System for determining position in a work space

• US 8,319,687 B2
• Filed: 12/09/2009
• Issued: 11/27/2012
• Est. Priority Date: 12/09/2009
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Kahle, Kent
• Primary Examiner(s): Keith, Jack W
• Assistant Examiner(s): Mull, Fred H
• Application Number:
  US12/634,055
• Publication Number:
  US 20110133990A1
• Time in Patent Office: 1,084 Days
• Field of Search: 342/453, 342/458, 342463-465
• US Class Current: 342/458
• CPC Class Codes: A61B 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01C 15/06 Surveyors' staffs; Movable markers
• CPC Class Codes: G01S 13/46 Indirect determination of position data
• CPC Class Codes: G01S 13/874 Combination of several systems for attitude determination in general G01C, control of attitude G05D1/49
• CPC Class Codes: G01S 13/878 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S13/874 takes precedence
• CPC Class Codes: G01S 17/875 for determining attitude
• CPC Class Codes: G01S 2013/466 by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined
• CPC Class Codes: G01S 5/0231 Emergency, distress or locator beacons
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location

Abstract

A system for determining the dimensional coordinates of a point of interest in a work space, includes a plurality of fixed-position ranging radios, located at known positions in the work space, and a wand having a first end configured for indicating a point of interest. A pair of ranging radios are mounted on the wand. A measurement circuit, responsive to the pair of ranging radios, determines the position of each of the pair of ranging radios with respect to the plurality of fixed-position ranging radios, and determines the position of the first end of the wand with respect to the plurality of fixed position ranging radios. A robotic total station may be used in lieu of the fixed-position ranging radios to monitor the positions of retroreflective elements on the wand.

Claims

1. A system for determining the dimensional coordinates of a point of interest in a work space, comprising:

a plurality of fixed position ranging radios located at known positions in the work space,

a wand having a first end configured for indicating a point of interest,

a pair of ranging radios mounted on said wand, a first ranging radio spaced from said first end by a first distance, and a second ranging radio spaced from said first ranging radio by a second distance, said first and second distances being substantially equal, and

a measurement circuit, responsive to said pair of ranging radios, for determining the position of each of said pair of ranging radios with respect to said plurality of fixed position ranging radios, and for determining the position of said first end of said wand with respect to said plurality of fixed position ranging radios.

2. The system of claim 1, in which said wand further includes a handle portion to facilitate the use of the wand by a user.

3. The system of claim 1, in which said plurality of fixed position ranging radios comprise at least four ranging radios.

4. The system of claim 1, in which said wand further includes a marking element at said first end for marking on a surface.

5. The system of claim 1, further comprising a display, responsive to said measurement circuit, for indicating to a user the location of the first end of said wand.

6. The system of claim 1, in which said measurement circuit is responsive to a user input to permit the user to specify a desired position for the first end of the wand, and further comprising a display, responsive to said measurement circuit, for indicating the movement of the wand needed to move the first end of the wand to said desired position.

7. A system for determining the dimensional coordinates of a point of interest in a work space, comprising:

a device for measuring the positions of reference elements in the work space, said device comprising a robotic total station,

a wand having a first end configured for indicating a point of interest,

a pair of the reference elements mounted on said wand, a first reference element spaced from said first end by a first distance, and a second reference element spaced from said first reference element by a second distance, and

a measurement circuit, responsive to said positions of said pair of reference elements, for determining the position of said first end of said wand in said work space.

8. The system of claim 7, in which said first and second distances are substantially equal.

9. The system of claim 7, in which said wand further includes a handle portion to facilitate the use of the wand by a user.

10. The system of claim 7, in which said reference elements comprise auto-reflective elements.

11. The system of claim 10 in which said robotic total station dithers between said two auto-reflective elements so as to determine the positions of said two auto-reflective elements.

12. The system of claim 7, in which said wand further includes a marking element at said first end for marking on a surface.

13. The system of claim 7, further comprising a display, responsive to said measurement circuit, for indicating to a user the location of the first end of said wand.

14. The system of claim 7, in which said measurement circuit is responsive to a user input to permit the user to specify a desired position for the first end of the wand, and further comprising a display, responsive to said measurement circuit, for indicating the movement of the wand needed to move the first end of the wand to said desired position.