This study proposes a visual-guided total station automatic measurement method to address the issues of insufficient accuracy, safety hazards, and low efficiency of manual total station measurement methods employed in large-scale scenarios. A connection device between a high-precision camera and a total station eyepiece is developed to obtain images of the total station telescope. A visual identifier with an ArUco QR code embedded in a concentric ring is designed to replace the traditional prism. Further, a sub-pixel center-positioning method is employed to achieve precise target positioning. Using two guiding strategies of angle pixel coefficient and angle variation, the total station is automatically aligned with the target and achieve automatic measurement. Experimental results based on the Leica TM50I total station demonstrate that for a visual identifier with a 16-cm radius, the average error is within 5 and 10 mm when automatically measured within 70 and 110 m, respectively. The proposed method exhibits high accuracy, with a single point measurement time of 13.39 s and an efficiency twice that of manual measurement. Thus, it satisfies the requirements of precision measurement in large-scale scenarios.