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Motors and A utomatic T arget R ecognition

Motors and A utomatic T arget R ecognition. Motors. Motorized Instruments have 2 Motors: One to Rotate the Alidade Horizontally A Second to Rotate the Telescope Vertically The Motors may be controlled by: The User The Operating System On-Board Programs. Motors.

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Motors and A utomatic T arget R ecognition

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  1. Motors and Automatic Target Recognition

  2. Motors... • Motorized Instruments have 2 Motors: • One to Rotate the AlidadeHorizontally • A Second to Rotate the TelescopeVertically • The Motors may be controlled by: • The User • The Operating System • On-Board Programs

  3. Motors... • Motorized Instruments Do Not have Tangent Locks • The Tangent Drives are 2 Speed Electronic Switches • It’s OK to Rotate the Alidade or Telescope Manually • Motor Resolution is 2 Seconds

  4. Motors Alone... • Speed up the Process of Rotating the Alidade or Telescope

  5. But Motors with ATR... • Enables Automatic Angle and Distance Measurement to the Target without the User Accurately Sighting the Prism • Enables The Instrument to “Lock On” and “Follow” a Moving Target

  6. Motors with ATR... • Enables Remote Controlled Surveying • Makes “Real Time” Mapping Much More Efficient

  7. How ATR Works - Page 1 • A Laser Beam is Transmitted Coaxially Through the Telescope • The Beam is Reflected by the Prism and Returned to the Theodolite • The Received Beam is Recognized by an On-Board Camera (CCD Grid)

  8. How ATR Works - Page 2 • The Position of the Received Light Spot (with respect to the center of the CCD Grid) is Computed. • The Computed Horizontal and Vertical Offsets are used to Control the Motors to Turn the Instrument to Center the Crosshairs on the Prism

  9. How ATR Works - Page 3 To Optimize Measuring Times: • The Instrument Sights the Prism Center Coarser than the Specified Angular Accuracy • The ATR System Measures the Offsets Between the Crosshair and Prism Center • The Horizontal and Vertical Angles are Corrected and Displayed

  10. How ATR Works - Page 4 • The Horizontal and Vertical Angles are Measured to the Prism Center, Regardless of the Crosshair Pointing • Caution: Determination of the ATR Collimation Error Must be Carried Out Periodically

  11. How ATR Works - Page 5 The Search for the Target: • The Sensitive Area of the ATR is Centered and about One-Third of the Field of View • The Prism is Recognized Instantly within this Sensitive Area • If the Prism is Outside the Sensitive Area, the Field of View is Scanned Spirally Searching for the Prism

  12. Warning! Although the Invisible ATR Laser Beam is a Class 1 Laser Product and is harmless under Normal Conditions... It can be Dangerous to look into the beam with Optical Equipment (binoculars, telescopes, etc)

  13. ATR Specifications - Page 1 Pointing Accuracy

  14. ATR Specifications - Page 2 Range

  15. ATR Specifications - Page 3 Rotation and Speed

  16. ATR Operation - ATR Mode • Press the <aF> Fixed Key • Press <F1> (ATR) • This Switches ATR “ON” and Returns to the Previous Dialog • Sight the Prism Coarsely • Activate a Distance Measurement

  17. ATR Operation - ATR Mode • If the Prism is outside the Sensitive Area, the Field of View is Scanned Spirally • If a Prism is Not Found, an Error Message is Displayed • If the Operator Retries the Search, the Scanning Area is increased by 1/3 • If the Prism is Found, the Distance is Measured

  18. ATR Operation - Lock Mode • Lock Mode Will Enable the TCA to Follow a Moving Target • Press the <aF> Fixed Key • Press <F2> (Lock) • The TCA Switches to ATR w/Lock “ON” and Returns to the Previous Dialog • Switching to “Lock” Requires an Initial Distance so that ATR “learns” the Prism

  19. ATR Operation - Lock Mode • Sight the Target Coarsely • Activate a Distance Measurement • If the Prism is Found, the TCA will “Lock On” and Follow the Target

  20. ATR Resolution Modes • ATR Resolution is Defined as the Accuracy of the Center of Prism Determined by ATR • Selecting Different Resolution Settings allows the User to Optimize Acquisition Speed for Various Accuracy Requirements • The More “Inaccurate” that the ATR is Set, the Faster the Measurement

  21. ATR Resolution Modes • The Resolution May be Set with Various Distance Measuring Modes • Press the <aF> Fixed Key • Press <0> (EDM Measuring Program) to Select an Appropriate ATR Resolution as Shown in the Following Table

  22. ATR Resolution Modes

  23. ATR Problems and Countermeasures • Reduced Range • Causes • Hot Sunny Weather • Strong Heat Shimmer • Bright Reflections • Counter-Measures • Reduce Measurement Distance • Measure Without ATR

  24. ATR Problems and Countermeasures • “No Prism Found or Bad Conditions” • Causes: • No Prism in Field of View • Strong Heat Shimmer • Measurement Distance too Great • Too Bright • Countermeasures: • Reduce Distance • Cover Reflections • Measure without ATR

  25. ATR Problems and Countermeasures • “Multiple Prisms Found” • Causes: • Several Prisms in Field of View • Raindrops on Prism or Objective Lens of Telescope • Countermeasures: • Ensure that only one Prism is in Field of View • Remove Raindrops

  26. ATR Problems and Countermeasures • “Position Not Achieved or Prism Unstable • Cause: • Oscillation of Prism at short distances • Countermeasure: • Measure without ATR

  27. ATR Problems and Countermeasures • Disturbance of Target Tracking in “Lock” • Causes: • Measurement Distance too Great • Bright reflection close to Prism (TCA tracks reflection) • Strong Heat Shimmer (TCA trembles or turns away from Prism) • Countermeasure: • Reduce Measurement Distance • Target Prism Manually and Restart “Lock”

  28. ATR Problems and Countermeasures • TCA Suddenly Switches Off • Cause: • There are Very High Current-Consumption Peaks When the Motors are Starting Up and When the EDM is Being Switched on • Countermeasure: • Change the Battery

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