JP4208336B2 - Tracking return method of automatic tracking measurement system - Google Patents

Tracking return method of automatic tracking measurement system Download PDF

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Publication number
JP4208336B2
JP4208336B2 JP09174599A JP9174599A JP4208336B2 JP 4208336 B2 JP4208336 B2 JP 4208336B2 JP 09174599 A JP09174599 A JP 09174599A JP 9174599 A JP9174599 A JP 9174599A JP 4208336 B2 JP4208336 B2 JP 4208336B2
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tracking
target
measurement device
tracking measurement
visible laser
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JP2000283760A (en
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喬 岡田
英雄 神山
一彦 亀田
浩一 橋本
澄雄 山田
正人 田中
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Kumagai Gumi Co Ltd
Tokyu Construction Co Ltd
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Kumagai Gumi Co Ltd
Tokyu Construction Co Ltd
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Description

【０００１】
【発明の属する技術分野】
本発明は自動追尾計測システムの追尾復帰方法に関するものであり、特に、掘削現場で掘削機本体の位置や姿勢を計測するために設置される自動追尾計測システムの追尾復帰方法に関するものである。
【０００２】
【従来の技術】
トンネルを初めとする掘削現場に於いて、所定位置に光学式の追尾計測装置を設置するとともに、掘削機本体に追尾用ターゲットを搭載し、前記追尾計測装置によって追尾用ターゲットの位置を検出することにより、掘削機本体の位置や姿勢を計測する自動追尾計測システムが知られている。前記追尾計測装置には追尾装置と光波距離計が備えられており、追尾用ターゲットから発射される光を追尾装置で受けて自動追尾するとともに、光波距離計により追尾計測装置と追尾用ターゲットとの距離を演算する。
【０００３】
ここで、前記追尾計測装置は掘削現場を見通せるように、トンネル天井部等の高所に据え付けられていることが多いが、該追尾計測装置と掘削機本体との間に他の作業機械が侵入して追尾用ターゲットからの光が遮断されたときや、何らかの理由で追尾計測装置が追尾用ターゲットを視準できないときは、該追尾計測装置が追尾用ターゲットの位置を自動追尾できなくなることがある。
【０００４】
斯かる場合、高所作業車を使用して技術者が追尾計測装置の鏡筒を覗き、該追尾計測装置が追尾用ターゲットを視準するように手動にて追尾計測装置の向きを修正し、追尾計測装置が自動追尾できるように復帰させている。
【０００５】
【発明が解決しようとする課題】
従来、追尾計測装置及び追尾用ターゲットから発射される光は不可視光線であるため、追尾計測装置の視準方向が追尾用ターゲットから外れたことが直ちに分からず、自動追尾不能の原因究明に時間が掛かっていた。また、高所作業車を使用して追尾計測装置の向きを修正するのは、作業が面倒であり且つ危険をともなっていた。
【０００６】
そこで、自動追尾計測システムの追尾計測装置が追尾用ターゲットを視準できずに自動追尾不能になったとき、追尾計測装置の視準方向を簡単に判別して自動追尾を復帰させるために解決すべき技術的課題が生じてくるのであり、本発明はこの課題を解決することを目的とする。
【０００７】
【課題を解決するための手段】
本発明は上記目的を達成するために提案されたものであり、掘削現場に光学式の追尾計測装置を設置するとともに、掘削機本体に追尾用ターゲットを搭載し、前記追尾計測装置により追尾用ターゲットの位置を検出して、掘削機本体の位置や姿勢を計測する自動追尾計測システムに於いて、
前記追尾計測装置に視準方向を照射する可視レーザ光の発射部を設け、前記追尾計測装置が追尾用ターゲットを視準できずに自動追尾不能となったときは、
前記追尾計測装置の視準方向を可視レーザ光によって判別し、ハンディターゲットにて該可視レーザ光を一旦受け、更に、該可視レーザ光をハンディターゲットから追尾用ターゲットへ盛換えて、該可視レーザ光が追尾用ターゲットを照射するように前記追尾計測装置の視準方向を修正する自動追尾計測システムの追尾復帰方法を提供するものである。
【０００８】
【発明の実施の形態】
以下、本発明の一実施の形態を図面に従って詳述する。図１及び図２に於いて符号１０は自由断面掘削機を示し、掘削機本体１１の下部に左右のクローラ１２ａ，１２ｂが装着され、該クローラ１２ａ，１２ｂを駆動することにより自由断面掘削機１０が自走できる。前記掘削機本体１１の前部に水平方向へ回動可能な旋回部１３を設け、この旋回部１３の前方部に伸縮式の掘削ブーム１４を装着してあり、該掘削ブーム１４の先端部に切削ドラム１５が取り付けられている。
【０００９】
該掘削ブーム１４はブームシリンダ１６にて上下へ俯仰可能であり、且つ、伸縮シリンダ１７にて前後へ伸縮可能であるため、前記旋回部１３を左右へ回動することにより、掘削機本体１１前方の所定範囲内に於いて前記切削ドラム１５を任意の座標へ移動することができる。
【００１０】
一方、前記掘削機本体１１の前下部に集土装置２０を上下動可能に設け、切削ドラム１５で掘削したずりを該集土装置２０によって掻き寄せる。掻き寄せられたずりは、フィーダ２１により掘削機本体１１の後方へ送られ、ベルトコンベヤ２２にてダンプトラックや他の搬送手段へ積載される。また、前記掘削機本体１１の後部に左右のアウトリガー２３ａ，２３ｂを装着し、夫々のアウトリガー２３ａ，２３ｂを左右独立して上下動できるように形成する。
【００１１】
更に、前記掘削機本体１１の架台２８に左右一対の追尾用ターゲット３０ａ，３０ｂを後方（図１にて左方向）に向けて搭載してあり、夫々の追尾用ターゲット３０ａ，３０ｂには反射プリズムと発光素子が設けられている。
【００１２】
ここで、光学式自動追尾計測システムについて説明すれば、トンネル内後方の天井部に架台４０ａ，４０ｂを垂設し、夫々の架台４０ａ，４０ｂに２台の追尾計測装置３１ａ，３１ｂを設置してある。該追尾計測装置３１ａ，３１ｂには追尾装置と光波距離計が備えられており、追尾用ターゲット３０ａ，３０ｂの発光素子から発射される光を該追尾計測装置３１ａ，３１ｂの追尾装置で受光し、受光像と光軸のずれを検知してサーボモータを駆動し、追尾用ターゲット３０ａ，３０ｂを自動追尾する。また、該追尾計測装置３１ａ，３１ｂの光波距離計から発射される光が追尾用ターゲット３０ａ，３０ｂの反射プリズムで反射され、該反射光を光波距離計で受光することにより、追尾計測装置３１ａ，３１ｂと追尾用ターゲット３０ａ，３０ｂとの距離を測定する。
【００１３】
このように、２台の追尾計測装置３１ａ，３１ｂによって追尾用ターゲット３０ａ，３０ｂの３次元位置を検出して連続的に自動追尾し、掘削機本体１１のヨーイング角を検出するとともに、掘削機本体１１に搭載した２軸の傾斜計（図示せず）によりピッチング角とローリング角を検出すれば、掘削機本体１１の位置及び姿勢を連続的に検出できる。また、切削ドラム１５の位置は、旋回部１３の旋回角並びに掘削ブーム１４の俯仰角と伸縮量を夫々ポテンショメータや回転センサ等の検出器で検出し、前述の掘削機本体１１の位置及び姿勢に基づいてＮＣ制御装置により演算される。
【００１４】
更に、前記追尾計測装置３１ａ，３１ｂの上部に視準方向を照射する可視レーザ光の発射部３２ａ，３２ｂを設けるとともに、追尾用ターゲット３０ａ，３０ｂの上部に可視レーザ光の受光部３３ａ，３３ｂを設けてある。前記追尾計測装置３１ａ，３１ｂが追尾用ターゲット３０ａ，３０ｂを視準しているときは、夫々の発射部３２ａ，３２ｂから発射される可視レーザ光は前記受光部３３ａ，３３ｂにて受光される。
【００１５】
ここで、前記追尾計測装置３１ａ，３１ｂと掘削機本体１１の追尾用ターゲット３０ａ，３０ｂとの間に他の作業機械が侵入して、追尾用ターゲット３０ａ，３０ｂの発光素子から発射される光が遮断されたときや、何らかの理由で追尾計測装置３１ａ，３１ｂが追尾用ターゲット３０ａ，３０ｂを視準できないときは、該追尾計測装置３１ａ，３１ｂが追尾用ターゲット３０ａ，３０ｂの位置を自動追尾できなくなり、該追尾計測装置３１ａ，３１ｂの視準方向が追尾用ターゲットから外れる。
【００１６】
従って、図３の破線で示すように、追尾計測装置３１ａ，３１ｂの発射部３２ａ，３２ｂから発射される可視レーザ光が、追尾用ターゲットの受光部３３ａ，３３ｂから外れた位置を照射するため、前記追尾計測装置３１ａ，３１ｂが追尾用ターゲット３０ａ，３０ｂを視準できなくなったことを、作業者の肉眼にて判別できる。
【００１７】
然るときは、作業者がリモートコントローラ３５によって前記追尾計測装置３１ａ，３１ｂのサーボモータを遠隔操作し、同図の二点鎖線で示すように、前記発射部３２ａ，３２ｂから発射される可視レーザ光が追尾用ターゲットの受光部３３ａ，３３ｂを照射するように、追尾計測装置３１ａ，３１ｂの視準方向を修正する。
【００１８】
斯くして、前記発射部３２ａ，３２ｂから発射される可視レーザ光が、追尾用ターゲットの受光部３３ａ，３３ｂを照射し、追尾計測装置３１ａ，３１ｂが追尾用ターゲット３０ａ，３０ｂの位置を再び追尾するようになって、当該自動追尾計測システムの自動追尾を復帰させることができる。
【００１９】
或いは、図４に示すように、前記追尾計測装置３１ａ，３１ｂが追尾用ターゲット３０ａ，３０ｂを視準できなくなったことを肉眼で判別したときに、前記発射部３２ａ，３２ｂから発射される可視レーザ光を、一旦作業者が持っている携帯用のハンディターゲット３６で受ける。該ハンディターゲット３６で反射した可視レーザ光が前記追尾計測装置３１ａ，３１ｂの追尾装置で受光されると、サーボモータの駆動により該追尾計測装置３１ａ，３１ｂの視準方向がハンディターゲット３６の位置に修正される。
【００２０】
そして、前記可視レーザ光を受けながらハンディターゲット３６を移動すれば、前記追尾計測装置３１ａ，３１ｂはハンディターゲット３６の位置を自動追尾する。更に、作業者が掘削機本体１１の架台２８へ上って、ハンディターゲット３６で受けている可視レーザ光を追尾用ターゲットの受光部３３ａ，３３ｂへ盛換えれば、前記発射部３２ａ，３２ｂから発射される可視レーザ光が、追尾用ターゲットの受光部３３ａ，３３ｂを照射する。斯くして、追尾計測装置３１ａ，３１ｂが追尾用ターゲット３０ａ，３０ｂの位置を再び追尾するようになり、当該自動追尾計測システムの自動追尾を復帰させることができる。
【００２１】
尚、本発明は、本発明の精神を逸脱しない限り種々の改変を為すことができ、そして、本発明が該改変されたものに及ぶことは当然である。
【００２２】
【発明の効果】
以上説明したように、本発明は、掘削現場に光学式の追尾計測装置を設置するとともに、掘削機本体に追尾用ターゲットを搭載し、前記追尾計測装置により追尾用ターゲットの位置を検出して、掘削機本体の位置や姿勢を計測する自動追尾計測システムに於いて、追尾計測装置に視準方向を照射する可視レーザ光の発射部を設けてあるので、追尾計測装置が追尾用ターゲットを視準不能になったことを肉眼で判別することができる。然るときは、ハンディターゲットで該可視レーザ光を一旦受けた後に追尾用ターゲットへ盛換える。斯くして、該可視レーザ光が追尾用ターゲットを照射するように前記追尾計測装置の視準方向が修正され、前記追尾計測装置が追尾用ターゲットの位置を再び追尾するようになって、自動追尾計測装置システムの自動追尾を復帰させることができる。
【図面の簡単な説明】
図は本発明の一実施の形態を示すものである。
【図１】自由断面掘削機及び自動追尾計測システムの構成を示す側面図。
【図２】切羽面側から見た自由断面掘削機及び自動追尾計測システムの正面図。
【図３】追尾計測装置の可視レーザ光を追尾用ターゲットへ復帰させる一例を示す側面図。
【図４】追尾計測装置の可視レーザ光を追尾用ターゲットへ復帰させる他の一例を示す側面図。
【符号の説明】
１０ 自由断面掘削機
１１ 掘削機本体
３０ａ，３０ｂ 追尾用ターゲット
３１ａ，３１ｂ 追尾計測装置
３２ａ，３２ｂ 発射部
３３ａ，３３ｂ 受光部
３５ リモートコントローラ
３６ ハンディターゲット[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a tracking return method of an automatic tracking measurement system, and more particularly, to a tracking return method of an automatic tracking measurement system installed to measure the position and orientation of an excavator body at an excavation site.
[0002]
[Prior art]
At the excavation site including a tunnel, an optical tracking measurement device is installed at a predetermined position, a tracking target is mounted on the excavator body, and the position of the tracking target is detected by the tracking measurement device. Thus, an automatic tracking measurement system that measures the position and orientation of an excavator body is known. The tracking measurement device is provided with a tracking device and a light wave distance meter. The light emitted from the tracking target is received by the tracking device and automatically tracked, and the light wave distance meter uses the tracking measurement device and the tracking target. Calculate the distance.
[0003]
Here, the tracking measurement device is often installed at a high place such as a tunnel ceiling so that the excavation site can be seen, but other work machines enter between the tracking measurement device and the excavator body. When the light from the tracking target is interrupted or when the tracking measurement device cannot collimate the tracking target for any reason, the tracking measurement device may not be able to automatically track the position of the tracking target. .
[0004]
In such a case, an engineer using an aerial work vehicle looks into the barrel of the tracking measurement device, manually corrects the orientation of the tracking measurement device so that the tracking measurement device collimates the tracking target, The tracking measurement device is restored so that it can automatically track.
[0005]
[Problems to be solved by the invention]
Conventionally, since the light emitted from the tracking measurement device and the tracking target is an invisible ray, it is not immediately known that the collimation direction of the tracking measurement device has deviated from the tracking target, and it is time to investigate the cause of automatic tracking failure. It was hanging. Moreover, it is troublesome and dangerous to correct the direction of the tracking measurement device using an aerial work vehicle.
[0006]
Therefore, when the tracking measurement device of the automatic tracking measurement system is unable to collimate the target for tracking and becomes unable to automatically track, it is solved to easily determine the collimation direction of the tracking measurement device and restore automatic tracking. The technical problem which should arise arises, and this invention aims at solving this problem.
[0007]
[Means for Solving the Problems]
The present invention has been proposed in order to achieve the above-mentioned object. An optical tracking measurement device is installed at an excavation site, a tracking target is mounted on the excavator body, and the tracking target is used by the tracking measurement device. In an automatic tracking measurement system that detects the position of the excavator and measures the position and orientation of the excavator body,
When the tracking measurement device is provided with a visible laser beam emitting unit that irradiates a collimation direction, and when the tracking measurement device cannot collimate the tracking target and cannot automatically track,
The collimation direction of the tracking measurement device is discriminated by visible laser light, the visible laser light is once received by a handy target, and the visible laser light is further transferred from the handy target to the tracking target. Provides a tracking return method of an automatic tracking measurement system that corrects the collimation direction of the tracking measurement device so as to irradiate a tracking target.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. 1 and 2, reference numeral 10 denotes a free section excavator. The left and right crawlers 12a and 12b are attached to the lower part of the excavator body 11, and the free section excavator 10 is driven by driving the crawlers 12a and 12b. Can self-propelled. A swivel portion 13 that can be rotated in the horizontal direction is provided at the front portion of the excavator body 11, and a telescopic excavation boom 14 is attached to the front portion of the swivel portion 13. A cutting drum 15 is attached.
[0009]
The excavating boom 14 can be lifted up and down by a boom cylinder 16 and can be expanded and contracted back and forth by an expansion / contraction cylinder 17. The cutting drum 15 can be moved to arbitrary coordinates within a predetermined range.
[0010]
On the other hand, a soil collecting device 20 is provided at the front lower part of the excavator main body 11 so as to be movable up and down, and the soil excavated by the cutting drum 15 is scraped by the soil collecting device 20. The scraped-up scrape is sent to the rear of the excavator main body 11 by the feeder 21 and loaded on a dump truck or other transport means by the belt conveyor 22. Further, left and right outriggers 23a and 23b are attached to the rear portion of the excavator body 11, and the respective outriggers 23a and 23b are formed so as to be movable up and down independently.
[0011]
Further, a pair of left and right tracking targets 30a and 30b are mounted on the gantry 28 of the excavator main body 11 facing rearward (leftward in FIG. 1), and each of the tracking targets 30a and 30b has a reflecting prism. And a light emitting element.
[0012]
Here, the optical automatic tracking measurement system will be described. The mounts 40a and 40b are suspended from the ceiling at the rear of the tunnel, and the two tracking measurement devices 31a and 31b are installed on the mounts 40a and 40b. is there. The tracking measurement devices 31a and 31b are provided with a tracking device and a light wave distance meter, and light emitted from the light emitting elements of the tracking targets 30a and 30b is received by the tracking devices of the tracking measurement devices 31a and 31b. The servo motor is driven by detecting the deviation between the received light image and the optical axis, and the tracking targets 30a and 30b are automatically tracked. Further, the light emitted from the lightwave distance meters of the tracking measurement devices 31a and 31b is reflected by the reflecting prisms of the tracking targets 30a and 30b, and the reflected light is received by the lightwave distance meters, thereby the tracking measurement devices 31a and 31b. The distance between 31b and tracking targets 30a and 30b is measured.
[0013]
As described above, the two tracking measuring devices 31a and 31b detect the three-dimensional positions of the tracking targets 30a and 30b and continuously automatically track the yawing angle of the excavator body 11, and the excavator body. If a pitching angle and a rolling angle are detected by a biaxial inclinometer (not shown) mounted on 11, the position and posture of the excavator body 11 can be detected continuously. Further, the position of the cutting drum 15 is determined by detecting the turning angle of the turning unit 13 and the elevation angle and the amount of expansion / contraction of the excavating boom 14 with a detector such as a potentiometer or a rotation sensor, respectively. Based on this, it is calculated by the NC controller.
[0014]
Further, visible laser light emitting units 32a and 32b for irradiating the collimating direction are provided on the upper part of the tracking measuring devices 31a and 31b, and visible light receiving units 33a and 33b are provided on the upper parts of the tracking targets 30a and 30b. It is provided. When the tracking measuring devices 31a and 31b collimate the tracking targets 30a and 30b, visible laser beams emitted from the respective emitting units 32a and 32b are received by the light receiving units 33a and 33b.
[0015]
Here, another work machine enters between the tracking measurement devices 31a and 31b and the tracking targets 30a and 30b of the excavator body 11, and light emitted from the light emitting elements of the tracking targets 30a and 30b is emitted. If the tracking measurement devices 31a and 31b cannot collimate the tracking targets 30a and 30b for some reason, the tracking measurement devices 31a and 31b cannot automatically track the positions of the tracking targets 30a and 30b. The collimation directions of the tracking measurement devices 31a and 31b deviate from the tracking target.
[0016]
Therefore, as shown by the broken line in FIG. 3, the visible laser light emitted from the emitting units 32a and 32b of the tracking measurement devices 31a and 31b irradiates the positions that are out of the light receiving units 33a and 33b of the tracking target. It can be determined with the naked eye of the operator that the tracking measuring devices 31a and 31b are unable to collimate the tracking targets 30a and 30b.
[0017]
At that time, the operator remotely operates the servo motors of the tracking measuring devices 31a and 31b by the remote controller 35, and the visible lasers emitted from the emitting units 32a and 32b as shown by the two-dot chain lines in the figure. The collimation directions of the tracking measuring devices 31a and 31b are corrected so that the light irradiates the light receiving portions 33a and 33b of the tracking target.
[0018]
Thus, the visible laser light emitted from the emitting units 32a and 32b irradiates the light receiving units 33a and 33b of the tracking target, and the tracking measuring devices 31a and 31b track the positions of the tracking targets 30a and 30b again. As a result, the automatic tracking of the automatic tracking measurement system can be restored.
[0019]
Alternatively, as shown in FIG. 4, when the tracking measuring devices 31a and 31b determine with the naked eye that the tracking targets 30a and 30b cannot be collimated, visible lasers emitted from the emitting units 32a and 32b. Light is received by a portable handy target 36 once held by the worker. When the visible laser beam reflected by the handy target 36 is received by the tracking devices of the tracking measurement devices 31a and 31b, the collimation direction of the tracking measurement devices 31a and 31b is brought to the position of the handy target 36 by driving the servo motor. Will be corrected.
[0020]
When the handy target 36 is moved while receiving the visible laser beam, the tracking measuring devices 31a and 31b automatically track the position of the handy target 36. Further, if the worker goes up to the gantry 28 of the excavator body 11 and replaces the visible laser light received by the handy target 36 with the light receiving portions 33a and 33b of the tracking target, the light is emitted from the emitting portions 32a and 32b. The visible laser beam emitted irradiates the light receiving portions 33a and 33b of the tracking target. Thus, the tracking measurement devices 31a and 31b track the positions of the tracking targets 30a and 30b again, and the automatic tracking of the automatic tracking measurement system can be restored.
[0021]
It should be noted that the present invention can be variously modified without departing from the spirit of the present invention, and the present invention naturally extends to the modified ones.
[0022]
【The invention's effect】
As described above, the present invention installs an optical tracking measurement device at an excavation site, mounts a tracking target on the excavator body, detects the position of the tracking target by the tracking measurement device, In the automatic tracking measurement system that measures the position and orientation of the excavator body, the tracking measurement device collimates the tracking target because the tracking measurement device is equipped with a visible laser beam emitter that irradiates the collimation direction. It can be determined with the naked eye that it has become impossible. In such a case, the visible laser beam is once received by the handy target and then switched to the tracking target. Thus, the collimation direction of the tracking measurement device is corrected so that the visible laser beam irradiates the tracking target, and the tracking measurement device tracks the position of the tracking target again, so that automatic tracking is performed. Automatic tracking of the measuring device system can be restored.
[Brief description of the drawings]
The figure shows an embodiment of the present invention.
FIG. 1 is a side view showing a configuration of a free section excavator and an automatic tracking measurement system.
FIG. 2 is a front view of a free-section excavator and an automatic tracking measurement system as seen from the face side.
FIG. 3 is a side view showing an example of returning visible laser light of a tracking measurement device to a tracking target.
FIG. 4 is a side view showing another example of returning the visible laser beam of the tracking measurement device to the tracking target.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Free-section excavator 11 Excavator body 30a, 30b Tracking target 31a, 31b Tracking measuring device 32a, 32b Emitting part 33a, 33b Light receiving part 35 Remote controller 36 Handy target

Claims (1)

掘削現場に光学式の追尾計測装置を設置するとともに、掘削機本体に追尾用ターゲットを搭載し、前記追尾計測装置により追尾用ターゲットの位置を検出して、掘削機本体の位置や姿勢を計測する自動追尾計測システムに於いて、
前記追尾計測装置に視準方向を照射する可視レーザ光の発射部を設け、前記追尾計測装置が追尾用ターゲットを視準できずに自動追尾不能となったときは、
前記追尾計測装置の視準方向を可視レーザ光によって判別し、ハンディターゲットにて該可視レーザ光を一旦受け、更に、該可視レーザ光をハンディターゲットから追尾用ターゲットへ盛換えて、該可視レーザ光が追尾用ターゲットを照射するように前記追尾計測装置の視準方向を修正することを特徴とする自動追尾計測システムの追尾復帰方法。In addition to installing an optical tracking measurement device at the excavation site, a tracking target is mounted on the excavator body, and the position and orientation of the excavator body are measured by detecting the position of the tracking target by the tracking measurement device. In the automatic tracking measurement system,
When the tracking measurement device is provided with a visible laser beam emitting unit that irradiates a collimation direction, and when the tracking measurement device cannot collimate the tracking target and cannot automatically track,
The collimation direction of the tracking measurement device is discriminated by visible laser light, the visible laser light is once received by a handy target, and the visible laser light is further transferred from the handy target to the tracking target. A tracking return method of an automatic tracking measurement system, wherein the collimation direction of the tracking measurement device is corrected so that the target for tracking is irradiated.
JP09174599A 1999-03-31 1999-03-31 Tracking return method of automatic tracking measurement system Expired - Fee Related JP4208336B2 (en)

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