Global positioning system controlled staking apparatus

• US 6,330,503 B1
• Filed: 10/02/2000
• Issued: 12/11/2001
• Est. Priority Date: 02/22/1999
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Sharp, Kevin Andrew Ian, Manning, Charles David Hope
• Primary Examiner(s): Beck, Shrive P.
• Assistant Examiner(s): CALCAGNI, JENNIFER A
• Application Number:
  US09/678,506
• Time in Patent Office: 435 Days
• Field of Search: 427/136, 427/137, 700/253, 700/302, 701/213, 701/214, 701/50, 702/5, 342/357.06, 342/357.08, 342/357.13, 342/357.17, 404/75, 404/84.05, 404/93, 404/94, 173/1, 173/90, 173/91
• US Class Current: 701/50
• CPC Class Codes: B05B 12/00 Arrangements for controlling delivery; Arrangements for controlling the spray area
• CPC Class Codes: B05B 12/124 responsive to distance between spray apparatus and target
• CPC Class Codes: E01C 23/163 for marking-out the location of the markings; Guiding or steering devices for marking apparatus, e.g. sights
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A global positioning system (GPS) controlled marking apparatus for staking and a method of using the apparatus to stake a surface. The apparatus uses a standard architectural or other surface site application program and a stakeout driver program in a standard computer and includes a GPS receiver, a stakeout tool, an autopilot, a vehicle, a geographical drawing converter, and a location comparator. The geographical drawing converter converts an image of a drawing pattern to geographical mark locations. The autopilot guides the vehicle to the geographical mark locations. The location comparator detects a location march between the geographical mark locations of the drawing pattern and a current geographical location determined by the GPS receiver. Information for the location match is used by the stakeout tool for driving a stake into the ground.

Claims

1. A method for staking a site according to a drawing pattern, comprising:

receiving drawing pattern data for said drawing pattern;

determining a global positioning system (GPS)-based location;

determining tilt information;

determining proximity information for proximity to a surface;

using a geographical reference location for converting said drawing pattern data to geographical stake locations;

detecting a location match when said GPS based location matches one of said geographical stake locations;

automatically articulating a robot arm according to said GPS based location, said tilt information, and said proximity information for disposing said stakeout tool proximate to said geographical stake location; and

staking said surface at said site with said stakeout tool when said location match is detected.

2. A method for staking a site according to a drawing pattern, comprising:

determining a global positioning system (GPS)-based location;

receiving drawing pattern data for said drawing pattern;

using a geographical reference location for converting said drawing pattern data to geographical stake locations;

detecting a location match when said GPS based location matches one of said geographical stake locations; and

automatically staking a surface when said location match is detected.

3. A global positioning system (GPS) guided stakeout apparatus, comprising:

a stakeout tool for staking a surface when commanded by a control signal;

a data interface for receiving drawing pattern data;

a GPS receiver for providing GPS based location information for determining a GPS based location;

a geographical drawing converter for using a geographical reference location for converting said drawing pattern data to geographical mark locations;

a vehicle for carrying the stakeout tool;

an autopilot coupled to the GPS receiver for using said GPS based location information for guiding the vehicle toward one of said geographical mark locations; and

a location comparator for generating location match information when said GPS based location matches said geographical mark location, said location match information used for providing said control signal.

4. A global positioning system (GPS) guided stakeout apparatus, comprising:

a stakeout tool for staking a surface when commanded by a control signal;

a data interface for receiving drawing pattern data;

a GPS receiver for providing GPS based location information for determining a GPS based location;

a geographical drawing converter for using a geographical reference location for converting said drawing pattern data to geographical mark locations;

a tilt sensor for providing information for a tilt of the stakeout tool;

a proximity sensor for providing information for proximity of the stakeout tool to said surface;

a robot arm including a servo-mechanism for articulating the robot arm according to said GPS based location information, said tilt information, and said proximity information for disposing the stakeout tool proximate to one of said geographical mark locations; and

a location comparator for generating location match information when said GPS based location matches said geographical mark location, said location match information used for providing said control signal.

5. A global positioning system (GPS) guided stakeout apparatus, comprising:

a stakeout tool for staking a surface;

a data interface for receiving drawing pattern data;

a GPS receiver for providing GPS based location information for determining a GPS based location;

a geographical drawing converter for using a geographical reference location for converting said drawing pattern data to geographical mark locations;

a location comparator for generating location match information when said GPS based location matches one of said geographical mark location, said location match information for automatically triggering the stakeout tool for staking said surface when said location match is detected.