Note : Les descriptions sont présentées dans la langue officielle dans laquelle elles ont été soumises.
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SYSTEM FOR ACCURATELY AND PRECISELY
LOCATING AND MARKING A POSITION IN SPACE
USING WIRELESS COMMUNICATIONS AND ROBOTICS
FIELD OF THE INVENTION
The present invention relates to a system and method determining specific
locations in
a multidimensional space.
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BACKGROUND OF THE INVENTION
Information obtained from measuring devices in a construction site are
documented
and then provided to architects and engineers to develop plans and blue prints
for the
construction site.
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SUMIVIARY OF THE INVENTION
The present invention provides a system comprising a Master station and at
least one
substation both of which are capable of communicating with each other to
locate and identify
one or more locations in a multi-dimensional space. The Master station further
can control
one or more of the substations to perform a particular task within the
multidimensional space.
The Master station is able to determine its position within the
multidimensional space and the
location of references, and specified points, objects and/or structures within
the
multidimensional space to generate an N-dimensional graphical representation
of the
multidimensional space (where N is an integer equal to 2 or greater) as the
space is being
studied; i.e., in real time. A user of the system operating the Master station
can thus be
guided through the multidimensional space.
The Master station comprises a transmitter and receiver equipment used to
measure
distances and to identify locations of various points within the
multidimensional space. The
Master station may further comprise a sensor and a processor. The Master
station can be
transportable, mobile and autonomous through the operation of software
providing
instructions to the processor. The transmitter and receiver are able to
transmit and receive
wireless radio signals or optical signals or both. The sensor is capable of
detecting optical
signals that are (i) transmitted by one or more of the substations, (ii)
reflected by one of the
substations or (iii) reflected from a structure within the multidimensional
space or a fixed
reference point within the structure. With the processor and software residing
therein and the
identification of a plurality of specified reference points, the Master
station is able to
calculate its position (through the well known process of triangulation, for
example) within
the multidimensional space, the locations of substations within the
multidimensional space
and object, structures within the multidimensional space or form the
boundaries of the
multidimensional space. Points and locations within the multidimensional space
measured
and identified by the Master station can be transferred onto a two or three
dimensional space
graphical representation (or generally an N dimensional space where N is an
integer equal to
2 or greater) that can be displayed to allow a user operating the Master
station of the present
invention to determine his or her position within the multidimensional space
or navigate (or
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to be guided) within the space by viewing the graphical representation of the
multidimensional space. The graphical representation, in three dimensions for
example, can
be implemented with the use of software including well known CAD (Computer
Aided
Design such as AUTOCAD ) software and additional software. As new points,
objects,
structures are identified and measured, the information is transferred to the
Master station
which is able to automatically determine the exact location of these points
with respect to
other objects, structures and boundaries of the multidimensional space
allowing it to
automatically generate a real time graphical representation of the multi-
dimensional space as
the space is being studied. The term "automatically" as used herein refers to
tasks performed
by one or more components of the system of the present invention as directed
by firmware or
software of the system. A task performed automatically can be done in real
time meaning the
task is done as information used to perform the task is being received.
A Master station can communicate with one or more substations. A substation
may
be passive or active. That is, a passive substation may be a device that
reflects optical or
radio signals from the Master station or from another substation. A passive
substation doe
not, on its own, transmit information. An active substation may contain a
sensor, a
transmitter and a receiver to send information to the Master station or to
receive information
from the Master station in order to perform a command sent by the Master
station. Further, a
substation may be both a passive and active device; that is, part of the
substation reflects
signals from another device (another substation or a Master station) and
another part of the
substation generates or transmits reference point information or any other
type of information
to a Master station or to another substation. The substation can be
transportable, mobile and
autonomous through the operation of software residing in a processor of the
substation. The
substation may be equipped with tools to perform tasks based on command
received from the
Master station or from another substation relaying a command from the Master
station. The
Master station may also be equipped with such tools.
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B12IEF DESCRIPTION OF THE DRAWINGS
FIGS. lA-B illustrates a particular accelerometer structure;
FIG. 2 is a front view of a Master station of the present invention;
FIGS, 3A-B is a front view of a Master station head with vertical and
horizontal spinning
lasers and the planes swept by the spinning lasers;
FIG. 4 is a front view of a transportable substation with a robotic arm;
FIG. 5 is a front view of a transportable substation;
FIG. 6 is side view of a mobile Master station or substation;
FIGS. 7A-E show the various types of robotic arms that can be attached to a
Master station or
a substation;
FIG. 8 shows one particular embodiment of the system of the present invention
comprising a
Master station, substations and fixed reference points or monuments;
FIG. 9 is a perspective view of an active fixed reference point which may
function as a
substation;
FIG. 10 shows front and side views of a PTZ ( } camera mount for a handheld
laser distance measurement tool;
FIG. I IA shows a handheld computer equipped with laser distance measurement
devices;
FIG. 1 IB is a tope view of 11A with a prism shown attached to the handheld
computer;
FIG. 11 C is a side view of the handheld computer of FIG. 11A with a
supporting tripod
shown as well;
FIG. 12 is a diagram of the type of graphics or drawings that can be displayed
by the
handheld computer of FIG. 11;
FIG. 13 shows a prism pole with visible laser pointer and same pole on a
tripod;
FIG. 14 shows the Master station of FIG. 1 having multi-beam distance
measuring device to
determine its height and planar orientation;
FIGS. 15A-D show a gyroscopically stabilized, cable driven, rail driven and
hover driven
computerized transport system for a Master station or a substation;
FIG. 16 shows the gyroscopically stabilized device of FIG. 15 applied to a
computerized
cable driven system;
FIG. 17 shows two particular heads for a robotic arm used as a marking tool;
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FIG. 18 illustrates a stabilization system for a prism pole;
FIGS. 19A-B illustrates yet another stabilization system for a prism pole
using gyroscopes
and stabilization electronics using fuzzy logic;
FIG. 20 shows a system of the present invention comprising a spinning laser
Master station
and a spinning substation;
FIGS. 21A-B show another embodiment of the system of the present invention
using
colorized prisms as fixed reference points or monuments;
FIG. 22 shows a front view of a 360 corner cube prism.
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DETAILED DESCRIPTION
The present invention provides a system comprising a Master station and at
least one
substation both of which are capable of communicating with each other to
locate and identify
one or more locations in a multi-dimensional space. The Master station further
can control
one or more of the substations to perform a particular task within the
multidimensional space.
The Master station is able to determine its position within the
multidimensional space and the
location of references, and specified points, objects and/or structures within
the
multidimensional space to generate an N-dimensional graphical representation
of the
multidimensional space (where N is an integer equal to 2 or greater) as the
space is being
studied; i.e., in real time. A user of the system operating the Master station
can thus be
guided through the multidimensional space.
The Master station comprises a transmitter and receiver equipment used to
measure
distances and to identify locations of various points within the
multidimensional space. The
Master station may further comprise a sensor and a processor. The Master
station can be
transportable, mobile and autonomous through the operation of software
providing
instructions to the processor. The transmitter and receiver are able to
transmit and receive
wireless radio signals or optical signals or both. The sensor is capable of
detecting optical
signals that are (i) transmitted by one or more of the substations, (ii)
reflected by one of the
substations or (iii) reflected from a structure within the multidimensional
space or a fixed
reference point within the structure. With the processor and software residing
therein and the
identification of a plurality of specified reference points, the Master
station is able to
calculate its position (through the well known process of triangulation, for
example) within
the multidimensional space, the locations of substations within the
multidimensional space
and object, structures within the multidimensional space or form the
boundaries of the
multidimensional space. Points and locations within the multidimensional space
measured
and identified by the Master station can be transferred onto a two or three
dimensional space
graphical representation (or generally an N dimensional space where N is an
integer equal to
2 or greater) that can be displayed to allow a user operating the Master
station of the present
invention to determine his or her position within the multidimensional space
or navigate (or
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to be guided) within the space by viewing the graphical representation of the
multidimensional space. The graphical representation, in three dimensions for
example, can
be implemented with the use of software including well known CAD (Computer
Aided
Design such as AUTOCAD ) software and additional software. As new points,
objects,
structures are identified and measured, the information is transferred to the
Master station
which is able to automatically determine the exact location of these points
with respect to
other objects, structures and boundaries of the multidimensional space
allowing it to
automatically generate a real time graphical representation of the multi-
dimensional space as
the space is being studied. The term "automatically" as used herein refers to
tasks performed
by one or more components of the system of the present invention as directed
by firmware or
software of the system. A task performed automatically can be done in real
time meaning the
task is done as information used to perform the task is being received.
A Master station can communicate with one or more substations. A substation
may
be passive or active. That is, a passive substation may be a device that
reflects optical or
radio signals from the Master station or from another substation. A passive
substation doe
not, on its own, transmit information. An active substation may contain a
sensor, a
transmitter and a receiver to send information to the Master station or to
receive information
from the Master station in order to perform a command sent by the Master
station. Further, a
substation may be both a passive and active device; that is, part of the
substation reflects
signals from another device (another substation or a Master station) and
another part of the
substation generates or transmits reference point information or any other
type of information
to a Master station or to another substation. The substation can be
transportable, mobile and
autonomous through the operation of software residing in a processor of the
substation. The
substation may be equipped with tools to perform tasks based on command
received from the
Master station or from another substation relaying a command from the Master
station. The
Master station may also be equipped with such tools.
Referring to FIG. 1, there is shown a particular accelerometer configuration.
Accelerometers, which are well known devices used to measure distance based on
the rate of
velocity or acceleration experienced by the accelerometer, can be configured
in a
substantially spherical configuration and coupled to electronic circuitry to
allow the
measurement of distance. FIG. lA shows the orientation of the particular
accelerometers and
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FIG. IB shows the external appearance of the device. The accelerometer cluster
10
comprises of a plurality of cylindrical shaped accelerometers 12 coupled to a
housing 14
containing the proper supporting circuitry and mechanics for the cluster. An
outer shell 16
may be configured to mount onto the cluster resulting in a spherical shaped
cluster. The
accelerometer cluster can be mounted on a vehicular Master station or on a
vehicular
substation that may be controlled by a Master station. The distance traveled
and rate traveled
is determined by measuring acceleration values from each accelerometer and
computing the
resultant of the velocity and distance for all of the accelerometers. Thus, a
more accurate
calculation of the distance and velocity traveled by a vehicle on which the
accelerometer
cluster is mounted can be obtained.
FIG. 2 is one embodiment of a Master station of the system of the present
invention.
The Master station 20 shown in FIG. 2 is a transportable Master station; that
is, it can be
moved from one location to another by a user. The Master station of FIG. 2 can
be a Master
station assembly comprising various modules (not shown) such as communications
and
processor modules. The communication modules may be used to communicate with
substations (or other Master stations) located in the same multi-dimensional
space in which
the Master station assembly is located. The processor module may have residing
therein or
may be able to control software that can enable the Master station assembly to
calculate its
location within the multidimensional space and also calculate the location of
specific points
within the multidimensional space. The processor may be implemented as a
wireless laptop
or other type of computer that is able to communicate with the Master station
to effectuate the
marking and/or locating one or more positions in a multi-dimensional space.
Part of the
Master station can be implemented as a well known device called a Theodolite
typically used
by surveyors to measure distance to certain reference points and angles within
a 3-D space.
Shown in FIG. 2 is a Theodolite housing 22 mounted on a tripod 24 (only two
legs of the
tripod are shown). The Theodolite portion of the Master station has a lens
assembly 24
capable of sighting and reading fixed references and can act as a bar code
reader or Graphic
reader. The Theodolite is a robotic Theodolite where orientation of the
housing and the lens
can be remotely controlled or can be autonomously controlled by the processor
which is
controlled by software residing therein. The processor may be part of the
Theodolite or may
be coupled wirelessly, or through a communications cable by a laptop or
desktop computer or
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other computer/database apparatus. The Master station in FIG. 2 has a distance
measuring
device able to measure the distance of the housing 22 from the ground or
surface on which
the station is standing. The Master station of FIG. 2 uses laser technology to
perform the
height measurement. In particular the Master station of FIG. 2 has an
automatic leveling
apparatus (e.g., gyroscope) that is disposed within housing bottom 26 and
upper portion of
tripod 24. The automatic leveling apparatus may be totally disposed within
housing 22. The
Master station 20 is thus able to perform self leveling with the use of the
laser 28, leveling
apparatus located in the lower housing 26 and possibly the horizontal and
vertical spinning
lasers (to be discussed infra) mounted on top of the housing 20. A laser
distance meter 28
with associated electronics (not shown) allow the Master station 20 to measure
its height
above ground or above the surface on which it stands. The laser 28 emits a
visible laser beam
30 along the vertical axis 36 of the Master station which is used to measure
the distance to the
ground or to the base on which the Master station is standing. Mounted on top
of housing 22
are a vertical spinning laser 32 and a horizontal spinner laser 34. The lasers
can enable
automatic, autonomous orientation of the Master station in relation to the
space (or CAD or
digitized drawings) in which it is placed; this is done by searching for and
measuring the
distance to any number of fixed reference stations or to other Master stations
or substations.
It will clearly understood that with respect to the Master station of FIG. 2
and other Master
stations and substations described herein that lasers are used to measure
distance from a point
by transmitting a laser beam (continuous or pulsed or a combination of the
two) to that point
and measure characteristics of the resulting reflected beam to calculate the
distance to that
point.
FIG. 3A shows the horizontal and vertical planes, 40 and 3 8 respectively,
swept by
the horizontal and vertical spinning lasers 34, 32. The spinning lasers are
capable of sending
and receiving information such as telemetry information. The lasers 32, 34 can
read and
write into the processor telemetry information. The lasers are used by the
Master station 22
to help determine location and orientation automatically of the Master station
and other
devices within a multidimensional space the Master station and such other
devices are
located; this is done by measuring the distances from the Master station to
these various other
reference points. FIG. 3B shows the Theodolite portion of the Master station
20 of FIG. I
without the tripod 24.
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The lasers 32 and 34 can be communications laser comprising pulse modulated
spinning laser mechanisms that are mounted atop the Master station 20. The
Master station
provides visible horizontal and vertical reference laser lines. The Master
station is capable of
reading barcode information printed on objects within its line of sight.
Additionally the
lasers 32 and 34 are pulse modulated and are capable of transmitting data to a
device that can
receive the information.
Sensors (not shown), which can be placed near the lens assembly 24, are used
to
enable receiving and interpreting or reading of information sent from a pulse
modulated
transmitter. The lasers 32, 34 of the Master station 20 can communicate with
other similarly
equipped Master stations, substations, vehicular or fixed reference stations.
FIG. 3A is an isometric view of the Master Station 22 without the tripod. The
blanketing
effect of the spinning lasers is shown. FIG. 3B is a front plan view of the
device. A
blanketing effect can be produced by generating a horizontal plane and a
vertical plane of
laser light emanating from the top of the Master station 20.
A transportable substation 42 is shown in FIG. 4. The substation of FIG. 4 has
a
robotic arm 44 with a laser pointer 46 and accompanying electronic devices to
help measure
distances and thus help locate, through triangulation or other well known
techniques,
reference points, other devices, other substations. As with the Master station
of FIG. 1,
horizontal and vertical spinning lasers 48, 50 are mounted on top of the
station's housing.
Emerging from the top of the station is a pole 54 upon which a 360 corner
cube prism 56 is
mounted. Any light impinging upon this prism from any direction is reflected
along the same
line of sight from which it came. The station is mounted on a tripod 58 (only
two legs are
shown) that maintains the station the station in a fixed position in space.
Emerging from the
side of the mechanical enclosure is a movable robot arm 44. At the end of the
robot arm is a
pole upon which a prism 60 is mounted. Also at the end of robot arm 44 is a
laser pointer 46
the can be use to measure distances and to read and write information in the
form of reflected
or transmitted optical signals. A laser pointer 64 similar in operation to
laser pointer 46 is
located at the end of pole 54. The robot arm pole can be positioned easily.
Substation 42 can
transmit laser beams in a various directions from different sources:
a. plumb beam 62 transmitted downward in the true vertical direction to
determine height;
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b. a vertical beam 66 transmitted upward to be redirected through the pole 54
to act as a
visible laser pointer and an electronic distance reading and writing device.
c. a vertical beam (not shown) transmitted upward to be redirected through the
vertical and
horizontal optical spinning units; and,
d. a beam 68 transmitted through the robot arm pole to act as a visible laser
pointer and
electronic distance measurement reading and writing device.
The X, Y, and Z position in space (position in space based on 3 orthogonal
axes of a
Cartesian coordinate system) of the transportable substation 42 as well as the
position and
orientation of the robot arm is known by the corresponding controlling Master
station. Single
or multiple substations may be utilized independently with a Master station,
or multiple
stations may be daisy chained together with each other.
FIG. 5 shows another embodiment of a transportable substation. Transportable
substation 70 is an electronic distance measurement substation, and it is
capable of emitting a
visible laser beam so as to cause a spot to impinge upon a specified position.
It is relatively
smaller, lighter, and less expensive to manufacture than the substation of
FIG. 4. There is a
spinning laser mechanism comprising lasers 72 and 74 mounted on top of the
robotic
Theodolite head 76. Head 76 is mounted on tripod 78. The spinning laser
mechanism emits
horizontal and vertical reference laser lines. The spinning lasers are able to
act in a unit that
receives, sends, reads, and writes coordinate telemetry. This is done by
searching for and
measuring the distance to any number of fixed reference stations, master
stations, or other
substations. The X, Y, and Z position is always known by the Master station.
The device is
meant to be readily carried and moved around a worksite and is a solution for
pinpointing
coordinates not within the line-of-sight of the Master station. That is,
substation 70 can
measure distances to certain reference points, determine the location of these
points within a
multidimensional space and relay the position of these points to a controlling
Master station.
A pole 80 the end of which a prism 82 is mounted extends from the spinning
lasers and the
head 76. Although substation 70 is transportable, it can be fastened to the
ground or possibly
to an I-beam. Single or multiple transportable stations such as station 70 may
be utilized
independently with a master station or multiple substations may be daisy
chained together
with each other.
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FIG. 6 shows a Mobile device that can operate as a mobile substation or a
mobile
Master station. The device 90 as a substation operates substantially similar
to the substation
of FIG. 4. In additional to toolbox 108 mounted on vehicle 114, the equipment
mounted on
the vehicle includes a robotic Theodolite 106 with robotic arm 104 at the end
of which is a
prism I 10 and a laser pointer 112. The laser pointer 112 can be replaced by
any one of the
tools stored in toolbox 108. Mounted on top of the Theodolite are horizontal
laser 94,
vertical laser 92, pole 100, prism 96 and laser pointer 98. The head portion
102 of the.
Theodolite 106 can be replaced to allow the device to operate as a Master
station or a
substation. As a Master station, the device is a combination of a fully
robotic active prism, a
tracking laser distance measurement apparatus that is fixed or fastened to a
vehicle that can
be manually, remotely controlled, or can autonomously navigate itself within a
specified
environment; these devices are combined with a multi-axis computer guided
robotic tool arm
104 that is capable of automatically changing work tooling to perform
construction activities
in real time. The ultimate purpose of this Master station is to navigate and
spatially orient the
device in relation to the space in which it is place or to CAD drawings. This
is accomplished
by automatically searching for and continually measuring and re-measuring the
distance to
any number of fixed reference points, substations or any other fixed or mobile
Master
stations. The device can move to selected positions on its own, and once
there, can utilize a
variety of specified tooling to perform various work functions. It can
navigate according to
self contained computer instructions, or can be made to navigate by other
fixed or mobile
Master stations. Some of the tasks that can be performed by this Master
station are paint,
point, mark, burn, cut, weld, drill, engrave, measure, or read or write, and
can send and
receive telemetry in real time. To that extent, the tools on the robot arm are
interchangeable,
and can be retrieved from the tool box 114 mounted atop the vehicular robot.
Of course, a
substation (very much like that shown in FIG. 5) can also be mounted atop the
vehicular
robot rather than a Master station. A 360 corner cube prism is mounted atop
the pole
emerging from the Master station module head. A similar prism can also be
mounted at the
end of the robot arm.
FIGS. 7A-E show the various interchangeable tools that can be mounted to the
robot
arm (44, 104) of the device of FIGS. 4 or 6. Shown here is an array of
interchangeable tools
for the robot arm 120. FIG. 7A shows the robot arm with a cutting tool 122.
FIG. 7B shows
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the robot arm with a printing or plotting tool 124. FIG. 7C shows the robot
arm with a plumb
visible laser pointer 126. FIG. 7D shows the robot arm with a Coordinate
Measuring
Machine (CMM) 128, a laser scanner, or a manual point reading tool. FIG. 7E
shows the
robot arm with drilling, engraving and burning tool 130.
FIG. 8 illustrates a building enclosure configured to use the system of the
prescnt
invention. A kit of the system of the present invention is provided. All of
the components of
the kit are shown in FIG. 8. The fixed reference stations 140, 142, 144, 146,
148, 150 and
152 are shown in the figure as 360 corner cube prisms, but they can be
selected from among
many devices that provide a readable fixed reference. The fixed reference
stations may be
passive devices. However, the can also be active or intelligent devices
capable of
transmitting information to receivers, or they can optically respond to
specific messages. The
fixed reference station can be located at various locations to allow a Master
station to identify
specific points within the multidimensional space. For example, a fixed
reference stations
cab be fastened or planted on a concrete slab or fastened to a permanent
location, or mounted
in a monument at a known location which is addressable and identifiable.
Monuments allow
for automatic and autonomous device orientation in relation to the space in
which these
devices have been placed or to the CAD drawings. The signals by which a Master
station can
identify reference stations are inter alia, electromagnetic (e.g., light,
colored light, infrared,
RFID, X-rays, bar code, etc.), ultrasound, digital compass, cybernetics
information theory
and coded information.
FIG. 8 shows five fixed reference stations (146, 144, 140, 152, 150) mounted
in the
walls, one fixed reference station 142 mounted on the floor, and one fixed
reference station
148 mounted in a monument 154. The kit further comprises devices that act upon
information obtained regarding the fixed stations. These devices are Master
station 156,
transportable station 158, armed transportable station 160, vehicular station
162, handheld
computer 164 having built-in electronic distance measurement, and a tablet (or
laptop
computer) 166. As already discussed, the Master station 156 can locate the
references by
itself or with the use of the substations. The fixed references are shown as
prisms and thus
are located with the use of laser through direct line of sight. Thus, those
fixed references not
in the direct line of sight of the Master station, but in the line of sight of
one of the
substations can still be indirectly identified by the Master station. That is,
a substation can
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identify a fixed reference and send that information to the Master station.
The Master station
can then use the location information of the fixed references to identify its
position within the
enclosed space. Information about the location of the substations can be
transmitted to the
Master station wirelessly by the various substations. In the example shown in
FIG. 8, station
158, 160 and 162 can be substations. Stations 156 and 164 can be Master
stations. Tablet or
laptop 166, not having any distance measuring equipment, can probably serve as
the
processor wirelessly coupled to Master station 166. Commands from Master
station 156 are
generated on the keyboard of laptop 166. Master station 156 can be a robotic
Master station
whereby its movement during its search of fixed reference points are
controlled by
commands and/or an actuator that is part of or coupled to laptop 166. Those
references not in
the direct line of sight of Master station 156 may be detected by substation
158, 160 or 162
and the location information gathered by those substations can be relayed
wirelessly to
Master station 156. Master station 164, which is a handheld computer with
distance
measuring equipment, operates in a similar to Master station 156 in that it
uses its measuring
equipment and information from the substations to locate the fixed reference
points. Unlike
Master station 156 which can be operated from tablet 166 or manually by a
user, Master
station 164 (see discussion regarding FIG. 11 infra) is a stand alone device
directly operated
by a user through the entry of commands via the keyboard or some actuator
(e.g., mouse,
joystick) of handheld computer 164.
The purpose of the fixed reference station system is to provide fixed
reference points
for automatic, autonomous, device orientation and navigation in relation to
the space in
which they are placed according to CAD or digitized drawings. These devices
orient
themselves and navigate through the space by continuously searching for,
measuring and re-
measuring the distance to any number of fixed reference stations located in
the same space.
The ultimate goal is to achieve greater measurement accuracy and to navigate
autonomously
or through a remote controlled vehicle, a humanoid robot, an android, or other
robots or
robotic vehicles, tools or systems indoors or outdoors from a CAD drawing. It
is important to
note that the Master station may start the process of measuring and locating
fixed reference
points with a CAD drawing or other drawings already uploaded in the memory of
the
Processor of the Master station and the location of the fixed references
documents; in such a
case the Master station would confirm the accuracy of the documented
information and still
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generate a graphical representation of the space including objects and
structures in the space.
The graphical representation generated by the Master station of the system of
the present
invention may deviate from the graphical representation already documented. As
each
monument, structure, and boundary of the space is measured and identified, the
graphical
representation being generated by the system of the present invention is
updated and the
displayed drawing changes accordingly. The updates to the graphics display is
done in real
time; that is, as the information is processed by the processor and the new
portion of the
graphics is added, the viewer sees the new portion and the rest of the
graphics. Further, the
user of the Master station such as Master station 164 not only is viewing the
display of the
space but the Master station/user location is also displayed in the graphical
representation
allowing the user to be guided or navigate through the enclosed space. Certain
objects and/or
structures may have already been documented in the uploaded CAD or digital
drawing, but
are not yet present in the space. In such a case, the Master station 156 may,
for example,
direct a vehicular substation 162 to the intended location of an object
indicated in the CAD
drawing and have substation 162 make markings to indicate the exact placement
and
orientation of the object already identified in the CAD drawing. Other similar
tasks can be
performed by substations under the direction and control of one or more Master
stations.
Furthermore, the substations may have processors with the CAD drawings already
uploaded
and thus autonomously are able to perform tasks based on the location of
certain objects
according to the CAD drawings and the particular software running on the
processors of the
substations. A display of the space with objects and structures can be seen by
the user, but in
the actual space none of the objects and structures exist yet. Thus, a
substation equipped with
a robotic arm with a tool attached thereto can perform tasks to facilitate the
construction of
such objects and/or structures or construct the object and/or structure
itself. For example, the
substation can drill holes, make markings, cut surfaces in preparation for the
construction of
an object, monument or structure at a specific location identified to be the
location of the
object by the CAD drawing uploaded in the processor of the substation or in
the processor of
the Master station controlling the substation.
FIG. 9 is a perspective view of an intelligent fixed reference station (i.e.,
an active
substation) sensor and transmitter array. Acting as an intelligent monument
that knows its
position, this device is able to communicate with other similar substations or
Master stations.
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The device of FIG. 9 can send, receive, and redirect any electromagnetic
signal, such as light,
or ultrasonic signals. The intelligent fixed reference station of FIG. 9
comprises horizontal
spinning laser 202 which also has a sighting and a reading device. The
spinning laser 202
may also operate as a bar code or graphic reader. In addition, the fixed
reference station of
FIG. 9 further comprises a dynamic reflector/prism 204. The reflector/prism
204 comprises a
corner cube prism, a movable prism and a holographic optical element.
Additionally, the
reference station of FIG. 9 contains a sensor receiver 206 and a wireless
communications
receiver and transmitter 208. Finally, the reference station of FIG. 9
comprises a housing 210
to contain the electronics and to hold the device together.
FIG. 10A represents a front elevational view of the device while FIG. l OB
represents
a left side elevational view of the device. The device shown can be a Leica
Disto device or
similar laser distance measurement device. This is a motorized and remotely
controlled pan
and tilt mount 254 for an electronic distance measurement device 250. Movement
of the
gantry 252 can be controlled by system software via ajoystick, mouse,
touchpad, keys,
stylus, digitizer or with the use of a gyroscope, or inertial measurement unit
input. The
camera mount 254 shown is a motorized and remotely controlled pan and tilt
mount. It can
also function as a non-motorized manual jig. It affords the ability to
precisely read distance,
barcodes, or graphics, and to precisely point to a specified location.
FIG. 11B is a top plan schematic view of a handheld computer station 300
having a
Prism 304 (e.g., 360 corner cube prism) mounted above the display 306. FIG.
11A shows an
isometric view of the handheld computer 300 with a laser distance measurement
device 302
built-in or attached and keyboard/keypad 308. N dimensional graphical
representation of the
space, objects and/or structures therein and other information can appear on
the display 306.
The computer will typically be held by a user. The function of the Prism 304
is to serve as a
location device meaning it can receive and reflect optical signals allowing
other devices to
locate the handheld computer station 300. FIG. 1 1C is a side elevational view
of the
handheld device of FIG. 11B. In FIG. 11 C the computer is made to stand up
using a built-in
support 310. Support 310 may be configured as a tripod. A Master Station (or
Substation)
can locate handheld computer 300 through optical communication with prism 304
as
discussed above. Once handheld computer 300 is located, the entire system
knows the
location (in XYZ coordinates) of a user operating the handheld computer. Also,
the user
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knows his or her own location relative to the Master Station, Substations, and
fixed reference
points. Now, as the user moves through the site, the system, by tracking the
prism 304 of the
handheld computer 300, is aware of the user's movements. The handheld computer
300 may
thus be used as a navigation tool to guide the user move through the space in
much the same
way a GPS system is used in an automobile.
FIG. 12 is an illustration of the display of the handheld computer of FIG. 11.
A CAD
drawing (or map) 312 is overlaid with a marker 314 showing the position of the
user.
Alongside that marker, the coordinates of#he user's present position are shown
immediately
below the words, "You Are Here". Also, a user may select a target position 316
which will
also appear on the screen. Upon command from the user, the handheld computer
will direct
the user to the target position (e.g., by issuing voice commands in a similar
manner to an
automobile GPS). As the user moves toward or away from the target, the CAD map
moves
also, and the "You Are Here" indicator shows the user's present position on
the map. There
are also on-screen zoom controls. In addition, the user is permitted to select
various layers
(e.g., layer 318 ) of the map (e.g., one showing plumbing or electrical work).
The display
also shows the current distance to the selected target. The positions of the
reference stations
are indicated. The date and time are also displayed. All of this is
accomplished using
software which is a component of the system of the present invention.
The robotic laser distance measurement Master station control software is
located
within a handheld, laptop, tablet or desktop computer with the ability to
communicate with
(sends commands and/or receive commands) Master stations, Substations and
other
equipment of the system of the present invention. The software operatively
sends commands
and receives telemetry back from the Master station. The software sends
commands to the
Master station's firmware telling the Master station to perform specified
tasks (e.g., turn in a
specified direction, move up or down to a particular angular position, turn
the visible laser
pointer on or off, measure distance or angle etc.). The Master station
responds by executing
the requested functions and then sends performance or measurement telemetry
back to the
software.
The software has a graphical user interface purpose built for use within the
construction and architectural marketplace. The software is geared to
performing specific
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reading and writing construction tasks rapidly. The software mimics the look
and feel of
GPS systems that are utilized in automobiles or other vehicles for navigation.
The user
navigates within a CAD drawing that represents the building under
construction. As
discussed previously, the software is used in conjunction with a Master
station to create as
built studies of existing architecture in the form of 2D or 3D CAD drawings in
real time
(reading). The software is used to navigate to and layout construction work
from 2D or 3D
CAD drawings in real time.
Features of the software include:
a. "YOU ARE HERE" is displayed on the screen.
b. In Prism Tracking Mode or Visible Laser Pointing Mode in the XYZ
coordinates
are displayed on the screen.
c. In "Active Laser Pointing Mode" or "3D Mouse in Space Mode": the laser
follows
or tracks to wherever the mouse moves in space.
d. Once a target or point in space is selected "Distance to Target" from
present
location is displayed on screen.
e. Transfer seamlessly between reflectorless mode and Prism Tracking mode.
f. Shoot a visible laser in prism tracking mode.
g. Position control and zoom control is "ghosted" (displayed over the drawing
and
somewhat transparent or diaphanous).
h. Access to alternate drawings or drawings layers is available.
i. Power Search or Call Master Station function is present (the Master station
will
follow a procedure to actively search for the prism location).
FIG. 13 is a schematic illustration of a tripod mounted prism pole 320 having
a visible
laser point 322 that points vertically up and down. The prism pole further
comprises built-in
electronic distance measurement device which is part of the laser point.
Device 320 in FIG.
13 is measuring distance to another prism pole, i.e., short pole mount 340,
comprising prism
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pole 330, prism 328 and laser pointer/distance measuring device 332. Device
320 emits a
plumb laser beam 324 to determine its height off the ground. The two prisms
326 and 328
are aligned, and the distance between the prisms is measured.
FIG. 14 shows how a robotic Master station 400 that is able to determine its
orientation and position from the ground where the ground is rough and not
level. In order to
do this, the instrument directs four laser beams toward the ground. Three of
the laser beams
404 are directed to the bases of the three tripod legs. The fourth laser beam
402 is a plumb
beam directed vertically downward. The three beams 404 directed at the tripod
leg bases
determine the planar orientation of the device. The plumb beam determines the
vertical
distance of the instrument to the plane. From that point, the precise
orientation and location
of the instrument with respect to the ground is known. The rest of the
operation of Master
station 400 is similar to the Master station shown in FIG. 2.
FIGS. 15A-D shows how a Master or substation station configuration that can be
suspended above the ground and can traverse a multidimensional space such as a
construction
site while measuring distances to fixed references and other devices from
above. FIGS. 15A
and 15B show rail driven systems. FIG. 15A is a Master station 500 having a
gyroscopic
stabilization unit 506 mounted on its top. The stabilization unit 506 is
attached to a gantry
502 (preferably a computer controlled or software driven gantry) with rail
slots 504. FIG.
15B shows another rail mounting arrangement using rail 501 to slidably mount
Master or
Substation 512. FIGS. 15C and 15D show the cable driven and hover driven
stations 524 and
530 respectively; the cables 520 and hovers 532 are shown for the respective
stations. FIG.
16 shows the device in FIG. 15A adapted to a cable driven arrangement with
cables 503.
FIG. 17 shows tools that would be mounted to the bottom of a robotic vehicular
station or to the robot arm. These devices would be used to mark a surface
according to
predetermined instructions. FIG. 17A shows the head of a spring loaded awl and
FIG. 17B
shows the head of a spring loaded marker or paint stick.
Normally, a prism pole is handheld, and is therefore subject to movement when
the
holding person's hand shakes. Gyroscopic stabilization of a prism or station
has been
discussed supra. An alternative stabilization technique is shown in FIGS. 18A
and 18B.
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FIGS. 18A and 18B show an alternative stabilization device for a pole 602 with
a
prism 608. The entire pole shown in FIG. 18A, and the stabilization device is
shown in FIG.
18B. The stabilization device 600 is an enclosed compartment having two
openings to allow
pole 602 to pass therethrough and handle 604; the stabilization device is
supported by tripod
610. Within the enclosed compartment 600, the pole is suspended either by
strings 606 as
shown or by a viscous liquid damping rods similar to those used to slow the
movement of
doors. The damping rods are critically damped in order to be effective. The
pole is weighted
at the bottom with weight 612 so that it points toward the center of the
earth. Therefore, the
weight 612 acts as a plumb bob.
FIGS. 19A-B show yet another stabilization mechanism. It is a modified
gyroscopic
mechanism. FIG. 19A shows the entire pole 700 with a stabilization head 702
and a prism
704 mounted below the head 702. A schematic view of the head 702 is shown in
FIG. 19B.
Within the head 702 there are disposed X and Y directional gyroscopes and an
electronic
processor 710 (e.g., fuzzy logic processor) is used for stabilization in the Z
direction. This
device will defeat the vibration and inaccuracy caused by the user holding the
pole. The
Gyroscopically stabilized pole shown in FIGS. 19A and 19B is meant to generate
a more
consistent and steadier platform for a prism. The electronics control the gyro
rate of rotation
in real time to increase pole stability.
FIGS. 20A-B illustrate the use of the combined Master Station 801 with
spinning
lasers and wireless transmitter and receiver and Substation 810 with spinning
lasers and
wireless transmitter and receiver and a prism 812. The wireless transmitters
and receivers for
both the Master station and the Substation are disposed within the stations
and are thus not
shown in FIGS. 20A and 20B. The advantages and functionality of this
combination are
described therein. This system is intended for use independent of or in place
of a Master
station module to measure distances and help a user navigate within a
multidimensional
space. The Spinning Master Station 801 can deliver XYZ coordinate measurement
and
position triangulation data to wireless computer devices for the purpose of
navigation and
measurement on a worksite from a CAD drawing or digitized drawing.
The Spinning Master Station 801 is a reader and measurement device comprising
two
Distance Measuring Lasers and two Prism Sighting lasers all mounted within the
upper
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section of the device enclosure. A top view of Master Station 800 is also
shown in FIG. 20
with Distance Measuring lasers 800A, 800B and prism sighting lasers 800C and
800D all
mounted within the top section of Master station 800. The prism sighting
lasers are capable
of reading barcode information printed on objects within its line of sight.
Mounted within the
bottom section of the device is an arrangement of four pulse modulated laser
transmitters and
four laser data receiver sensors; one of these 8 lasers is shown as 804 in
FIG. 20A. These
lasers are capable of transmitting data to one or more devices (e.g., Master
stations or
substations) equipped with sensors for reception of such optical signals. The
sensors enable
reading or receiving information sent from a pulse modulated transmitter. The
Spinning
Master Station can communicate with other similarly equipped Master stations
or substations
or fixed references. The Spinning Master Station mechanism can also be adapted
for self
leveling.
The Spinning Substation 810 has a 360 degree corner cube prism 812 mounted in
the
upper section of the device enclosure. Mounted within the bottom section of
the device is an
arrangement of four pulse modulated laser transmitters and four laser data
receiver sensors
one of which is shown as laser 814. Substation 810 can be adapted for self
leveling. FIG.
20B shows Master station 801 mounted on tripod 826 communicating with
Substation 810
mounted on tripod 824; the devices are communicating via laser beams 820 and
822. The
Spinning Master station 801 and the Spinning Substation 810 can thus
communicate with one
another via pulse modulated lasers and receiver sensors. They exchange
identification,
telemetry and commands.
FIG. 20A illustrates the structure of a continuously spinning Master station
with a
prism transmitter and receiver array. This combination of spinning lasers with
prism
transmitter and receiver arrays and lasers arrays for transmitting and
receiving information
and processors and associated circuitry is a system that can replace a robotic
Master station
module or robotic Theodolite. By adapting presently available spinning laser
levels, the
device can deliver X, Y, Z coordinate measurements and position triangulation
to wireless
computer devices for navigation and measurement within a multidimensional
space to
generate a CAD or other type of graphical representation of the
multidimensional space. The
reader, measurer comprises two prisms sighting laser beams, two distance
measuring laser
beams on the top array. The reader, writer comprises four data transmission
lasers, four laser
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data receiving sensors on the bottom section of each device. Each of the
station may also be
equipped with wireless radio transmitter and receivers.
Each of the stations may have the following components/functionalities:
a. self-leveling visible lasers;
b. able to send data via a laser beam;
c. able to receive data via a laser beam;
d. able to measure distance to multiple prisms;
e. able to differentiate between prisms based on return signal; and,
f. able to transmit information wirelessly.
Referring to FIGS. 21A-B, a multiple prisms assembly and identification device
900,
which can function as a Master station, a substation or a fixed reference
point, is shown. An
infrared strobe 902 is mounted near the top of the device 900 and color Charge
Coupled
Devices (CCD) 904 are mounted near the lens of the device. CCD device 904
forms part of
the receiver of device 900. Infrared light for transmission and reception is
used and color
recognition is used in the reception of optical signals. In FIG. 21B, multiple
prisms 906 are
shown where each functions as an individual monument or fixed reference point.
Each prism
returns light of a different color. In FIG. 21B, the infra red strobe flashes
an infrared beam
912, and infra red light reflects back from the colored prisms. The infrared
beam 912 is
fanned out toward the multiple prisms so that there can be simultaneous
identification of the
plurality of prisms in the field of view.
The system shown in FIG. 21B, which can be referred to as a Colorized Prism
Recognition System, is capable of delivering rapid Multi-Prism identification
and individual
prism recognition. When compared to an existing Master station - Prism
Relationship the
Colorized Multi-Prism Recognition System has three distinct functional
features:
= Each individual prism is constructed out of a different colored dichroic
glass.
= The black and white CCD camera chip presently in place in Master station
modules is replaced with a system that utilizes a spread beam infrared laser
as a
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method of rapidly searching for a prism within the Master station modules
field of
view with a color CCD chip 904. Replacement of the black and white camera
chip with a color CCD chip will enable the Master station module to
differentiate
between colors, thus making each prism individually identifiable or
addressable.
Presently an infrared laser is utilized in a fanning pass to search for a
Prism within
the Master Station module's field of view; this method can only identify one
prism at a time.
= An infrared strobe 902 or flash is used to identify the quantity and
positiori of
multiple prisms simultaneously within the Master station's field of view.
Referring to FIG. 21(B), the six Prisms are within the field of view of the
device 900.
Device 900, operating as a Master station, emits an infrared strobe light.
Instantly, the
position of each and every Prism is known based upon the unique color of the
Prism.
Fixed reference points or monuments may be passive or intelligent. Passive
fixed
reference points or monuments may comprise a Prism or Reflector, a printed bar
code or
graphic, cross-hair targets or even nails. An example of a Passive Monument is
shown in
FIG. 22 as a Prism having an imprinted bar code.
While the present invention has been described in detail and with reference to
specific
embodiments thereof, it will be apparent to those skilled in the art that
various changes and
modifications can be made therein without departing from the spirit and scope
thereof. Thus,
it is intended that the present invention cover the modifications and
variations of this
invention provided they come within the scope of the appended claims and their
equivalents.
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