Hybrid positioning system using a real-time location system and robotic total station

• US 10,200,809 B2
• Filed: 06/07/2016
• Issued: 02/05/2019
• Est. Priority Date: 06/07/2016
• Status: Active Grant

• Current Assignee: Topcon Positioning Systems Incorporated (Topcon Corporation)
• Original Assignee: Topcon Positioning Systems Incorporated (Topcon Corporation)
• Inventors: Hallett, Jason
• Primary Examiner(s): Rivera Vargas, Manuel A
• Application Number:
  US15/175,168
• Publication Number:
  US 20170353824A1
• Time in Patent Office: 973 Days
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: H04W 4/02 Services making use of location information
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A positioning system that combines the use of real-time location system and a robotic total station into a single, transparent hybrid positioning system to locate one or multiple targets by one or multiple users.

Claims

1. A method for locating a target on a site comprising:

monitoring at least one locating device of a plurality of locating devices traversing the site;

determining, using the monitoring and a mobile device that is separate from the at least one locating device, if a current position of the at least one locating device is at a distance that is greater than or equal to a specified distance from the target;

if the distance is determined to be greater than or equal to the specified distance then positioning the at least one locating device using a first positioning system; and

when the distance is determined not to be greater than or equal to the specified distance then transitioning, using the mobile device, the positioning of the at least one locating device from using the first positioning system to positioning the at least one locating device using a robotic total station (RTS) until a final position for the target has been located on the site.

2. The method of claim 1 wherein the first positioning system is a real-time location system (RTLS).

3. The method of claim 2 wherein the at least one locating device is a rover.

4. The method of claim 3 wherein the rover includes a prism and a tag.

5. The method of claim 4 wherein the rover is associated with a particular one user of a plurality of users, each user of the plurality of users being associated with a particular one locating device, the method further comprising:

releasing the RTS to a particular other one user of the plurality of users after the final position for target has been located using the rover associated with the particular one user.

6. The method of claim 4 further comprising:

transmitting a message to the RTS prior to the transitioning of the positioning from using the RTLS to using the RTS; and

locking onto, by the RTS, the prism as result of receiving the transmitted message.

7. The method of claim 6 wherein the message is transmitted from the mobile device wherein the mobile device is associated with a user of the rover.

8. The method of claim 7 wherein the monitoring of the rover is performed by a server in communication with the RTLS.

9. The method of claim 8 wherein the positioning of the rover using the RTS is operable for at least one position located within a structure resident on the site.

10. The method of claim 8 further comprising:

sending an alert message, from the server, to the mobile device upon determining that the distance is not greater than or equal to the specified distance.

11. The method of claim 7 wherein the mobile device is one of a smartphone, a wearable computer, and a tablet.

12. The method of claim 7 wherein the message includes a search command and an angle for turning the RTS towards the rover.

13. The method of claim 1 wherein the first positioning system is a Global Navigation Satellite System (GNSS).

14. The method of claim 13 wherein the first positioning system uses both the GNSS and a real-time location system (RTLS) for the positioning of the at least one locating device.

15. The method of claim 1 wherein the specified distance is twenty (20) centimeters.

16. The method of claim 1 wherein each locating device of the plurality of devices is a rover having a tag and a prism.

17. A system for locating a target on site comprising:

a first positioning system configured for positioning at least one locating device of a plurality of location devices traversing the site;

a robotic total station (RTS) configured for positioning the at least one locating device of the plurality of location devices traversing the site;

a server;

a memory coupled with the server, the memory having a program that stores computer program instructions that when executed cause the server to perform operations for;

monitoring the at least one locating device;

determining, using the monitoring and a mobile device that is separate from the at least one locating device, if a current position of the at least one locating device is at a distance that is greater than or equal to a specified distance from the target;

if the distance is determined to be greater than or equal to the specified distance then causing the system to use the first positioning system for positioning the at least one locating device; and

when the distance is determined not to be greater than or equal to the specified distance then causing the system, using the mobile device, to use the RTS for the positioning of the at least one locating device until a final position for the target has been located on the site.

18. The system of claim 17 wherein the first positioning system is a real-time location system (RTLS).

19. The system of claim 18 wherein the at least one locating device is a rover.

20. The system of claim 19 wherein the rover includes a prism and a tag.

21. The system of claim 19 wherein the rover is associated with a particular one user of a plurality of users, each user of the plurality of users being associated with a particular one locating device, the operations further comprising:

releasing the RTS to a particular other one user of the plurality of users after the final position for the target has been located using the rover associated with the particular one user.

22. The system of claim 19 wherein

the mobile device configured for receiving a first message indicating that the distance is less than the specified distance, and, in response to the first message, transmitting a second message to the RTS instructing the RTS to lock onto the prism.

23. The system of claim 22 wherein the mobile device is one of a smartphone, a wearable computer, and a tablet.

24. The system of claim 19 wherein the first positioning system uses both the RTLS and a Global Navigation Satellite System (GNSS) for the positioning of the at least one locating device.

25. The system of claim 17 wherein the specified distance is twenty (20) centimeters.

26. A robotic total station (RTS) comprising:

a processor;

a memory coupled with the processor, the memory having a program that stores computer program instructions that when executed cause the processor to perform operations for;

receiving a message indicating that control of positioning a locating device on a site by the RTS is desired, the message triggered by a determination, using a mobile device that is separate from the at least one locating device, that a current position of the locating device is at a distance that is less than a specified distance from a target on the site;

locking onto, in response to the message, the locating device;

transitioning, using the mobile device, the control of the positioning of the locating device to the RTS; and

positioning, by the RTS, the locating device until a final position for the target has been located on the site.

27. The robotic total station of claim 26 wherein the transitioning the control of the positioning of the locating device to the RTS is from one of a real-time location system (RTLS) and a Global Navigation Satellite System (GNSS).

28. The robotic total station of claim 27 wherein a transmission of the message is triggered by the RTLS.

29. The robotic total station of claim 26 wherein the locating device is a rover having a tag and a prism, and the specified distance is twenty (20) centimeters.

30. A non-transitory computer-readable medium storing computer program instructions for locating a target on a site, the computer program instructions, when executed on a processor, cause the processor to perform operations comprising:

monitoring at least one locating device of a plurality of locating devices traversing the site;

determining, using the monitoring and a mobile device that is separate from the at least one locating device, if a current position of the at least one locating device is at a distance that is greater than or equal to a specified distance from the target;

if the distance is determined to be greater than or equal to the specified distance then positioning the at least one locating device using a first positioning system; and

when the distance is determined not to be greater than or equal to the specified distance then transitioning, using the mobile device, the positioning of the at least one locating device using the first positioning system to positioning the at least one locating device using a robotic total station (RTS) until a final position for the target is located on the site.

31. The non-transitory computer-readable medium of claim 30 wherein the first positioning system is a real-time location system (RTLS).

32. The non-transitory computer-readable medium of claim 31 wherein the at least one locating device is a rover having a tag and a prism.

33. The non-transitory computer-readable medium of claim 32, wherein the rover is associated with a particular one user of a plurality of users, each user of the plurality of users being associated with a particular one locating device of a plurality of locating devices, and the operations further comprise:

releasing the RTS to a particular other one user of the plurality of users after the final position for target has been located using the locating device associated with the particular one user.

34. The non-transitory computer-readable medium of claim 31 wherein the operations further comprise:

transmitting a message to the RTS prior to the transitioning of the positioning of the at least one locating device from using the RTLS to using the RTS; and

locking onto, by the RTS, the prism as result of receiving the transmitted message.

35. The non-transitory computer-readable medium of claim 32 wherein the positioning the at least one locating device using the RTS is operable for at least one position located within a structure resident on the site.

36. The non-transitory computer-readable medium of claim 30 wherein the first positioning system is a Global Navigation Satellite System (GNSS).

37. The non-transitory computer-readable medium of claim 36 wherein the first positioning system uses both the GNSS and a real-time location system (RTLS) for the positioning of the at least one locating device.

38. The non-transitory computer-readable medium of claim 30 wherein the specified distance is twenty (20) centimeters.