System for accurately and precisely locating and marking a position in space using wireless communications and robotics

• US 9,747,698 B2
• Filed: 10/19/2007
• Issued: 08/29/2017
• Est. Priority Date: 10/21/2006
• Status: Active Grant

• Current Assignee: Stathis, Sam
• Original Assignee: Stathis, Sam
• Inventors: Stathis, Sam
• Primary Examiner(s): Tung, Kee M
• Assistant Examiner(s): AMIN, JWALANT B
• Application Number:
  US11/875,678
• Publication Number:
  US 20080154538A1
• Time in Patent Office: 3,602 Days
• Field of Search: None
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• 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: G06T 19/00 Manipulating 3D models or images for computer graphics
• CPC Class Codes: G06T 7/33 using feature-based methods

Abstract

A system comprising a Master station and a substation under the control of the Master station is able to generate graphical drawings of a multidimensional space in real time. Information regarding the physical dimensions of a multidimensional space and location an orientation objects and/or structures therein are exchanged between the stations. The Master station is able to automatically generate an N dimensional graphical representation of the multidimensional space in real time, i.e., as it receives information from the substation and as it obtains information with its own measurement devices. The Master station can display the multidimensional space to a user allowing the user to be guided (i.e., to navigate) within the multidimensional space.

Claims

1. A system for automatically generating an N-dimensional graphical representation of a multidimensional space comprising boundaries in real time, wherein N is an integer equal to or greater than 2, said system comprising a robotic master station and at least one substation, wherein both the robotic master station and said at least one robotic substation occupy positions in the multidimensional space, and wherein:

a) the robotic master station further comprises;

i) an electronic processor component comprising hardware, and firmware or software, and configured to measure or scan distances relative to the robotic master station in all N-dimensions using triangulation in order to determine the location of the robotic master station and the at least one robotic substation as well as objects and structures within the multidimensional space and the boundaries of the multidimensional space, wherein said objects, structures and boundaries have no physical or electronic connection to the robotic master station;

ii) an electronic component configured to measure or scan distances relative to the robotic master station in all N-dimensions using triangulation in order to determine the location of references, specified points, objects, or structures within the multidimensional space, wherein said references, specified points objects or structures have no physical or electronic connection to the robotic master station;

iii) a master station transmitter and receiver equipment configured to communicate with the at least one robotic substation and to precisely measure distances and to identify locations of various points within the multidimensional space relative to the robotic master station, wherein the transmitter and receiver are able to transmit and receive wireless radio signals or optical signals or both;

iv) a master station sensor configured to detect wireless radio signals or optical signals or both that are;

transmitted by the at least one robotic substation;

reflected by the at least one robotic substation;

or

reflected from a structure within the multidimensional space or a fixed reference point within the structure;

v) a first software or firmware enabled controller component configured to control movements of the robotic master station;

vi) a second software or firmware enabled controller component configured to identify and control the at least one substation by communicating with the at least one robotic substation, instructing the at least one robotic substation to perform desired tasks, movements, and precise measurements, and to communicate with the robotic master station;

b) the at least one robotic substation further comprises;

i) a substation transmitter and receiver configured to communicate with the robotic master station and other substations;

ii) a substation sensor configured to detect optical signals that are;

transmitted from the robotic master station;

transmitted from other substations;

or

reflected from a structure within the multidimensional space or a fixed reference point within the structure;

iii) a substation controller configured to control movement of the robotic substation and components therein.

2. The system of claim 1 further comprising a plurality of robotic substations.

3. The system of claim 1 further comprising at least one passive device that reflects signals from the robotic master station or the at least one robotic substation.

4. The system of claim 3, further comprising a plurality of passive devices.

5. The system of claim 3 wherein the at least one passive device and the at least one robotic substation are integrated to form a unitary device comprising two components wherein the at least one robotic substation component transmits reference point information to the robotic master station or another robotic substation, and the at least one passive device component reflects signals from another device taken from the group consisting of the robotic master station, another robotic substation, another passive device, and a structure or object within the multidimensional space.

6. The system of claim 3 wherein the at least one passive device is transportable.

7. The system of claim 3 wherein the passive device further comprises a prismatic target.

8. The system of claim 7 where the passive device transmits its identification in a signal that is received by the robotic master station.

9. The system of claim 3 wherein the passive device further comprises a self-leveling laser device that assists the passive device to level itself.

10. The system of claim 1 wherein the robotic master station further comprises tools for performing tasks.

11. The system of claim 1 wherein the at least one robotic substation further comprises tools for performing tasks.

12. The system of claim 1 wherein the robotic master station is transportable.

13. The system of claim 12 wherein the robotic master station is capable of movement that is controlled as desired by reception of electronic signals or execution of pre-programmed instructions.

14. The system of claim 1 wherein the at least one robotic substation is transportable.

15. The system of claim 14 wherein the at least one robotic substation is capable of movement that is controlled as desired by reception of electronic signals or execution of pre-programmed instructions.

16. The system of claim 1 wherein points and locations within the multidimensional space measured and identified by the robotic master station are transferred onto the N-dimensional space graphical representation that is configured for display so as to allow a user operating the robotic master station to determine his or her position within the multidimensional space or to navigate or to be guided within the multidimensional space by viewing the graphical representation.

17. The system of claim 16 wherein the graphical representation is generated using computer aided design software.

18. The system of claim 1 comprising a plurality of robotic master stations.

19. The system of claim 18 wherein any robotic master station of the plurality of robotic master stations can function as a robotic substation.

20. The system of claim 19 wherein the robotic master station functioning as a robotic substation further comprises a prismatic target capable of reflecting a laser beam back to its origin.

21. The system of claim 1 wherein the robotic master station emits a beam of laser light that impinges on a target and reflects back from the target to form a reflection, and said robotic master station receives and processes the reflection to measure the distance from the robotic master station to the target.

22. The system of claim 21 wherein the beam of laser light is emitted from horizontal and vertical spinning lasers.

23. The system of claim 22 wherein the robotic master station further comprises a prismatic target.

24. The system of claim 21 wherein the laser directs laser beams in the downward direction thereby enabling the robotic master station to determine its own elevation for the purpose of triangulation.

25. The system of claim 1 wherein the robotic substation comprises a robot arm that further comprises a prismatic target and a laser.

26. The system of claim 25 further comprising a toolbox containing tools that would fit on the robot arm.

27. The system of claim 1 further comprising an accelerometer cluster that additionally comprises a plurality of accelerometers coupled to a housing containing supporting circuitry and mechanics for the cluster.

28. The system of claim 27 further comprising a computer that additionally comprises a display.

29. The system of claim 28 further comprising a prismatic device.

30. The system of claim 1 further comprising gyroscopic stabilizers.