SYSTEM AND METHOD FOR POSITIONING A TOOL IN A WORK SPACE

• US 20140267685A1
• Filed: 03/13/2013
• Published: 09/18/2014
• Est. Priority Date: 03/13/2013
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Kahle, Kent Wayne, Lee, Young Jin
• Granted Patent: US 9,687,950 B2
• Time in Patent Office: Days
• US Class Current: 348/95
• CPC Class Codes: B23Q 17/22 for indicating or measuring existing or desired position of tool or work B23Q16/005 takes precedence
• CPC Class Codes: B23Q 17/24 using optics or electromagnetic waves
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

A system for assisting an operator in positioning an operating element of any of a plurality of tools at a desired location at a worksite, includes a plurality of fixed position video imaging devices located at known positions at the worksite. Each of the imaging devices has a known field of view. A memory stores a digital image and dimensions of each of the tools, as well as the desired locations at the worksite for operating the tools. A processor is responsive to the video devices for determining the tool being viewed, and determining the position and orientation of the tool and the operating element of said tool. A radio transmitter transmits this to a receiver with the tool operator.

Claims

1. A system for assisting an operator in positioning an operating element of any of a plurality of tools at a desired location at a worksite, comprising:

a plurality of fixed position video imaging devices located at known positions at the worksite, each of said imaging devices having a known field of view,

a tool having an operating element, said tool being one of said plurality of tools,

a memory having a database stored therein of the digital image and dimensions of each of said plurality of tools, and having a database stored therein specifying the desired locations at the worksite for operating said tool, and

a processor, responsive to said plurality of fixed position video imaging devices, for determining the tool being viewed, and the position and orientation of the tool and the operating element of said tool, and

a radio transmitter, responsive to said processor, for transmitting the position and orientation of the tool and the operating element and the desired position and orientation of the tool and the operating element to the tool operator.

2. The system for assisting an operator in positioning an operating element of any of a plurality of tools at a desired location at a worksite according to claim 1, further comprising a radio receiver and a display responsive to said radio receiver, carried by said tool operator, such that said operator is assisted in moving said operating element and said tool to said desired position.

3. The system for assisting an operator in positioning an operating element of any of a plurality of tools at a desired location at a worksite according to claim 2, in which said radio receiver and said display are carried on said tool.

4. A system for assisting in the use by an operator of a tool at desired locations at a worksite, comprising:

a plurality of video imaging devices located at known locations at the worksite, each of said video imaging devices having a known field of view,

a processor, responsive to said plurality of video imaging devices, said processor including a memory having data stored therein specifying one or more desired locations for operation of the tool at the worksite, said memory further having data stored therein specifying the appearance and dimensions of said tool, said processor determining the location and orientation of the tool in response to the images of the tool provided by said plurality of video imaging devices, and

a display for providing indications to the user of the tool of the desired location for the tool and of the actual location of the tool.

5. The system for assisting in the use by an operator of a tool at desired locations at a worksite, according to claim 4, in which said memory includes data specifying the appearance and dimensions of a plurality of tools, and in which said processor determines which of said plurality of tools is in the field of view of said video imaging devices.

6. The system for assisting in the use by an operator of a tool at desired locations at a worksite, according to claim 4, in which said processor determines the position of the operating element of the tool and the movement of the operating element needed to move the operating element to desired locations.

7. The system for assisting in the use by an operator of a tool at desired locations at a worksite, according to claim 6, in which said desired locations are specified in three dimensions.

8. The system for assisting in the use by an operator of a tool at desired locations at a worksite, according to claim 6, in which said desired locations are specified in two dimensions.

9. A system for determining the dimensional coordinates of an operating element of a tool in a work space and for guiding the operator of the tool in moving the operating element to desired location, comprising:

a plurality of video imaging devices at known positions with known fields of view in the work space,

a processor, responsive to said video imaging devices, for determining the position of a tool with respect to said plurality of video imaging devices, and for determining the position of said operating element of said tool with respect to said plurality of video imaging devices, and

a display for providing indications to the user of said tool of the location for the operating element of the tool with respect to a desired location, whereby movement of the operating element to the desired location is facilitated.

10. The system of claim 9, in which said plurality of video imaging devices comprise at least four video imaging devices.

11. The system of claim 9, in which said processor is responsive to a user input to permit the user to specify a desired position for the operating element of the tool, and further comprising a display, responsive to said measurement circuit, for indicating the movement of the operating element needed to move it to said desired position.

12. A system for determining the location and orientation of an operating element of a tool in a work space and indicating to the user of the tool that the operating element of the tool is properly positioned for operation, comprising:

a plurality of digital video imaging devices, each digital video imaging device providing an image of the work space and the tool located within the work space, each digital video imaging device being located at a known location and having a field of view directed in a known direction,

a memory having a database defining the position within the workspace of locations for operation of said tool, and a database defining the appearance and size of a tool,

a processor circuit, responsive to said plurality of digital video imaging devices and to said memory, for determining the location and orientation of an operating element of a tool in a work space, and

a display, responsive to said processor circuit and mounted on said tool, for indicating the location and orientation of said tool and whether that said operating element is properly positioned.

13. The system of claim 12, in which said plurality of digital video imaging devices comprise at least four digital video imaging devices.

14. The system of claim 12, in which said display comprises a light which is turned on when said tool is positioned at a point for operation.

15. The system of claim 12, in which said processor is responsive to a user input to permit the user to specify a desired position for the operating element, and further comprising a display, responsive to said measurement device, for indicating the movement of the tool needed to move the operating element of the tool to said desired position.

16. A method of assisting in the use by an operator of the operating element of a tool at desired locations at a worksite, comprising the steps of:

providing a tool at the worksite,

providing a plurality of video imaging devices at known positions with known fields of view in the work space, at least two of said video imaging devices providing an image of the tool at the worksite,

providing a database specifying the image and dimensions of the tool, including the operating element,

determining the location and orientation of the tool based on the images of the tool from the at least two video imaging devices,

17. The method of assisting in the use by an operator of the operating element of a tool at desired locations at a worksite according to claim 16, further comprising the steps of:

identifying a desired location at the worksite at which the tool is to be used, and

displaying to the operator of the tool the position and orientation of the tool and the desired location at the worksite.

18. A system for assisting an operator in positioning an operating element of any of a plurality of tools at a desired location at a worksite, comprising:

a plurality of fixed position video imaging devices located at known positions at the worksite, each of said imaging devices having a known field of view,

a tool having an operating element, said tool including one or more recognizable features,

a memory having a database stored therein of the digital image and dimensions of each of said plurality of tools, including said recognizable features, and having a database stored therein specifying the desired locations at the worksite for operating said tool, and

a processor, responsive to said plurality of fixed position video imaging devices, for determining the tool being viewed, and the position and orientation of the tool and the operating element of said tool, and

a radio transmitter, responsive to said processor, for transmitting the position and orientation of the tool and the operating element, and the desired position and orientation of the tool and the operating element to the tool operator.

19. The system for assisting an operator in positioning an operating element of any of a plurality of tools at a desired location at a worksite according to claim 18, further comprising a radio receiver and a display responsive to said radio receiver, carried by said tool operator, such that said operator is assisted in moving said operating element and said tool to said desired position.

20. The system for assisting an operator in positioning an operating element of any of a plurality of tools at a desired location at a worksite according to claim 19, in which said radio receiver and said display are carried on said tool.

21. A system for assisting an operator in the use of a tool at desired locations at a worksite, comprising:

a plurality of video imaging devices located at known locations at the worksite, each of said video imaging devices having a known field of view,

a processor, responsive to said plurality of video imaging devices, said processor including a memory having data stored therein specifying one or more desired locations for operation of the tool at the worksite, said memory further having data stored therein specifying one or more recognizable features of said tool, said processor determining the location and orientation of the tool in response to the images of the tool provided by said plurality of video imaging devices, and

a display for providing indications to the user of the tool of the desired location for the tool and of the actual location of the tool.

22. The system for assisting in the use by an operator of a tool at desired locations at a worksite, according to claim 21, in which said memory includes data specifying recognizable features of a plurality of tools.

23. The system for assisting in the use by an operator of a tool at desired locations at a worksite, according to claim 21, in which said processor determines the position of the operating element of the tool and the movement of the operating element needed to move the operating element to desired locations.

24. The system for assisting in the use by an operator of a tool at desired locations at a worksite, according to claim 23, in which said desired locations are specified in three dimensions.

25. The system for assisting in the use by an operator of a tool at desired locations at a worksite, according to claim 23, in which said desired locations are specified in two dimensions.

26. A system for determining the dimensional coordinates of an operating element of a tool in a work space and for guiding the operator of the tool in moving the operating element to desired location, comprising:

a plurality of fixed video imaging devices at known positions with known fields of view in the work space,

a moveable video imaging device, positionable in the workspace,

a processor, responsive to said fixed video imaging devices and to said moveable video imaging device, for determining the position of a tool, and of said operating element of said tool, and

a display for providing indications to the user of said tool of the location of the tool and of the operating element of the tool with respect to a desired location, whereby movement of the operating element to the desired location is facilitated.

27. The system of claim 26, in which said plurality of video imaging devices comprise at least four video imaging devices, and in which said processor determines the position and field of view of said moveable video image device based on images from said fixed video imaging devices.