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

• US 10,609,518 B2
• Filed: 12/18/2018
• Issued: 03/31/2020
• 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:
  US16/224,034
• Publication Number:
  US 20190141470A1
• Time in Patent Office: 469 Days
• Field of Search: None
• 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:

at a mobile device that is in communication with a server, monitoring a current position of a locating device traversing the site, wherein the locating device is associated with the mobile device and wherein positioning of the locating device is performed by a first positioning system when the current position is at a distance that is greater than or equal to a specified distance from the target;

receiving a first message at the mobile device from the server when the distance is less than the specified distance; and

responsive to the first message, transmitting a second message from the mobile device to a robotic total station (RTS) system to effect a transfer of control from the first positioning system to the RTS for positioning of the locating device by the RTS until a final position for the target has been located on the site.

2. The method of claim 1, wherein the second message comprises a search command and directional information to facilitate a hand-off for the RTS to establish control of the locating device.

3. The method of claim 1, wherein the mobile device is separate from the locating device.

4. The method of claim 1, wherein the locating device is associated with a user.

5. The method of claim 4, wherein the mobile device is associated with the user.

6. The method of claim 1, wherein the locating device is a rover.

7. The method of claim 1, wherein the first positioning system is one of a real-time location system (RTLS) and a Global Navigation Satellite System (GNSS).

8. The method of claim 1, wherein the first positioning system uses both a Global Navigation Satellite System (GNSS) and a real-time location system (RTLS) for positioning of the locating device.

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

10. The method of claim 1, wherein the mobile device is one of a smartphone, a wearable computer, and a tablet.

11. A mobile device for locating a target on a site, comprising:

a processor; and

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;

monitoring, in cooperation with a server, a current position of a locating device traversing the site, wherein the locating device is associated with the mobile device and wherein positioning of the locating device is performed by a first positioning system when the current position is at a distance that is greater than or equal to a specified distance from the target;

receiving a first message from the server when the distance is less than the specified distance; and

responsive to the first message, transmitting a second message to a robotic total station (RTS) system to effect a transfer of control from the first positioning system to the RTS for positioning of the locating device by the RTS until a final position for the target has been located on the site.

12. The mobile device of claim 11, further comprising one or more peripheral devices selected from the group consisting of a camera, a printer, a scanner, and a display.

13. The mobile device of claim 11, further comprising a transceiver for wirelessly transmitting and receiving data from the server.

14. The mobile device of claim 11, wherein the second message comprises a search command and directional information to facilitate a hand-off for the RTS to establish control of the locating device.

15. The mobile device of claim 11, wherein the first positioning system is one of a real-time location system (RTLS) and a Global Navigation Satellite System (GNSS).

16. The mobile device of claim 11, wherein the first positioning system uses both a Global Navigation Satellite System (GNSS) and a real-time location system (RTLS) for positioning of the locating device.

17. The mobile device of claim 11, wherein the specified distance is twenty (20) centimeters.

18. The mobile device of claim 11, wherein the mobile device is separate from the locating device.

19. The mobile device of claim 11, wherein the locating device is associated with a user and wherein the mobile device is associated with the user.

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