) at the intersections P1 and P2 of the two arcs CRb 'and CRc' are given by the following equations (10) and (10).
Since (11) is satisfied, it can be calculated by the following equations (12) and (13):

(Equation 4)

X coordinate value X at intersections P1 and P2 in equation (12)
p can be adopted as the X coordinate value Xmk corresponding to the instrument point Pmk. On the other hand, the Y coordinate values Yp of the intersections P1 and P2 are positive and negative values having the same absolute value as shown in Expression (13). The horizontal angle (clockwise) βk when viewing the second reference point PC from the first reference point PB based on the instrument point Pmk is the observation horizontal angle αbk of the reference points PB and PC at the instrument point Pmk. , Αck. Accordingly, the horizontal angle (clockwise) βk from the first point (reference point PB) to the second point (reference point PC) is 0 to 18 in the instrument point coordinate value Ymk.
If the angle is up to 0 °, a negative value is selected and the horizontal angle βk is set to 1
When the angle is between 80 ° and 360 °, a plus value is selected.

The coordinate system (X, Y) obtained in this way
The coordinate value (Xmk, Ymk) of the above-mentioned instrument point Pmk is obtained by performing a coordinate transformation reverse to the equation (9) according to the following equation (14), thereby obtaining the instrument point in the original coordinate system (x, y). Pm
The xy coordinate values (xmk, ymk) of k are obtained:

(Equation 5)

The coordinate values (xmk, ymk,
When the horizontal angle of the total station 1 is 0, the number of coordinates on the coordinate axis is calculated. The angle (basic horizontal angle) φk of the total station 1 with respect to the y-coordinate axis when the horizontal angle = 0, the observation horizontal angle αbk obtained when observing the reference point PB, and the instrument point Pmk (xmk) represented by the following equation (15) , Ymk)
Since the directional angle δbk from to the reference point PB (xb, yb) has the relationship shown in FIG. 13, the basic horizontal angle φk of the coordinate axes can be calculated by the following equation (16) Similarly, for the point PB, the basic horizontal angle φk
Can be calculated, so that any of these or the average value can be taken as the formal basic horizontal angle φk of the coordinate axes):

(Equation 6)

[Calculation of Coordinates of Instrument Point and Determination of Coordinate System (2)] In the above description, a method of calculating instrument point coordinates by observing two reference points has been described.
By observing three or more reference points, the instrument point coordinates can be more accurately calculated.

For example, when calculating the instrument point coordinates by adding the reference point PD to the reference points PB and PC and observing the three reference points PB to PD, the total station 1 installed on the instrument point Pm is used. Of the reference point PB
Observation horizontal angles (clockwise) αbk to αdk, observation vertical angles θb to θd, and observation oblique distances Sb to Sd are obtained. A horizontal angle (clockwise) βk when the second reference point PC is viewed from the first reference point PB based on the instrument point Pmk.
1 is obtained from the difference between the observed horizontal angles αbk and αck of the reference points PB and PC at the instrument point Pmk, and is a horizontal angle when the third reference point PD is viewed from the second reference point PC (right Around) β
k2 is the observed horizontal angles αck, αdk of the reference points PC, PD.
The horizontal angle (clockwise) βk3 when the first reference point PA is viewed from the third reference point PD is obtained from the difference between the observed horizontal angles αdk and αak of the reference points PD and PA. can get.

Accordingly, in the case of observing the three reference points PB to PD, first, the formal z coordinate value zmk of the instrument point Pmk is obtained by the following equations (3), (6) and (6 '). The average of the calculated zmk values can be adopted (note that
Any of the zmk calculated values by each formula may be adopted): zmk = (zd + hd) − (hm + Hd) = (zd + hd) − (hm + Sd × sinθd) (6 ′)

Next, the x and y coordinate values (xm
k, ymk) are shown in FIGS. 11 and 12 and equations (7) to (1).
The calculation method described using 4) is applied to the first reference point PB.
And the second reference point PC as well as the second reference point PC and the third reference point PD, and the third reference point PD and the first reference point PA. Apply to target.
In this case, the expression (1) for the point PB / PC
3) and two calculation formulas (same as the formula (13)) for the points PC and PD and the points PD and PA
The coordinate values Xp and Yp are calculated, and which of the positive and negative values Yp calculated by these three formulas is used is determined according to the values of the horizontal angles (clockwise) βk1 to βk3. And
By applying the calculation methods of equations (7) to (14), the instrument point P
Three x, y coordinate values (xmk, ymk) of mk are obtained.

Further, using the backward resection method, the x, y coordinates (xb, yb) of the three known reference points PB to PD are defined.
(Xd, yd) and the observation horizontal angle α of each of the reference points PB to PD
One instrument point coordinate (x, y) is obtained from bk to αdk. The four x, y coordinates (xm
The average value of (k, ymk) is defined as the coordinate value of the instrument point Pmk.

When the coordinate values (xmk, ymk, zmk) of the instrument point Pmk are calculated in this way, the basic horizontal angle φk of the coordinate axes is calculated and the coordinate system is determined in the same manner as described with reference to FIG. . That is, based on the calculation formula (16) for the basic horizontal angle φk for the reference point PB and the calculation formula for the basic horizontal angle φk for the other reference points PC and PD similar to this formula, three basic horizontal angles φk of the coordinate axes are obtained. Then, these values are averaged (in some cases, any of these may be used as the formal basic horizontal angle φk of the coordinate axes).

[Calculation of Turning Angle] In one embodiment of the present invention, as described in step Q12 of the fixed point observation work, the instrument point coordinates Pmk (xm
k, ymk, zmk), the coordinate system (the angle on the coordinate axis when the horizontal angle of the total station 1 = 0, the basic horizontal angle φk), and the basic data (observation target point coordinate values) Pi0 (xi0, yi0, zi0), the turning angles αi0, θi0 of the total station are calculated. The calculation procedure of the turning angles αi0, θi0 of the total station 1 in the fixed point observation work will be described below with reference to FIG.

In FIG. 14A, basic data (coordinate values) Pi0 (xi0, yi0, z) are obtained from the instrument point Pmk.
i0), the direction angle δi0 to the observation target point Pi0
Is represented by the following equation (17):

(Equation 7)

Accordingly, the turning horizontal angle αi0 of the total station 1 to the observation target point Pi0 can be calculated by the following equation (18): αi0 = φk + δi0 (18)

As shown in FIGS. 14A and 14B, the total station observation position P (xm
k, ymk, zmk + hm) to the observation target point Pi0 (x
i0, yi0, zi0) is represented by a line segment Si0, and assuming that the line segment projected on the xy plane (z = 0) is on a straight line q, the x− of the line segment Si0 The length of the component Ri0 parallel to the y-plane represents the horizontal distance from the observation position P or the instrument point Pmk to the observation target point Pi0, and can be obtained from the following equation (19):

(Equation 8)

Accordingly, from the relationship shown in FIG. 14B, the turning vertical angle θ of the total station 1 to the observation target point Pi0 is obtained.
i0 can be calculated by the following equation (20):

(Equation 9)

[Calculation of Coordinate Value of Observation Target Point] Finally, the coordinate calculation in step Q20 (FIG. 8) in the fixed point observation work according to one embodiment of the present invention will be briefly described with reference to FIG. In the previous step Q18, as described above, the observation target point Pik is observed by the automatic tracking total station 1, so that the observation horizontal angle αi
Observation data such as k, observation vertical angle θik and observation oblique distance Sik are acquired, and the relationship between these observation data as seen on the vertical plane and on the horizontal plane should be as shown in FIGS. 15 (1) and (2). Can be.

From the relationship shown in FIG. 15A, the observation target point Pi is obtained.
The z coordinate value zik of k (xik, yik, zik) can be calculated by the following equation (21), and the horizontal distance Rik from the instrument point P to the observation target point Pik can be calculated by the following equation (22). Possible: zik = zmk + hm + Sik × sin θik (21) Rik = Sik × cos θik (22)

Since the basic horizontal angle φk from the horizontal angle = 0 of the total station 1 to the y-axis direction has already been calculated when the total station 1 is installed at the instrument point Pmk, the horizontal angle of the y-axis is set to “0”. Then, the horizontal angle δik of the observation target point Pi can be calculated by the following equation (23) from the relationship of FIG. 15B: δik = αik−φk (23)

Therefore, the observation target point Pik (xik, yi
The x and y coordinate values xik, yik of (k, zik) can be calculated by the following equations (24), (25): xik = xmk + Rik × sinδik (24) yik = ymk + Rik × cosδik ...... (25)

[0079]

As described above, according to the present invention, at the beginning of aging monitoring, observation target points such as buildings and points are observed, and first observation data (basic data) is obtained and recorded. In addition, when performing fixed-point observation after a predetermined period to see the secular change of the building or the ground, the first observation data stored by the automatic tracking (collimation) function using the automatic tracking total station is used. , The total station is tracked to each observation target point, and second observation data (fixed-point observation coordinate data) of each tracked observation target point Pi is obtained. Therefore, when acquiring the first observation data, the coordinate calculation and recording of the basic data can be performed using the numerical value plate function of the electronic plate (portable portable computer), so that calculation errors and entry errors can be eliminated. it can. In addition, since the automatic collimation function of the automatic tracking total station is used for collimating the prism (mirror) at each observation target point, the observation operator does not need to be an expert.

According to the present invention, the automatic tracking total station is set at an arbitrary position where the observation operation can be performed at the time of the secular change investigation, and it is not necessary to set the total station at the reference point. That is, if the reference point is 2
The total station can be freely set up anywhere, even if the point can be collimated. Therefore, even a person who is not used to the surveying work can easily install the total station.

Further, according to the present invention, the first observation data (basic data) includes the observation order number and the coordinate information of the observation target point. When the automatic tracking is performed, the first observation data (basic data) corresponds in the order according to the observation order number. Since the automatic tracking total station is turned near the position indicated by the observation target point coordinate information, the automatic tracking total station is automatically turned and collimated to the observation target point in order automatically based on the coordinate values of the first observation data. , And the second observation data (fixed-point observation coordinate data) can be obtained, and the monitoring target portion of the building can be efficiently and accurately observed without requiring skilled operation techniques.

Further, according to the present invention, the second observation data (fixed-point observation coordinate data) is processed to calculate the coordinate values of each observation target point, and the first observation data (basic data).
The inspection is performed in comparison with the coordinate values, and the coordinate calculation is automatically performed, and the inspection up to the first observation data is automatically performed. Therefore, the number of workers can be significantly reduced. In this way, the survey (inspection) work for monitoring the secular change is performed automatically, and the coordinates are also automatically checked. Observations can be made and survey work schedules can be easily created.

[Brief description of the drawings]

FIG. 1 is a diagram for explaining an observation operation for monitoring a secular change of a building structure.

FIG. 2 is a system block diagram showing a hardware configuration of an aging monitoring system using an automatic tracking total station according to an embodiment of the present invention.

FIG. 3 is a part of an observation work flow diagram for acquiring basic data in an aging monitoring system using an automatic tracking total station according to an embodiment of the present invention;

FIG. 4 is another part of an observation work flow chart for acquiring basic data in the aging monitoring system using the automatic tracking total station according to one embodiment of the present invention.

FIG. 5 is a diagram for explaining an observation operation for monitoring a secular change of a building structure in the secular change monitoring system according to the embodiment of the present invention;

FIG. 6 is a first part (1/4) of a fixed point observation work flow diagram for monitoring an aging structural change in the aging monitoring system using the automatic tracking total station according to one embodiment of the present invention; .

FIG. 7 is a second part (2/4) of a fixed-point observation work flow diagram for monitoring an aging structural change in the aging monitoring system using the automatic tracking total station according to one embodiment of the present invention; .

FIG. 8 is a third part (3/4) of a fixed point observation work flow diagram for monitoring an aging structural change in the aging monitoring system using the automatic tracking total station according to one embodiment of the present invention; .

FIG. 9 is a fourth part (4/4) of a fixed-point observation work flow diagram for monitoring an aging structural change in the aging monitoring system using the automatic tracking total station according to the embodiment of the present invention; .

FIG. 10 is a diagram for explaining an observation mode of a reference point in fixed point observation.

FIG. 11 is a diagram for explaining a relationship between a reference point and an instrument point when calculating instrument coordinates in fixed-point observation.

FIG. 12 is a diagram for explaining coordinate conversion of a reference point when calculating instrument coordinates in fixed point observation.

FIG. 13 is a diagram for explaining determination of a coordinate system when calculating instrument coordinates in fixed-point observation.

FIG. 14 is a diagram for explaining a calculation procedure of a total station turning angle in a fixed point observation work.

FIG. 15 is a diagram for explaining a procedure for calculating an observation target point coordinate value from observation data in the fixed point observation work.

[Explanation of symbols]

PA to PC Reference point, PM Instrument point: Total station (TS) installation point, BL, BL1, BL2 building, Pi; P1 to Pn, Pn + 1 to Pn + m Observation target point (basic point), P total station observation position, hm, hb Instrument height and target height, φ0, φk Basic horizontal angle of total station (at basic observation and fixed point observation), Pm0, Pmk Instrument point coordinate value (at basic observation and fixed point observation), Pi0, Pik Observation target point coordinate (basic Observation and fixed-point observation), αi0; αik, αbk turning horizontal angle and observing horizontal angle, θi0; θik, θb turning vertical angle and observing vertical angle, Sb, Sik oblique distance, Rb, Rik horizontal distance.

Claims (5)

[Claims] 1. Means for storing first observation data obtained by observing an observation target point to be monitored, and tracking an automatic tracking total station to the observation target point based on the stored first observation data. An aging monitoring system using the automatic tracking total station, comprising: tracking means for causing the automatic tracking total station to acquire second observation data of an observation target point tracked by the automatic tracking total station. 2. A means for storing first observation data obtained by observing an observation target point to be monitored, and installed at an arbitrary position operable for observation based on the stored first observation data. A tracking means for tracking the automatic tracking total station to the observation target point, and a data processing means for acquiring the second observation data of the observation target point tracked by the automatic tracking total station. Aging monitoring system. 3. The first observation data includes an observation order number and observation target point coordinate information, and the tracking means automatically follows the observation order number in the order in accordance with the observation order number in the vicinity of the position represented by the corresponding observation target point coordinate information. The aging monitoring system according to claim 1, wherein the tracking total station is turned. 4. The data processing means according to claim 1, wherein the data processing means calculates the coordinates of the observation target point for the second observation data and performs a comparison test with the first observation data.
Aging monitoring system according to paragraph. 5. A program readable in an observation data processing system capable of communicating with an automatic tracking total station, wherein the automatic tracking total station is based on first observation data obtained by observing an observation target point to be monitored. Recording a program comprising: a step of tracking the observation target point; and a step of acquiring second observation data of the observation target point tracked by the automatic tracking total station. .