CN101578591A - System for accurately and precisely locating and marking a position in space using wireless communications and robotics - Google Patents
System for accurately and precisely locating and marking a position in space using wireless communications and robotics Download PDFInfo
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- CN101578591A CN101578591A CNA2007800448694A CN200780044869A CN101578591A CN 101578591 A CN101578591 A CN 101578591A CN A2007800448694 A CNA2007800448694 A CN A2007800448694A CN 200780044869 A CN200780044869 A CN 200780044869A CN 101578591 A CN101578591 A CN 101578591A
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Abstract
A system comprising a Master station and a substation under the control of the Master station is able to generate graphical drawings of a multidimensional space in real time. Information regarding the physical dimensions of a multidimensional space and location an orientation objects and/or structures therein are exchanged between the stations. The Master station is able to automatically generate an N dimensional graphical representation of the multidimensional space in real time, i.e., as it receives information from the substation and as it obtains information with its own measurement devices. The Master station can display the multidimensional space to a user allowing the user to be guided (i.e., to navigate) within the multidimensional space.
Description
Technical field
The present invention relates to a kind of system and method for discerning the ad-hoc location in the hyperspace.
Background technology
The information that obtains from measuring equipment in the situation of building is recorded hereof and is provided for subsequently architect and slip-stick artist with planning and the blueprint of exploitation about this situation of building.
Summary of the invention
The invention provides a kind of system, this system comprises main website and at least one substation, and main website all can intercom with the one or more positions in location and the identification hyperspace mutually with the substation.Main website further can control one or more substations to carry out the particular task in the hyperspace.Main website can determine its position and the reference position in the hyperspace, specified point, object and/or structure in hyperspace, with the N that generates hyperspace in research during this space (wherein N be equal 2 or bigger integer) the dimension diagrammatic representation, promptly generate the N dimension diagrammatic representation of hyperspace in real time.Therefore system user that can this main website of pilot operationp is by this hyperspace.
Main website comprises the transmitter and receiver equipment of the position of the multiple point that is used for measuring distance and identification hyperspace.Main website may further include sensor and processor.By instruction software operation is provided to processor, main website can be transportable, movably with autonomous.Transmitter and receiver can transmit and receive wireless radio signal or light signal or this both.This sensor can detect by the emission of (i) one or more substations, (ii) by a substation reflection or the (iii) light signal of the fixed reference point reflection in the structure in hyperspace or this structure.By processor and reside in wherein software and by identification a plurality of specified reference point, main website can be (by for example, known procedure of triangulation) calculates its position, the position of the substation in the hyperspace, the object in the hyperspace, structure in hyperspace, perhaps form the border of hyperspace.Main website measure and the hyperspace of identification in point and the position can be transformed two dimension or the three dimensions figure is represented (or to transform to the N dimension space usually, wherein N be equal 2 or bigger integer), this diagrammatic representation can be shown with the user who allows operation main website of the present invention determines his or she position or the navigation (or being directed) in the space by the diagrammatic representation of checking hyperspace in hyperspace.By use comprise known CAD (computer-aided design (CAD), such as
) software of software and Add-ons, can realize for example three-dimensional diagrammatic representation.When discerning and measuring new point, object, structure, information transmission is arrived main website, this main website can automatically determine these definite positions with respect to other objects, structure and hyperspace border, thereby the real-time graph that allows automatically to generate hyperspace when the research space is represented.The term of Shi Yonging " automatically " one or more parts of meaning system of the present invention are executed the task under the guide of the firmware of this system or software herein.Automatically performing of task can be done in real time, and this means when reception is used to carry out the information of this task to finish this task.
Main website can communicate by letter with one or more substations.The substation can be passive type or active.That is, the passive type substation can be that reflection is from main website or from the light signal of another substation or the equipment of radio signal.Itself does not launch information the passive type substation.Active substation can comprise sensor, transmitter and receiver, is used for sending information or receiving information so that carry out the order that main website sends from main website to main website.And, the substation can be passive type with active; That is, the part of substation reflection generates from another part of the signal of another equipment (another substation or main website) and substation or to the information of main website or another substation transmitted-reference dot information or any other type.Reside in the software in the processor of substation by operation, the substation can be transportable, movably with autonomous.The substation can be equipped with and be used for based on being received from main website or the relaying instrument from the command execution task of another substation of the order of main website.Main website also can be equipped with above-mentioned instrument.
Description of drawings
Figure 1A~B has illustrated specific arrangements of accelerometers;
Fig. 2 is the front view of main website of the present invention;
Fig. 3 A~B has vertical and horizontally rotates the front view on the plane of the main website head of laser instrument and rotary laser scanning;
Fig. 4 is the front view with transportable substation of robots arm;
Fig. 5 is the front view of transportable substation;
Fig. 6 is the side view of main website or substation movably;
Fig. 7 A~E shows polytype robots arm that can be attached to main website or substation;
Fig. 8 shows a specific embodiment of the system of the present invention that comprises main website, substation and permanent datum or markstone (monument);
Fig. 9 is the skeleton view that can be used as the active permanent datum of substation;
Figure 10 shows the front view and the side view of the PTZ that assembling is used for hand-held laser ranging instrument (_ _ _ _) video camera;
Figure 11 A shows the handheld computer that is equipped with Laser Distance Measuring Equipment;
Figure 11 B is the top view with the 11A that is shown as the prism that is attached to handheld computer;
Figure 11 C is the side view of handheld computer that also has Figure 11 A of shown support tripod;
Figure 12 is the diagrammatic sketch of the type of the figure that can be shown by the handheld computer of Figure 11 or drawing;
Figure 13 shows the identical bar on prism bar with visual laser indicator and the tripod;
Figure 14 shows the main equipment of the Fig. 1 with the multi-beam distance-measuring equipment that is used for definite main website height and planar orientation;
The computerize transfer system that Figure 15 A~D shows that the gyroscope that is used for main website or substation is stable, cable actuated, guide rail drives drives with rotor;
Figure 16 shows the gyroscope stabilizing equipment of the Figure 15 that is applied to computerize cable actuated system;
Figure 17 shows two specific heads as the robots arm of marking tool;
Figure 18 has illustrated the systems stabilisation that is used for prism bar;
Figure 19 A~B has illustrated another systems stabilisation about the stable electronic device of using gyrostatic prism bar and use fuzzy logic;
Figure 20 shows the system of the present invention that comprises rotary laser main website and rotation substation;
Figure 21 A~B shows and uses color prism another embodiment as the system of the present invention of permanent datum or markstone;
Figure 22 shows the front view of 360 ° of right-angle prisms.
Embodiment
The invention provides a kind of system, this system comprises main website and at least one substation, and main website all can intercom with the one or more positions in location and the identification hyperspace mutually with the substation.Main website further can control one or more substations to carry out the particular task in the hyperspace.Main website can determine its position and the reference position in the hyperspace and specified point, object and/or structure in hyperspace, with when studying the space, that is, generate in real time hyperspace N (wherein N be equal 2 or bigger integer) dimension diagrammatic representation.Therefore system user that can this main website of pilot operationp is by this hyperspace.
Main website comprises the transmitter and receiver equipment of the position of the various points that are used for measuring distance and identification hyperspace.Main website may further include sensor and processor.By instruction software operation is provided to processor, main website can be transportable, movably with autonomous.Transmitter and receiver can transmit and receive wireless radio signal or light signal or this both.This sensor can detect by the emission of (i) one or more substations, (ii) by one of them substation reflection or the (iii) light signal of the fixed reference point reflection in the structure in hyperspace or this structure.By the software in processor and the resident processor and by a plurality of specified reference point of identification, main website can calculate its position in hyperspace (by for example, known procedure of triangulation), the structure in the position of the substation in the hyperspace and object, the hyperspace, perhaps form the border of hyperspace.Main website measure and the hyperspace of identification in point and the position can be transformed two dimension or the three dimensions figure is represented (or to transform to usually on the N dimension space, wherein N be equal 2 or bigger integer), this diagrammatic representation can be shown as the user who allows operation main website of the present invention determine he or she in hyperspace the position or by the diagrammatic representation of checking hyperspace in the space, navigate (or being directed).By use comprise known CAD (computer-aided design (CAD), such as
) software of software and Add-ons, can realize for example three-dimensional diagrammatic representation.When discerning and measuring new point, object, structure, information transmission to can automatically determining these main websites with respect to the definite position on other objects, structure and hyperspace border, thereby automatically generating the real-time graph of hyperspace when the research space, is represented in permission.The term of Shi Yonging " automatically " one or more parts of the meaning system of the present invention task of under the guide of the firmware of this system or software, carrying out herein.Automatically performing of task can be done in real time, and means to finish this task when reception is used to carry out the information of this task.
Main website can communicate by letter with one or more substations.The substation can be passive type or active.That is, the passive type substation can be that reflection is from main website or from the light signal of another substation or the equipment of radio signal.The initiatively not own emission information in passive type substation.Active substation can comprise sensor, transmitter and receiver, is used for sending information or receiving information from main website to main website, so that carry out the order that main website sends.And, the substation can be passive type with active; That is, the part of substation reflection generates from another part of the signal of another equipment (another substation or main website) and substation or to the information of main website or another substation transmitted-reference dot information or any other type.Reside in the software in the processor of substation by operation, the substation can be transportable, move and autonomous.The substation can be equipped with the instrument that is used for based on the command execution task that is received from main website or another substation, and wherein this another substation relaying is from the order of main website.Main website also can be equipped with such instrument.
With reference to figure 1, show the configuration of specific accelerometer.Accelerometer is to be used for the known equipment that the rate of change based on the acceleration of accelerometer experience or speed comes measuring distance, and accelerometer can be configured to spherical basically structure and be coupled to electronic circuit to allow measuring distance.Figure 1A shows the orientation of specific acceleration meter and the outward appearance that Figure 1B shows this equipment.Accelerometer cluster 10 comprises a plurality of cylindrical shaped accelerometers 12 that are coupled to housing 14, and housing 14 comprises suitable support circuit and the mechanism that is used for this bunch.Shell 16 can be configured to be assembled on this bunch, caused spherical bunch.Accelerometer cluster can be assemblied on the vehicular master station or can vehicular substation by main website control on.By measuring from the accekeration of each accelerometer and calculating the speed of all accelerometers and the result of distance, determine distance of advancing and the speed of advancing thus.Therefore, can obtain to be equipped with on it calculating more accurately of distance that vehicles of accelerometer cluster advance and speed.
Fig. 2 is an embodiment of the main website of system of the present invention.Main website 20 shown in Fig. 2 is transportable main websites; That is, the user can move to the another location from a position with it.The main website of Fig. 2 can be the main website assembly that comprises such as the multiple module (not shown) of communication and processor module.Communication module can be used for the communication with the substation that is arranged in identical hyperspace (or other main websites), and wherein the main website assembly is arranged in this hyperspace.This processor module can reside in wherein or can control following software, and this software makes the main website assembly can calculate its position in hyperspace, and calculates the position of specified point in hyperspace.This processor can be implemented as the computing machine of wireless laptop computers or other types, this computing machine can with master station communication to realize the one or more positions in mark and/or the location hyperspace.The part of main website can be implemented as the known equipment that is called as transit, and the surveyor typically uses distance and the angle that arrives specified reference point in this transit survey 3-D space.The transit housing 22 that is assemblied on the tripod 24 (only showing the two legs of this tripod) has been shown among Fig. 2.The transit of main website partly has the lens subassembly 24 that can observe and read fixed reference, and can be used as barcode reader or figure reader.Transit is a robotic theodolite, and the orientation of its middle shell and lens can be by remote control or can be by the processor Autonomous Control, and this processor is by the software control that resides in wherein.This processor can be transit a part or can wireless coupling, the perhaps communications cable coupling by on knee or desktop computer or other computer devices.Main website among Fig. 2 has the distance that can measure housing 22 built on stilts or this residing surface, station.The main website of Fig. 2 uses laser technique to carry out highly and measures.Especially, the main website of Fig. 2 has self-level(l)ing device (for example, gyroscope), and this self-level(l)ing device is positioned in the top of housing bottom 26 and tripod 24.This self-level(l)ing device can all be placed in the housing 22.Therefore main website 20 level and vertical rotary laser (discussing hereinafter) the execution self-level(l)ing that can use laser instrument 28, be arranged in the levelling device of lower house 26 and be assemblied in the top of housing 20 possibly.Laser range finder 28 with related electronic installation (not shown) allows main websites 20 to measure it on the ground or its lip-deep height of living in.Laser instrument 28 is along the Z-axis 36 emission visible laser beam 30 of main website, and it is used to measure to ground or the distance of this residing pedestal of main website.Vertical rotary laser 32 and horizontally rotate the top that laser instrument 34 is assemblied in housing 22.Laser instrument can be realized automatic, the autonomous orientation of main website with respect to its space of living in (perhaps CAD or digitizing are drawn); This is by search and measures to the distance of a plurality of fixed reference station or other main websites or substation and realize.To know and be understood that, main website and other main websites described herein or substation for Fig. 2, laser instrument is used for coming measuring distance by putting to another from certain some emission of lasering beam (laser beam continuous or pulse or this both combination), and the characteristic of the reflected beam that measures is to calculate the distance of this point.
Fig. 3 A shows level and vertical plane 40 and 38 that level and vertical rotary laser 34,32 scan respectively.Rotary laser can send and receive the information such as telemetry intelligence (TELINT).Laser instrument 32,34 can read telemetry intelligence (TELINT) and telemetry intelligence (TELINT) is write in the processor.Main website 22 uses laser instrument to help automatically to determine main website and position and the orientation of other equipment in hyperspace, and this main website and these other equipment are arranged in this hyperspace; This is to realize by the distance of measuring from main website to these multiple other reference point.Fig. 3 B shows the transit part of the main website 20 of the Fig. 1 that does not have tripod 24.
The sensor (not shown) can be placed near the lens subassembly 24, is used to realize the reception and the explanation of the information that sends from pulse modulation transmitter or reads.The laser instrument 32,34 of main website 20 can be communicated by letter with main website, substation, vehicles reference station or the fixed reference station of other similar configurations.Fig. 3 A is the isometric view that does not have the main website 22 of tripod.Show the coating effect of rotary laser.Fig. 3 B is the front plan view of equipment.By generating the horizontal plane and the vertical plane of the laser that sends from the top of main website 20, can produce coating effect.
Transportable substation 42 has been shown among Fig. 4.The substation of Fig. 4 has robots arm 44, and robots arm 44 has laser designator 46 and attached electronic equipment, is used for helping measuring distance and therefore helping the position of location reference point, other equipment, other substations by triangulation or other known technologies.As the main website of Fig. 1, level and vertical rotary laser 48,50 are assemblied in the case top at this station.Bar 54 stretches out from the top at this station, has assembled 360 ° of right-angle prisms 56 on bar 54.From any direction be radiated on this prism any light along with its from the identical line of observation reflection of direction.This station is assemblied on the tripod 58 (only showing two legs), and tripod 58 makes this station remain on fixed position in the space.Mobile robot arm 44 stretches out from the side of mechanical enclosure.Bar is positioned at robots arm's end, and prism 60 is assemblied on this bar.Laser designator 46 also is positioned at robots arm 44 end, and laser designator 46 can be used for measuring distance and reads and writes the information of the light signal form with reflection or emission.Operation and laser designator 46 similar laser indicators 64 are positioned at the end of bar 54.Can easily settle the robot armed lever.Substation 42 can be at multiple direction merchant homology emission of lasering beam never:
A. the downward vertical beam 62 of emission on true-vertical (true vertical) direction is to determine height;
B. the upwards vertical beam 66 of emission that redirects by bar 54 is with as visual laser indicator and electronic distance read-write equipment.
C. the vertical beam (not shown) of upwards launching that redirects by vertical and horizon light rotary unit; With,
D. pass through the wave beam 68 of robot armed lever emission, to be used as visual laser indicator and electronic distance measurement read-write equipment.
Corresponding controlling center is understood can transport X, the Y of substation 42 in the space and Z position (based on the position in the space of 3 orthogonal axes of cartesian coordinate system) and robots arm's position and orientation.Can utilize single or multiple substations independently with main website, perhaps the mutual daisy chain in a plurality of stations can be linked together.
Fig. 5 shows another example that can transport the substation.Can transport substation 70 is electronic range measurement substations, and it can launch the visible laser bundle so that hot spot is radiated on the assigned address.Than the substation of Fig. 4, this substation is less relatively, light and manufacturing cost is lower.Have rotary laser mechanism, it comprises the laser instrument 72 and 74 at the top that is assemblied in robotic theodolite head 76.Head 76 is assemblied on the tripod 78.Rotary laser mechanism emission level and vertical reference laser lines.This rotary laser can move in the unit that receives, sends, reads and writes the coordinate telemetry.This is to realize by the distance of searching for and measuring fixed reference station, main website or other substations of any amount.X, Y and Z position are always understood by main website.This equipment should be to move around being easy to carrying and being easy in the building site, and is the solution that is used to find out the coordinate in the line of observation that is not in main website.That is, substation 70 can measure specified reference point distance, determine these in hyperspace the position and the position of these points is relayed to controlling center.Bar 80 spinning laser instruments and head 76 that end is equipped with prism 82 extend.Although substation 70 is transportable, it can be fixed to ground or can be fixed to the I ellbeam.Can utilize single or multiple transportable stations such as station 70 independently with main website, perhaps a plurality of substations can interlink together.
Fig. 6 shows and can be used as mobile substation or mobile main website mobile device operating.Operation as the equipment 90 of substation is similar to the substation of Fig. 4 basically.The tool box 108 on being assemblied in the vehicles 114, the equipment that is assemblied on the vehicles comprises the robotic theodolite 106 with robots arm 104, and prism 110 and laser designator 112 are positioned at this robots arm's 104 end.Laser designator 112 can be replaced by any one instrument that is stored in the tool box 108.Horizontal laser 94, vertical laser 92, bar 100, prism 96 and laser designator 98 are assemblied in the transit top.The head section 102 of transit 106 can be replaced to allow this equipment as main website or substation operation.As main website, this equipment is complete robotic active prism, the combination of tracking Laser Distance Measuring Equipment fixing or that be fastened to the vehicles, and the described vehicles can manually be controlled, and remote control perhaps can be independently to himself navigation in specific environment; These equipment with can automatically change multiaxis computer guiding robot tool arm 104 combination of Work tool operation to carry out the building behavior in real time.The final purpose of this main website is navigation and makes this equipment with respect to its space of living in or with respect to CAD drawing carrying out spatial orientation.This is by search automatically and continuous coverage and remeasures the permanent datum, substation of any quantity or the distance of any other main website fixing or that move is finished.In a single day this equipment can initiatively move to selected position, and arrives this position, can utilize multiple appointment instrument to carry out multiple work functions.This equipment can perhaps can be navigated by other main websites fixing or that move according to self-contained computer instruction navigation.Can be japanning, jointing, mark, burn, cut, weld, hole, carve, measure or read and write by some task that this main website carries out, and can send and receive telemetry in real time.To a certain extent, the instrument on the robots arm is interchangeable, and can transfer from the tool box 114 that is assemblied in the vehicular robot top.Certainly, substation (very similar with the substation shown in Fig. 5) also can be assemblied in the vehicular robot top but not be assemblied in the main website.360 ° of right-angle prisms are assemblied in the top of the bar that stretches out from the master station module head.Similar prism also can be assemblied in robots arm's end.
Fig. 7 A~E shows the robots arm's (44,104) of the equipment that can be assembled to Fig. 4 or 6 multiple interchangeable instrument.Here show the array of the interchangeable instrument that is used for robots arm 120.Fig. 7 A shows the robots arm with cutting tool 122.Fig. 7 B shows the robots arm with japanning or line tool 124.Fig. 7 C shows the robots arm with vertical visual laser indicator 126.Fig. 7 D shows (CMM) 128 that have coordinate measuring machine, laser scanner or the manual point robots arm that reads instrument.Fig. 7 E show have boring, the robots arm of engraving and cautery tool 130.
Fig. 8 has illustrated the buildings enclosed environment that is configured to use system of the present invention.The external member of system of the present invention is provided.All parts of this external member have been shown among Fig. 8.Fixed reference station 140,142,144,146,148,150 and 152 is shown as 360 ° of right-angle prisms in the drawings, but they can be selected from the plurality of devices that readable fixed reference is provided.This fixed reference station can be a passive type equipment.Yet they also can be active or can launch the smart machine of information to receiver that perhaps they can respond specific message optically.This fixed reference station can be arranged in multiple position to allow the specified point of main website identification hyperspace.For example, fixed reference station can be fixed to or be rooted on the concrete slab or be fixed to permanent location, perhaps is assemblied in the markstone that is arranged in known location, and this position is addressable and discernible.Markstone allows with respect to these equipment space of living in or the automatic and autonomous apparatus orientation of drawing with respect to CAD.Main website can be electromagnetism (for example, light, colorama, infrared ray, RFID, X ray, bar code etc.), ultrasonic, digital compass, kybernetics information theory and decoding information by its signal of discerning reference station, and other.
Fig. 8 shows five fixed reference station (146,144,140,152,150) of being assemblied in the wall, be assemblied in a fixed reference station 142 on the floor and be assemblied in a fixed reference station 148 in the markstone 154.This external member further comprises the equipment about the information of this fixed station that is obtained that acts on.These equipment are main website 156, transportable station 158, the transportable station 160 of arm, vehicles station 162, the handheld computer 164 with built-in electronic range measurement and board (or laptop computer) 166 are arranged.As already discussed, main website 156 can or use the substation to come the position reference position by himself.Therefore fixed reference is shown as prism and uses laser positioning by the direct line of observation.Therefore, be not in the direct line of observation of main website but the fixed reference that is in the line of observation of a substation still can be discerned by main website indirectly.That is, the substation can be discerned fixed reference and this information is sent to main website.Main website can use the positional information of this fixed reference to discern its position in enclosure space subsequently.Information about the position, substation can wirelessly be transmitted into main website by each seed stations.Among the embodiment shown in Figure 8, standing 158,160 and 162 can be the substation.Stand 156 and 164 can be main website.The board or the laptop computer 166 that do not have any distance-measuring equipment may be as the processors that is wirelessly coupled to main website 166.On the keyboard of laptop computer 166, generate order from main website 156.Main website 156 can be a robotic master station, thus its moving by order and/or as the part of laptop computer 166 or the actuator control of being coupled to laptop computer 166 in the process of search permanent datum.Be not in the direct line of observation of main website 156 those with reference to can detecting, and the positional information of being gathered by those substations can wirelessly be relayed to main website 156 by substation 158,160 or 162.Main website 164 is the handheld computers with distance-measuring equipment, and its operation is with the similarity of main website 156, and main website 164 uses its measuring equipments and from the position of the information positioning and fixing reference point of substation.Being different from can be by board 166 operation or by the manually operated main website 156 of user, main website 164 (vide infra about Figure 11 discussion) is by via the keyboard of handheld computer 164 or some actuator (for example, mouse, operating rod) input command and the autonomous device of direct control by the user.
The purpose of fixed reference station system is to be provided for respect to automatic, the autonomous apparatus orientation in space and the permanent datum of navigation, and wherein this permanent datum is placed in this space according to CAD or Digital Drawing.These equipment by continuous search, measure and remeasure the distance of the fixed reference station of any amount that is arranged in the space, come himself orientation and navigation by this identical space.Final purpose is to realize better measurement accuracy and independently or by the vehicles, anthropomorphic robot, humanoid automat or other the robot of remote control or the system of the robot vehicles, instrument or indoor or outdoors, draws according to CAD and navigates.Should be noted that importantly that by utilizing CAD in the storer be uploaded at master station processor to draw or the record of other drawing and fixed reference position main website can begin to measure the process with the positioning and fixing reference point; In this case, main website will confirm the diagrammatic representation in this space of object that the accuracy and still generating of the information of record comprises in the space and structure.The diagrammatic representation that the main website of system of the present invention generates may depart from the diagrammatic representation of having write down.In measured and when identification along with each markstone, structure and space boundary, upgrade the diagrammatic representation that system of the present invention generating and correspondingly change shown drawing.The renewal of graphic presentation is finished in real time; That is, when processor processes information and when adding new visuals, the observer sees part and the remaining figure that this is new.And, not only observe this space such as the user of the main website of main website 164 and show, and main website/customer location is also shown in this diagrammatic representation, allow guiding or navigation user by this enclosure space.Certain objects and/or structure may be recorded among the CAD or Digital Drawing that uploads, but are not present in this space.In this case, main website 156 can be for example, vehicular substation 162 is directed to the object space of the expection that CAD points out in drawing and substation 612 is made marks to point out object that this CAD discerned in drawing butt position and orientation really.Under the guide and control of one or more main websites, other similar tasks can be carried out in the substation.And the substation can have processor, and this processor has the CAD that has uploaded draws, and therefore can execute the task based on the position of certain objects according to this CAD drawing and the specific software of moving on the processor of this substation in this substation.The user may see the demonstration in the space with object and structure, and still this object and structure do not exist in real space.Therefore, being equipped with the substation of the robots arm with instrument attached with it to carry out is used to promote the structure of this object and/or structure or constructs this object and/or the task of structure self.For example, in uploading to the processor of this substation or upload to CAD in the processor of main website of this substation of control and draw and be identified as the specific location of object space, the surface can be holed, make marks, cut in the substation when preparing constructed object, markstone or structure.
Fig. 9 is the skeleton view of intelligent fixed reference station (that is active substation) sensor and transmitter array.This equipment is as intelligent markstone, and it understands its position, substation or master station communication that this equipment can be similar to other.The equipment of Fig. 9 can send, receives and redirect any electromagnetic signal, such as light or ultrasonic signal.The intelligent fixed reference station of Fig. 9 comprises and horizontally rotates laser instrument 202 that this horizontally rotates laser instrument 202 and also has observation and fetch equipment.Rotary laser 202 can also be as bar code or figure reader operation.In addition, the fixed reference station of Fig. 9 further comprises dynamic reflector/prism 204.Reflector/prism 204 comprises right-angle prism, removable prism and holographic optical elements (HOE).In addition, the reference station of Fig. 9 comprises sensor receiver 206 and wireless communication receiver and transmitter 208.At last, the reference station of Fig. 9 comprises housing 210, is used to hold electronic installation and equipment is kept together.
Figure 10 A has presented the front elevation view of equipment, and Figure 10 B has presented the facade side elevation of equipment.Shown equipment can be Leica Disto equipment or similar laser distance-measuring equipment.This is motorization and the remote control The Cloud Terrace accessory 254 that is used for electronic distance-measuring equipment 250.Control saddle 252 move can via operating rod, mouse, touch pad, button, stylus, digital quantizer or utilize gyroscope or the Inertial Measurement Unit input by system software controls.Shown video camera accessory 254 is motorization and remote control The Cloud Terrace accessory.It can also be used as non-motorized manual jig.It has the ability accurately to read distance, bar code or figure, and the assigned address of having the ability accurately to point to.
Figure 11 B is the schematic plan top view with the handheld computer station 300 that is assemblied in the prism 304 (for example, 360 ° of right-angle prisms) above the display 306.Figure 11 A shows the isometric view of the handheld computer 300 with built-in or attached Laser Distance Measuring Equipment 302 and keyboard/keypad 308.N dimension diagrammatic representation that can presentation space on display 306, object and/or structure and other information in this space.Computing machine will be typically hand-held by the user.The function of prism 304 is as positioning equipment, means that it can receive and reflected light signal, allows other equipment to locate the position at this handheld computer station 300.Figure 11 C is the facade side elevation of the handheld device of Figure 11 B.In Figure 11 C, use built-in support 310 that computing machine is erect.Support 310 can be configured to tripod.As discussed above, main website (or substation) can by with the position of the optical communication of prism 304 location handheld computer 300.In case located the position of handheld computer 300, total system is understood the user's of this handheld computer of operation position (in XYZ coordinate).And, the user understand he or she self with respect to the position of main website, substation and permanent datum.Now, when the user moved through the position, moving of user understood by the prism 304 of following the tracks of handheld computer 300 by this system.Handheld computer 300 can thus serve as navigational tool, thereby guides the user to move through the space in the mode very identical with the gps system that uses in automobile.
Figure 12 is the explanation of demonstration of the handheld computer of Figure 11.CAD drawing (or map) 312 is coated with the mark 314 that customer location is shown.On this mark next door, be right after the coordinate that shows user's current location below the speech " you here ".And the user can select also will be presented on the target location 316 on the screen.In case receive the order from the user, handheld computer is directed to target location (for example, sending voice command by the mode similar to automobile GPS) with the user.When the user towards or wide when moving, the CAD map also moves, and " you here " designator shows the current location of user on map.Also there is the convergent-divergent control on the screen.In addition, allow the user to select the multiple layer (for example, layer 318) of map (for example, showing the map of pipeline or electrical installation).This demonstration also shows the current distance of selected target.The position of reference station is pointed out.Also shown date and time.Use realizes all these operations as the software of the parts of system of the present invention.
Laser ranging main website of robot Control Software is arranged in handheld computer, laptop computer, tablet computers or the desktop computer that has with the ability of other devices communicatings (send order and/or receive order) of main website, substation and system of the present invention.This software operation ground sends order and receives back telemetry from main website.This software sends order to the firmware of main website, inform main website carry out appointed task (for example, turn to assigned direction, on move or move down into specific angle position, open or close visual laser indicator, measuring distance or angle etc.).Main website makes response and sends it back performance or measurement telemetry to this software subsequently by carrying out the function of being asked.
This software has the graphical user interface purpose, and it is fabricated and is used for using in building and architectural marketplace.This software is adjusted to and promptly carries out specific read-write structure task.The look and feel of the gps system that is used to navigate that this software simulation utilizes in automobile or other vehicles.User's navigation in the CAD of the buildings that expression is making up draws.As discussed earlier, this software uses to create the structure research (reading) of the existing framework with 2D or 3D CAD drawing form in real time in conjunction with main website.This software is used in real time according to 2D or 3DCAD drawing navigation and planning building work.
This Characteristic of Software comprises:
A. on screen, show " you here ".
B. the prism tracing mode or the visual laser pointing-type that are in the XYZ coordinate are displayed on the screen.
C. in " active laser pointing-type " or " 3D mouse mode in the space ": any position that mouse moves is followed or followed the tracks of to laser in the space.
D. in case select target or point in the space, be displayed on the screen from " to the distance of target " of current location.
E. the bumpless transfer between no reflection events device pattern and the prism tracing mode.
F. in the prism tracing mode, penetrate visual laser.
G. the control of position control and convergent-divergent is " mirage phantom shows " (being presented at draws go up and be transparent or translucent to a certain extent).
H. can visit interchangeable drawing or drawing layer.
I. the function (main website will follow the program that is used for the active searching prism location) that has the power search or call out main website.
Figure 13 is the schematically illustrating of prism bar 320 of assembling tripod with visual laser indicator 322 of vertical points upwards and below.This prism bar further comprises built-in electronic distance-measuring equipment, and this electronic distance-measuring equipment is the part of laser designator.Equipment 320 among Figure 13 measures another prism bar, i.e. the distance of quarter butt accessory 340, and this quarter butt accessory 340 comprises prism bar 330, prism 328 and laser designator/distance-measuring equipment 332.Equipment 320 emissions are really hung down laser beam 324 to determine its height to ground.Aim at two prisms 326 and 328, and the distance between the measuring prism.
Figure 14 shows how robotic master station 400 can determine its orientation and to coarse and position uneven ground.In order to finish this operation, this instrument makes four laser beam directed towards ground.Wherein three laser beam 404 are directed to the pedestal of three tripod legs.The 4th laser beam 402 is the vertical very vertical wave beam that points to down.Three wave beams 404 that are directed to the tripod leg pedestal are determined the planar orientation of this equipment.The wave beam that really hangs down is determined the vertical range of this instrument to this plane.Thus, known accurate orientation and the position of this instrument with respect to ground.The remaining operation of main website 400 is similar to the main website shown in Fig. 2.
How the configuration that Figure 15 A~D shows main website or substation can be suspended in above the ground and can cross the hyperspace such as the situation of building, measures the distance of fixed reference and other equipment simultaneously from the top.Figure 15 A and 15B show rail driven systems.Figure 15 A is the main website 500 with the gyroscopic stabilization unit 506 that is assemblied in its top.Stabilization element 506 is attached to the saddle 502 (the preferably saddle of computer control or software-driven) with guide-track groove 504.Figure 15 B shows and uses guide rail 501 to assemble another guide rail assembled configuration of main website or substation 512 slidably.The station 524 and 530 that drives with rotor that Figure 15 C and 15D show cable actuated respectively; Show cable 520 and rotor 532 for separately station.Figure 16 shows the equipment among Figure 15 A of the cable actuated configuration that is suitable for having cable 503.
Figure 17 shows the bottom that is assembled to robot vehicles station or robots arm's instrument.These equipment will be used for according to the predetermined instruction labeled surface.Head and Figure 17 B that Figure 17 A shows spring loaded pointed drill show the spring loaded marker or the head of paint stick.
Usually, prism bar is handed, and therefore is subjected to moving influence when hand-held people's hand vibrations.It is stable that the front has been discussed the gyroscope at prism or station.Interchangeable stabilization technique has been shown among Figure 18 A and the 18B.
Figure 18 A and 18B show the interchangeable stabilizing equipment of the bar 602 that is used to have prism 608.Complete bar has been shown among Figure 18 A, and among Figure 18 B stabilizing equipment has been shown.Stabilizing equipment 600 is enclosed compartment, has two openings and the handle 604 that allow that bar 602 passes through; This stabilizing equipment is supported by tripod 610.In enclosed compartment 600, hang this bar by the line 606 that goes out as shown or by the viscous liquid damper bar that moves with the door that is used to slow down.For efficiently, critically control (damp) this damper rod.By counterweight 612 counterweights, it points to the earth's core to this bar thus in the bottom.Therefore, counterweight 612 is as ceiling hammer.
Figure 19 A~B shows another stabilizing mechanism.It is the gyroscopic mechanism of revising.Figure 19 A shows the complete bar 700 that has stabilization head 702 and be assemblied in the prism 704 below this head 702.The explanatory view of head 702 has been shown among Figure 19 B.In head 702, be mounted with X and Y direction gyroscope and be used at the stable electronic processors 710 of Z direction (for example, fuzzy logic controller).This equipment will overcome the vibration that caused by hand-held this bar of user and inaccurate.The stable bar of gyroscope shown in Figure 19 A and the 19B should generate the more solid and firm platform that is used for prism.This electronic equipment is controlled gyrostatic rotational speed in real time to increase bar stability.
Figure 20 A~B has illustrated being used in combination of main website 801 with rotary laser and transmitting set and receiver and the substation 810 with rotary laser and transmitting set and receiver and prism 812.Be used for that the transmitting set of main website and substation and receiver are positioned in above-mentioned station and therefore not shown in Figure 20 A and the 20B.The advantage and the function of this combination have been described herein.This system is intended to be used to be independent of master station module or replace master station module and use, and navigates in hyperspace with measuring distance and help user.Rotation main website 801 can send that XYZ coordinate is measured and the position trigdatum to wireless computer device, is used for drawing or the digitizing drawing is navigated in the work place and measured by CAD.
Rotation main website 801 is reader and the measuring equipments that comprise two ranging lasers and two prism observation laser instruments, and all laser instruments all are assemblied in the top of equipment sealing cover.Also show the top view of the main website 800 with ranging laser 800A, 800B and prism observation laser instrument 800C and 800D among Figure 20, all these laser instruments are assemblied in the top of main website 800.Prism observation laser instrument can read the bar code information on the object that is printed in its line of observation.The configuration of four pulsed modulation generating lasers and four laser data receiver sensors is assemblied in the bottom branch of this equipment; Among Figure 20 A a laser instrument in these 8 laser instruments is depicted as 804.These laser instruments can be to one or more equipment (for example, main website or substation) emission data that are equipped with the sensor that is used to receive this light signal.This sensor can be realized reading or receiving from the information of pulse modulation transmitter transmission.The rotation main website can communicate by letter with the main website of other similar outfits or substation or fixed reference.This rotation master station mechanism also can be suitable for self-level(l)ing.
Figure 20 A has illustrated the structure of the continuous rotation main website with prism transmitter and receiver array.Rotary laser and prism transmitter and receiver array and be used to the laser array of the information that transmits and receives and this combination of processor and associated circuit is the system that can replace robotic master station module or robotic theodolite.By adapting to current available rotary laser grade, this equipment can be sent X, Y, Z measurement of coordinates and position triangulation result to wireless computer device, be used in hyperspace navigation and measure, with the CAD that generates this hyperspace or the diagrammatic representation of other types.This reader, measuring appliance comprise two range finding laser beam on two prism observation laser beam, the top array.Reader, write device comprise four laser data receiving sensors on the bottom of four data emitting lasers, each equipment.Each station can also be equipped with wireless radio transmitter and receiver.
Each station can have following components/functions:
A. self-level(l)ing visible lasers;
B. can send data via laser beam;
C. can receive data via laser beam;
D. can measure the distance of a plurality of prisms;
E. can distinguish prism based on return signal; With
F. can wirelessly launch information.
With reference to figure 21A~21B, show the polygon prism assembly and the identification equipment 900 that can be used as main website, substation or permanent datum.Infrared ray strobe 902 is assemblied near the top of equipment 900 and colored charge (CCD) 904 is assemblied near the lens of this equipment.The part of the receiver of CCD equipment 904 forming devices 900.The infrared light that use is used to transmit and receive and when receiving optical signals, use color recognition.In Figure 21 B, show a plurality of prisms 906, wherein each prism is as independent markstone or permanent datum.Each prism returns the light of different colours.In Figure 21 B, the infrared ray strobe infrared ray wave beam 912 that flashes, and infrared light reflects from color prism.Infrared ray wave beam 912 scatters towards a plurality of prisms, can discern a plurality of prisms in the visual field thus simultaneously.
System shown in Figure 21 B can be called as colorize prism recognition system, can carry out polygon prism identification rapidly and prism identification separately.When concerning relatively with existing main website-prism, colorize polygon prism recognition system has the functional character of three differences:
Each independent prism is by different colored dichroic glass structures.
The black-white CCD camera chip that is currently located at the appropriate location in the master station module is replaced by following system, utilizes by colored CCD chip 904, and the method for wave beam infrared laser as the prism in the rapid search master station module visual field extended in the utilization of described system.Use the colored CCD chip to replace the B chip will make master station module can distinguish color, therefore making each prism is can discern separately or addressable.Prism in the current visual field that in sector channel, utilizes infrared laser search master station module; This method once only can be discerned a prism.
Infrared ray strobe 902 or flashlamp are used for discerning simultaneously the number and the position of a plurality of prisms of the visual field of main website.
With reference to Figure 21 (B), six prisms are arranged in the visual field of equipment 900.As main website apparatus operating 900 emission infrared strobe light.Based on unique color of prism, immediately understand each prism and position thereof.
Permanent datum or markstone can be passive type or intelligent.Passive type permanent datum or markstone can comprise bar code or figure, cross-wire or the back nail (even nail) of prism or reverberator, printing.Example as the passive type markstone of the prism of the bar code with printing has been shown among Figure 22.
Although describe the present invention in detail, it will be apparent to those skilled in the art that under prerequisite without departing from the spirit and scope of the present invention and can carry out multiple change and modification by the reference specific embodiments of the invention.Therefore, the present invention should be encompassed in the interior modifications and variations of the present invention of scope of appended claims and equivalent thereof.
Claims (1)
1. a system comprises
Main website;
At least one substation, itself and described master station communication, wherein said each station exchange automatically generates the diagrammatic representation of described hyperspace about the measurement carried out and the information of identification in real time to allow described main website in hyperspace.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/875,678 US9747698B2 (en) | 2006-10-21 | 2007-10-19 | System for accurately and precisely locating and marking a position in space using wireless communications and robotics |
US11/875,678 | 2007-10-19 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN101578591A true CN101578591A (en) | 2009-11-11 |
Family
ID=40821904
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CNA2007800448694A Pending CN101578591A (en) | 2007-10-19 | 2007-11-28 | System for accurately and precisely locating and marking a position in space using wireless communications and robotics |
Country Status (3)
Country | Link |
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JP (1) | JP2011501105A (en) |
CN (1) | CN101578591A (en) |
CA (1) | CA2667217A1 (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
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CN103119464A (en) * | 2010-07-26 | 2013-05-22 | 法罗技术股份有限公司 | Device for optically scanning and measuring an environment |
CN103983255A (en) * | 2013-02-08 | 2014-08-13 | 赫克斯冈技术中心 | Mobile field controller for measuring and remote control |
US9773420B2 (en) | 2014-01-31 | 2017-09-26 | Kabushiki Kaisha Topcon | Measuring system |
US9958268B2 (en) | 2013-10-31 | 2018-05-01 | Kabushiki Kaisha Topcon | Three-dimensional measuring method and surveying system |
CN108801234A (en) * | 2018-08-28 | 2018-11-13 | 苏州百搭王者物流技术有限公司 | A kind of device of athletic ground construction cloth benchmark |
CN109112928A (en) * | 2018-08-28 | 2019-01-01 | 江苏诚大运动场地新材料有限公司 | A kind of device and construction method of movement place of production construction cloth benchmark |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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GB201419182D0 (en) * | 2014-10-28 | 2014-12-10 | Nlink As | Mobile robotic drilling apparatus and method for drilling ceillings and walls |
-
2007
- 2007-11-28 JP JP2009533602A patent/JP2011501105A/en not_active Withdrawn
- 2007-11-28 CA CA002667217A patent/CA2667217A1/en not_active Abandoned
- 2007-11-28 CN CNA2007800448694A patent/CN101578591A/en active Pending
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103119464A (en) * | 2010-07-26 | 2013-05-22 | 法罗技术股份有限公司 | Device for optically scanning and measuring an environment |
CN103119464B (en) * | 2010-07-26 | 2015-07-08 | 法罗技术股份有限公司 | Device for optically scanning and measuring an environment |
CN103983255A (en) * | 2013-02-08 | 2014-08-13 | 赫克斯冈技术中心 | Mobile field controller for measuring and remote control |
CN103983255B (en) * | 2013-02-08 | 2017-03-01 | 赫克斯冈技术中心 | Moving field controller for measurement and remotely control |
US9958268B2 (en) | 2013-10-31 | 2018-05-01 | Kabushiki Kaisha Topcon | Three-dimensional measuring method and surveying system |
US9773420B2 (en) | 2014-01-31 | 2017-09-26 | Kabushiki Kaisha Topcon | Measuring system |
CN108801234A (en) * | 2018-08-28 | 2018-11-13 | 苏州百搭王者物流技术有限公司 | A kind of device of athletic ground construction cloth benchmark |
CN109112928A (en) * | 2018-08-28 | 2019-01-01 | 江苏诚大运动场地新材料有限公司 | A kind of device and construction method of movement place of production construction cloth benchmark |
Also Published As
Publication number | Publication date |
---|---|
CA2667217A1 (en) | 2008-06-05 |
JP2011501105A (en) | 2011-01-06 |
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