Introduction to the Topcon 9000 Robotic Total Station Topcon TopSurv

Introduction to the Topcon 9000 Robotic
Total Station
Topcon TopSurv (Version 6 Layout)
Procedures Manual
Operations
Covers the day to day operations of the 9000 series robot with TopSurv on the FC200
August 11, 2008
1
Component Overview
Featuring—
•
•
•
Long Range EDM up to 3,000m
Long Range Tracking up to 1,000m
Long Range Reflectorless up to 2,000m
•
•
4 hr battery life on a single charge.
36+ hrs on an external battery.
August 11, 2008
2
Document Map
System Startup—Getting the robotics and data collector online and
linked up to do work.
Page 4
Robotics Control—Getting control of your robot.
Page 5
Backsight Setup—Dead-Man Method—Use this routine if you are
setting a fixed target over a known Backsight point.
Page 6
Backsight Setup—FS Rod Method—Use this routine if you are
setting a Backsight manually with the Foresight Rod.
Page 8
Data Collection—Prism—This is your standard point collection
mode.
Page 10
Data Collection—Non-Prism—Procedure for taking a shot reflectorless.
Page 11
Stakeout—Procedure for putting points on the ground.
Page 12
Scanning—Procedure for capturing a point-cloud.
Page 13
Field Calibrations—This field procedure will calibrate the instrument for tighter verticals and better tracking.
Page 16
Robotic Setup—Radio– Walk though on how to change the radio
channel on the robot.
Page 18
Robotic Setup—RC3– Procedure to set / change the channel on
the RC3.
Page 18
Setting the robot to remote control mode—Sets the robot to receive remote commands from the data collector.
Page 18
TopSurv Robotics Profile Setup on the FC200– Procedure to
create the Robotics profile from scratch on the FC200.
Page 18
August 11, 2008
3
System Startup
Step 1
Step 2
Turn the robot on and put the instrument in Remote
Control Mode.
Turn on the RC3
See page 20 “Setting the instrument to Robotics
Mode” in the setup guide.
Step 3
Step 4
•
Turn on the Data Collector
From the main TopSurv
menu—
•
Run TopSurv
•
Open/Create a job
Tap the Connection Icon
Step 5
Step 6
TopSurv will automatically search
and connect to the Robot.
TopSurv will then make the Blue
Tooth connection to the RC3.
TopSurv will give a audio sound
when the connection is made.
Tap on your RC3 and press
[Select]
Step 7
Step 8
Note: if you RC3 does not appear
in the list… then See Page 23 “Finding the RC3—
Step 20” in the setup guide to detect as save the
RC3.
If the connection is good—
you will see a solid green “ball” in
the upper right hand corner.
The two arrows will be touching to
complete a full circle.
August 11, 2008
4
Robotics Control
Getting Control of your Robot
Step 1
Step 2
Tap <Srv> - <Remote Control>
This is the Remote Control dialog.
Complete control of the aiming
and tracking is controlled from
here.
The current status of the robot is
displayed by a status Icon.
Remote Status Icons—1
•
Remote Status Icons— 2
Standby—The instrument is connected and
awaiting instruction.
Locked—The robot has locked onto to the
prism and is in tracking mode.
Tracking No Target—The robot is in Tracking
mode, but is not locked onto a prism.
Turning—The robot is turning or flipping.
Searching—The instrument is searching for the
prism. Either by Quick-Lock or Search.
Lost Connection—No radio connection to the
Robot.
Remote Control Buttons
Control of the Robot is handled by
a number of command buttons
at the bottom of the dialog.
Remote Control Buttons—1
Quick Lock—Triggers the RC3 to “Call” the
instrument to lock onto the prism.
Search—Triggers the robot to look for the
prism in the predefined search window.
Lock—Turns Tracking ON. The robot will lock
to the prism in the field of view.
Remote Control Buttons—2
Turn—Enters a “turn to” dialog that will allow
you to enter an angle that the instrument will
turn to.
Stop—Turns tracking OFF. Sets the instrument to “Standby” mode.
Map Dialog
Pressing the {Map} tab at the top
changes the display to show the
alternate graphical data.
The Command Buttons are listed
to the side of the dialog.
August 11, 2008
5
Backsight Setup—
Dead-man Method
Setting up the Back Sight.
Step 2
•
Set a fixed 360 prism over the Back Sight point.
Note: Do not mix and match prism types.
Tap <Srv> - <Occ/BS Setup>
•
Measure and record the HR of the BS Target.
•
Create a Job and load the points for the project.
•
Establish communication to the robot and RC3.
Step 3
Step 4
• Set the OCC point.
• Enter the HI of the instrument
• Enter the HR of the FS Rod
• Enter the BS Point.
• Check [] Measure dist to BS.
• Check [] Fixed BS HR and
• Enter the fixed BS HR
Press [HC Set]
Manually turn the robot to the
BS target.
Step 5
Step 6
The Remote Status Icon will
change to Locked.
TopSurv will display the {Data}
dialog.
Press [Set] to set 0 to the robot.
Select the {BS Setup} tab.
Step 7
Step 8
Press [Lock]
Verify that the Remote Status
Icon is “Locked”
Press [Check]
Press [Accept]
August 11, 2008
6
Backsight Setup—
Dead-man Method—Cont.
Step 9
Step 10
The error values displayed show
the quality of the setup and a
record of the “drift and settle” of
the instrument throughout the day.
If the values are out of range,
then re-setup the occupation or
check your data.
If the values are within range:
Press [Close]
Step 11
Step 12
You are now ready to collect or stake-out data.
AUTO BS Check—
Step 2
From the main TopSurv menu:
Verify that the [] “Turn to BS” is
checked.
Press <Srv> - <OCC/BS Setup>
Press [Check]
Warning: the instrument will turn
automatically and lock to the BS.
Step 3
Step 4
Verify that the Remote Status
Icon is “Locked”
Verify the values are in range.
Press [Close]
Warning: the instrument will turn
from the BS and retarget the last
known location of the FS rod.
Press [Accept]
August 11, 2008
7
Backsight Setup—
FS Rod method
Step 1
Step 2
•
Create a Job and load the points for the project.
From the main TopSurv menu:
•
Establish communication to the robot and RC3.
Tap <Srv> - <Occ/BS Setup>
Step 3
Step 4
•
•
•
•
•
Occupy the BS point with the FS
Rod.
Set the Occ Point.
Set the HI
Set the HR
Set the BS Point
Check [] Measure dist to BS
Press [Qlock]
Press [HC Set]
Note: the robot will turn to the
RC3 and lock to the prism and
turn tracking on.
Step 5
Step 6
The Remote Status Icon will
change to Locked.
TopSurv will display the {Data}
dialog.
Press [Set] to set 0 to the robot.
Select the {BS Setup} tab.
Step 7
Step 8
Verify that the Remote Status
Icon is “Locked”
Press [Check]
Press [Accept]
August 11, 2008
8
Backsight Setup—
FS Rod method—Cont.
Step 9
Step 10
The error values displayed show
the quality of the setup and a
record of the “drift and settle” of
the instrument throughout the day.
If the values are out of range,
then re-setup the occupation or
check your data.
If the values are within range:
Press [Close]
Finish
You are now ready to collect or stake-out data.
AUTO BS Check—
Step 2
From the main TopSurv menu:
Verify that the [] “Turn to BS” is
checked.
Press <Srv> - <OCC/BS Setup>
Press [Check]
Warning: the instrument will turn
automatically and lock to the BS.
Step 3
Step 4
Verify that the Remote Status
Icon is “Locked”
Verify the values are in range.
Press [Close]
Warning: the instrument will turn
from the BS and retarget the last
known location of the FS rod.
Press [Accept]
August 11, 2008
9
Data Collection—Prism
Step 1
Step 2
Tap <Srv> - <Observations>
The SS dir dialog is where basic
points are stored.
Remote Status Icon
Remote Control Commands
Step 3
Step 4
{Map} tab shows alternate display
dialog.
{Data} tab shows the result of
the previous measurement.
Remote Control Commands
Remote Status Icon
Taking the Shot—
•
•
•
•
Enter the point number.
Enter the Code
Verify the HR
Verify the Remote Status Icon
is “Locked”.
• Uncheck [] Traverse Point for
SS.
Press [Accept] to take the shot
Note the (ENT) “Enter” key on the
FC200 is also tied to the [Accept]
button and will also trigger the
robot to fire.
August 11, 2008
10
Data Collection—Non-Prism
Step 1
Step 2
Tap <Srv> - <Observations>
Press [Stop] to put the robot in
standby.
Verify the Remote Status Icon is
“Stand-by”
Walk back to the robot. Note the
robot will not track you.
Step 3
Step 4
Press the
STAR KEY
on the keyboard to use
the [NP/P] Key.
Press [NP (NORMAL)]
to set the robot in NonPrism mode.
Step 5
Step 6
Manually sight the surface to take
a Non-Prism measurement to.
To return back to “Prism”
Mode:
If the robot can get a reading, the
Remote Status Icon will display
“Locked”.
Press the
STAR KEY
on the keyboard to use
the [NP/P] Key.
Press [Accept] to take the shot.
Step 7
Step 8
Press [PRISM] to set
the robot to Prism mode.
Walk away from the robot and
press the [Qlock] key to
command the robot to relock to
the prism.
August 11, 2008
11
Stakeout
Step 1
Step 2
Tap <Stk> - <Points>
Set the Design Point (the point to
stake out)
Set the HR.
Press [Stakeout]
Step 3
Step 4
Remote Status Icon
Turn your body until the
“Arrow” points towards the
Robot.
Real-Time Graphical Dialog
Text Correction values—shows the
rod location in relation to the
robot.
Step 5
Step 6
The distance to target—
When you get close to the
stake point, the stake graphic
will zoom in to show your
relative position.
The “blue arrow” shows the
direction to walk.
Step 7
Step 8
Once over the target: you can
press [Stop] to lay the rod down
and work the stake.
TopSurv will display the stake
deltas.
Press [Qlock] to relock the prism.
Press [Store] to store the As-built
point to the point data-base.
Press [Next Pt] to stake the next
point.
August 11, 2008
12
Scanning
Step 1
Step 2
Tap <Srv> - <Scanning>
Set to <Scan w/o Image>
Set the Orientation to:
Vertical—for wall surfaces.
Horizontal—for Topo surfaces.
Incline—for sloping surfaces
or piles.
Press [Next]
Step 3
Step 4
Sight the upper left hand corner
of the surface to be scanned.
•
•
Press [Meas]
the press <Meas>
Press [Accept]
Step 5
Step 6
Set the point number.
Set the HR to [0.000]
Aim at the lower left corner of the
surface to be scanned.
Uh.. press [Yes]
Press [Meas]
then press <Meas>
Step 7
Step 8
Aim at the lower right corner of
the surface to be scanned.
Press [Accept]
Press [Meas]
then press <Meas>
August 11, 2008
13
Scanning-Cont.
Step 9
Step 10
Press [Accept]
Press [Next]
Step 11
Step 12
Set
Set
Set
Set
Set
Set
Verify the values set for the scan.
the Start Pt. number.
the Scan Mode to <Fine>
Meas Mode to <Normal NP>
the Interval to <Distance>
the H Dist
the V Dist
Note the estimated Time.
Press [Next]
Press [Finish]
Step 13
Step 14
TopSurv will scan the points.
Press [Meas] to start another
scan.
The points will appear on screen
until the routine if finished.
OR
Press [Cancel] to exit.
August 11, 2008
14
Introduction to the Topcon 9000 Robotic
Total Station
Topcon TopSurv (Version 6 Layout)
Procedures Manual
Initial Setup
For the initial setup and maintenance of the robotics system.
August 11, 2008
15
Field Calibrations
•
The Topcon 9000 series robot is fairly robust against the weather and the environment.
However, special care should be taken not to let the 9000 become drenched with water. A
light misting should not be a problem as long as the instrument is dried off before being
placed back into the case. Also, special care should be used when tracking near the line of
sight to the sun. The extreme brightness of the sun can damage the EDM.
•
As the Robot twist and turns, the inertial energy of the robot is transferred directly to the
tri-brach and tripod. Because of this, periodic checks and maintenance of the stability and
“tightness” of the tripod and tri-brach should be conducted regularly to insure there is no
“slop” in the motion of the legs and mounts. The Robot should be bench calibrated at a
service center every 6 to 9 months.
•
Field calibrations can be carried out weekly or per job. There are two field level calibrations that can be done in the field. The first is the V Angle 0 Adjust which calibrates the
0 Vertical angle against a known target. The other is the Tracker Collimation also known
as the Axis Collimation. This adjusts the aiming point of the tracker to the cross-hairs of
the gun sight.
V Angle 0 Adjust—Start
Step 2
Setup the instrument on a stable tripod and position
a 360 degree prism - approximately level with instrument 300 ft away.
From the main OS menu,
Press [Standard Meas]
Precisely level the instrument and sight the prism.
Step 3
Step 4
Press [Adjust]
Press [V Angle 0 Adjust]
Step 5
Step 6
Carefully sight the prism
in FACE 1.
Press the
STAR KEY
on the keyboard to use
the self invert key.
Press [Set]
Warning: The robot will
automatically invert to
FACE 2.
August 16, 2007
16
Field Calibrations– Cont.
Step 7
Step 8—V ANGLE 0 ADJUST—Finish
Accurately re-sight the
prism.
Press the
STAR KEY
on the keyboard to use
the self invert key.
Press [Set]
The new 0 point values
will be set to the robot.
Warning: The robot will
automatically invert to
FACE 1.
Tracker Axis Collimation—Start
Step 2
After the 0 Point adjust
do the Tracker Axis
Collimation.
Precisely sight the prism
Press [MEAS].
Press [Adjust Axis]
Step 3
Step 4
Press [Turn]
Precisely sight the prism
Warning: The robot will
automatically invert to
FACE 2.
Press [MEAS]
Step 5
Step 6—Tracking Axis Adjust—Finish
Press [SET] to accept
the new values.
Press the
STAR KEY
on the keyboard to use
the self invert key.
Warning: The robot will
automatically invert to
FACE 1.
August 11, 2008
17
9000 Robotic Setup
-RadiosSetting / Changing the Radio Channel
Step 2
From the Main OS
Double-Tap [STD Meas]
Press [SETUP]
Step 3
Step 4
Press [COMMUNICATION]
Press [SS WIRELESS]
Step 5
Step 6
Press [CHANNEL SET]
Select the CHANNEL #
of your choice.
Press [SET]
Step 7
Step 8
Press [SET]
August 11, 2008
18
9000 Robotic Setup
-RC3Changing the Channel for the RC3
Step 2
From the Main OS
Double-Tap [STD Meas]
Press [SETUP]
Step 3
Step 4
Press [COMMUNICATION]
Press [RC]
Step 5
Step 6
Select the desired
CHANNEL.
Press [Exit]
Press [SET]
Step 7
Step 8
Turn on the RC3
Press the (CHL)
button on the RC3 to
change the Channel
to the matching
setting in the Robot.
August 11, 2008
19
Setting the instrument to
Robotics Mode
Step 1
Step 2
From the Main OS
Double-Tap [STD Meas]
Press [PROG]
Step 3
Step 4
Press [Ext.Link]
Press [Execute]
Step 5
Step 6
This screen shows the
proper message for
Robotic Control from the
data collector.
Note: if you power off
the Robot while in this
dialog, the instrument
will start automatically
in Remote mode upon
power up.
August 11, 2008
20
TopSurv Robotics Profile Setup on the
FC200
Step 1
Step 2
From the main TopSurv Menu:
Select <Job> - <Config>
<Survey>
Press […] next to TS Config.
Step 3
Step 4
Highlight {My Robotic}
Verify the Type is <Robotic>
Press [Edit]
Press [Next]
Step 5
Step 6
Set the Manufacture to {Topcon}
Set the Model to {GPT-9000A}
Set the Initial TS Connection to
<Radios>
Set Optical to <RC3 Bluetooth>
Press [Next]
Press [Next]
Step 7
Step 8
Set the Type to <SS Wireless>
Press [Next]
Press [Configure Radio]
August 11, 2008
21
TopSurv Robotics Profile Setup on the
FC200—Cont.
Step 9
Step 10
Set the Channel to the value that
was set in the Robot.
Press [OK]
Press [Next]
Step 11
Step 12
Set Track Light <On>
Press [Next]
Press [Next]
Step 13
Step 14
Set the EDM Mode to
<Coarse 10mm>
Press [Next]
Press [Next]
Step 15
Step 16
Press [Next]
Press [Finish]
August 11, 2008
22
TopSurv Robotics Profile Setup on the
FC200—Cont.
Step 17
Step 18
Verify that the TS Config is set
to our Robotics Profile.
TopSurv will automatically search
and connect to the Robot.
TopSurv will give a audio sound
when the connection is made.
Press [OK]
Step 19
Step 20—Finding the RC3
TopSurv will then make the Blue
Tooth connection to the RC3.
For a new RC3 or first time
connection; Turn on the RC3 and
press [Find]
If the RC3 does not appear in the
Bluetooth Manager. Press [Find]
Else: Tap your RC3 and press
[Select]
Step 21
Step 22
Highlight the RC3 connection.
Connection status indicator.
Check [] the “Save connection for
future use.” box.
Press [Select]
Step 23
If the connection is good—
you will see a solid green “ball” in
the upper right hand corner.
The two arrows will be touching to
complete a full circle.
August 11, 2008
23