Workflow improvements for stakeout

• US 9,513,120 B2
• Filed: 03/11/2013
• Issued: 12/06/2016
• Est. Priority Date: 09/20/2012
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Briggs, Graham, Graesser, Christian, Janky, James M.
• Primary Examiner(s): Cass, Jean-Paul
• Application Number:
  US13/794,012
• Publication Number:
  US 20140081571A1
• Time in Patent Office: 1,366 Days
• Field of Search: 701/491
• US Class Current: 1/1
• CPC Class Codes: G01C 1/04 combined with cameras
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01C 15/06 Surveyors' staffs; Movable markers

Abstract

A navigational apparatus includes a visual display, first and second imaging devices, and one or more processors. The first imaging device has an optical axis extending in a first direction and is configured to obtain first image data. The second imaging device has an optical axis extending in a second direction substantially perpendicular to the first direction and is configured to obtain second image data. When the visual display is displaying first image data, the one or more processors are configured to superimpose a first navigational graphic on the visual display overlaid on a portion of the first image data associated with the point of interest. When the visual display is displaying second image data, the one or more processors are configured to superimpose a second navigational graphic on the visual display overlaid on a portion of the second image data associated with the point of interest.

Claims

1. An apparatus configured to assist a user in navigating to and identifying a point of interest at a known position in a reference frame, comprising:

a visual display configured to display image data;

a laser mounted to a surveying pole in a downward-pointing orientation;

a first imaging device configured to obtain first image data, the first imaging device having an optical axis extending in a first direction;

a second imaging device configured to obtain second image data, the second imaging device having an optical axis extending in a second direction substantially perpendicular to the first direction, wherein;

the first imaging device and the second imaging device are arranged such that when the apparatus is at a first position the point of interest is within a field of view of the first imaging device and outside a field of view of the second imaging device;

when the apparatus is at a second position the point of interest is outside the field of view of the first imaging device and within the field of view of the second imaging device;

a laser mark, generated by the laser, is within the field of view of the second imaging device; and

the first imagining device and the second imaging device are mounted to the surveying pole; and

one or more processors configured to;

determine first image coordinates of the first image data associated with a location of the point of interest, and when the visual display is displaying the first image data, to superimpose a first navigational graphic on the visual display overlaid on the first image coordinates; and

determine second image coordinates of the second image data associated with the location of the point of interest, and when the visual display is displaying the second image data, to superimpose a second navigational graphic on the visual display overlaid on the second image coordinates.

2. The apparatus of claim 1 further comprising a receiver configured to determine a position of the apparatus, wherein the one or more processors are further configured to superimpose a navigational graphic on the visual display overlaid on the position of the apparatus.

3. The apparatus of claim 1 wherein the laser is external to the second imaging device.

4. The apparatus of claim 1 wherein the first imaging device and the second imaging device are integrated within a handheld data collector.

5. The apparatus of claim 1 wherein the surveying pole is a prism pole.

6. The apparatus of claim 1 wherein the first imaging device and the second imaging device are disposed within a housing of a global navigation satellite system (GNSS) receiver, and the housing of the GNSS receiver is coupled to the surveying pole.

7. The apparatus of claim 1 wherein the visual display is disposed on a handheld data collector.

8. A method for providing navigational information to a user, where the navigational information can be used by the user to navigate to and identify a point of interest, the point of interest being at a known position in a reference frame, the method comprising:

performing a coarse position guidance procedure that includes;

using a first imaging device having an optical axis that points outward in a substantially horizontal direction to obtain first image data, the point of interest being within a field of view of the first imaging device at a first position, and the point of interest being outside the field of view of the first imaging device at a second position, where the second position is closer to the point of interest than the first position, and wherein the first imaging device is mounted to a surveying pole;

providing the first image data on a visual display; and

providing a first navigational graphic on the visual display, the first navigational graphic overlaid on a portion of the first image data associated with the point of interest; and

thereafter

performing a fine position guidance procedure that includes;

using a second imaging device having an optical axis that points downward in a substantially vertical direction to obtain second image data, the point of interest being outside a field of view of the second imaging device at the first position, and the point of interest being within the field of view of second first imaging device at the second position, and wherein the second imaging device is mounted to the surveying pole;

imaging a laser mark, using the second imaging device, the laser mark generated by a laser mounted to the surveying pole in a downward-pointing orientation;

providing the second image data on the visual display, which includes the laser mark; and

providing the first navigational graphic on the visual display, the first navigational graphic overlaid on a portion of the second image data associated with the point of interest.

9. The method of claim 8 further comprising:

determining a location of the first position in the reference frame; and

determining a location of the second position in the reference frame, where the location of the first position and the location of the second position are determined using a total station with a prism pole.

10. The method of claim 8 further comprising:

determining a location of the first position in the reference frame; and

determining a location of the second position in the reference frame, where the location of the first position and the location of the second position are determined using a global navigation satellite system (GNSS) receiver.

11. The method of claim 8 wherein the visual display is disposed on a handheld data collector.

12. The method of claim 8 wherein the first imaging device and the second imaging device are integrated with a handheld data collector.

13. The method of claim 8 wherein performing the fine position guidance procedure further comprises providing a second navigational graphic on the visual display, the second navigational graphic overlaid on a portion of the second image data associated with the second position.

14. The method of claim 8 wherein:

the surveying pole has a contact point configured to be placed on the ground, and

the second imaging device is coupled to the surveying pole at a position that is closer to the contact point than the first imaging device.

15. The method of claim 8 wherein the surveying pole has a contact point configured to be placed on the ground, the second imaging device being coupled to the surveying pole at a position that is closer to the contact point than the first imaging device and arranged such that an optical axis of the second imaging device is substantially aligned with the contact point.

16. The method of claim 8 wherein the first imaging device and the second imaging device are each integrated with a receiver and coupled to a top of a surveying pole.

17. The method of claim 8 wherein performing the fine position guidance procedure includes adjusting an X-Y position of the second imaging device using a precision adjustment system.