CN101506811A - Method and system for automatically performing learning of multidimensional space - Google Patents

Abstract

A method and system are disclosed that include a master station, a processor, and one or more targets that allow a user of the system to automatically generate a 3-dimensional graphical representation of a construction site and overlay the graph on the graphical representation to guide the user within a virtual space displayed by the processor.

Description

Method and system for automatically performing learning in multidimensional spaces

technical field

The present invention relates to systems and methods for generating graphical representations of multidimensional spaces in an automated manner.

Background technique

Moving a design from concept to implementation is challenging, especially when it comes to the construction industry. In the construction industry, architects, planners, engineers, etc. are responsible for the task of conceptualizing ideas and reducing concepts into tangible forms such as blueprints, which are then implemented by contractors in the field. Implementation or construction processes can be daunting tasks, the success of which depends heavily on the contractor's ability to accurately replicate the scale and spatial relationships shown on drawings or design documents for the specific project at hand. Errors by contractors in replicating what design documents represent is a common feature of construction practice, and they often result in costly corrective actions. In some instances, errors were due to a lack of real knowledge of the character of the place in which the building took place. For example, if the design of the space to be renovated requires a door at a specific location, and the location at the building site has a column at the exact location that requires the door, expensive redesign of the blueprint becomes necessary. Another frequent phenomenon that leads to costly remedial measures is that imprecise layout of the building site leads to building the major units of the design in the wrong places, resulting in costly refurbishment when the error is eventually discovered.

In general, the success of any architectural project relies heavily on good scale control, which can be relied upon so that the spatial relationships expected in the design can be accurately reproduced in the site. Scale control is usually the responsibility of architects, craftsmen (eg, electricians, plumbers, bricklayers), or surveyors. Typical 'as built studies' or survey tasks include surveying or surveying the site in order to determine existing conditions and placement of datums, reference points and other landmarks that can be used when the contractor builds the design so that they is correctly oriented. When errors occur in the execution of these tasks, errors of the type described above result. Sometimes errors are not due to imprecise measurements or 'built-to-learn', but rather poor control of the marker, such as when a marker or benchmark, such as a pole, is inadvertently touched by a person or piece of equipment on the field When a pour or pencil mark is inadvertently blurred on the field by a person or a piece of equipment. It is not entirely uncommon for a worker to simply reposition a pencil mark or post in a situation such as this at what is believed to be the original location, but is not actually the original location. When this happens, any future references to such a benchmark will result in an error, since the scale control is now erroneous, but not considered erroneous. Also, errors due to using what is now the wrong reference point are further compounded by the fact that these errors have not been discovered for some time.

Errors in surveying or surveying, whether they relate to the study of the site or the layout of the design, can only be avoided by starting with precise 'as-built verification' and vigilant conservation of datums and stones and their frequent re-verification . In practice, this task is extremely time-consuming and labor-intensive, typically requiring many personnel to frequently revisit the site and manually verify existing benchmarks and markers or, if necessary, manually establish new benchmarks and markers stone.

Contents of the invention

The present invention provides systems and methods for automatically generating N-dimensional graphical representations of multidimensional spaces, where N is an integer equal to or greater than 2.

A method of performing automatic learning of a multi-dimensional space (e.g., a 3-dimensional space) by using the system of the present invention involves measuring the distance from the system device to one or more selected reference points in the multi-dimensional space and the distance from the system device to one or more selected reference points in the multi-dimensional space. Measurement of distances to various existing targets and structures. These measurements are used by the system of the present invention to automatically generate a map (which may be in digital format) or a graphical representation of the multidimensional space in real time based on measurements made by system equipment at least a portion of which is located within the multidimensional space.

Moreover, in addition to creating a graphical representation of the multidimensional space being learned in real time, the system of the present invention can also display in real time the position of one of its components (eg, an object) relative to the measured position of the multidimensional space being learned. When such components are fixed to the user or possessed by the user of the system, the method and system are thus able to display the user's position within the space being learned or within a virtual space superimposed on the space being learned so that Guide the user through the space.

The automatic layout of a multi-dimensional space of a construction site according to the method and system of the present invention involves the use of reference points such as fiducials and objects to establish the orientation, position, and orientation. Typically, the design used to construct the multidimensional space is memorized as one or more drawings (e.g., CAD or computer-aided design drawings) that draw precisely between the objects and/or structures of the multidimensional space to be constructed spatial relationship. The design, when graphically depicted, represents a virtual space with specific physical characteristics. During the automatic layout of a multidimensional space performed by the user of the system of the present invention, referring to the design drawing, the system adapts itself to the multidimensional space and then indicates that the selected objects and/or structures contained on the design drawing are transformed into the multidimensional space precise location at time. Thus, the present invention is capable of directing a user within a multidimensional space to a single point (or region or volume or other higher dimensional region), enabling the user to make Marking of specific positioning, orientation and/or arrangement of constructed objects and/or structures. In one embodiment of the invention, the user is able to control the devices of the system of the invention to automatically mark structures and/or objects specified in the design.

The system of the present invention includes components, wherein the components include at least one master station, a processor, and one or more targets. The components of the system of the present invention can communicate with each other to allow the system to perform automatic learning and layout of multidimensional spaces. During the learning and/or layout of the multidimensional space, the system can guide the user within the multidimensional space by displaying the multidimensional space (e.g., a 3D graphical representation), including: known or learned objects and/or structures and the user's current The physical location effectively both guides the user within the multidimensional space and effectively points the user where to make marks when the user performs layout of the multidimensional space. Furthermore, the system of the present invention can display the virtual space as an overlay on a depiction of multi-dimensional space. Thus, as the user physically moves within the multi-dimensional space, the system of the present invention is able to track the user's location and display that location in real-time within a graphical representation of the real space and/or virtual space. The display can be part of the master, or part of the processor, or both components can have a display.

The foregoing has outlined rather broadly the preferred features of the invention so that those skilled in the art may better understand the following detailed description of the invention. Additional features of the invention will be described hereinafter which form the subject of the claims of the invention. Those skilled in the art should appreciate that they can readily use the conception and specific embodiment disclosed as a basis for designing or modifying other apparatuses for carrying out the same purposes of the present invention, and that such other apparatuses do not depart from the most basic principles of the present invention. spirit and scope of the invention in its broadest form.

Description of drawings

Reference will now be made in detail to the preferred embodiments of the invention, examples of which are illustrated in the accompanying drawings.

Fig. 1 shows the flow chart of the method of the present invention;

Figure 2 shows a first embodiment of the system of the invention comprising a master station, a target and a portable processor;

Figure 3 shows a second embodiment with laser beams emitted from the master station to mark positions according to commands from the portable processor;

Figure 4 shows a third embodiment of the system of the present invention, in which the master station guides the mobile robot to produce visual markers on a surface in a multidimensional space;

Fig. 5 shows a fourth embodiment (similar to Fig. 4), wherein the marks are projected vector superpositions of the desired patterns;

Figure 6 shows a fourth embodiment in which the marker is a two-dimensional projection of a simulated three-dimensional pattern;

Figure 7 shows a fifth embodiment, where the master station guides the mobile robot to use paint to mark locations on the ground;

Fig. 8 shows a sixth embodiment, wherein the master station guides the mobile robot to a position where a machining operation such as drilling is performed;

Figure 9 shows a seventh embodiment in which the master station guides the mobile robot to a position where metrology is performed with a robotic arm capable of measuring and marking on the ground;

Figure 10 shows a seventh embodiment in which markings are made on a wall;

Figure 11 shows an eighth embodiment similar to the first embodiment, except that the master station tracks multiple prisms, each prism communicates with a different processor, and the processors communicate with each other;

Figure 12A shows a front view of two laser ranging units (A and B), each capable of measuring its vertical height from the ground and its distance from the other rangefinder;

Figure 12B shows an enlarged view of the laser range finder and the axicon;

Figure 13 shows a plan view of the configuration of Figure 12 with additionally shown target sensors for position triangulation;

Figure 14 shows a rangefinder that uses a post with sensors and other equipment to provide distance and altitude measurements;

Figures 15A and 15B show a portable processor with an inertial measurement system, which includes three gyroscopes and an accelerometer; Figure 15A is an isometric view of the outline of the portable processor; An isometric view of a part.

Detailed ways

The present invention provides systems and methods for automatically generating N-dimensional graphical representations of multidimensional spaces, where N is an integer equal to or greater than 2. For ease of illustration and clarity of description, the systems and methods of the present invention will be described in connection with a construction project in which structures and/or objects are constructed, arranged, positioned and oriented relative to each other in a multidimensional space, such as by an architect and/or A drawing such as a CAD (Computer Aided Design) drawing generated by an engineer or other construction professional shows its specific physical features. It will be appreciated that the methods and systems of the present invention are not limited to automatic learning and/or layout of architectural projects, but may include rearranging multi-dimensional spaces by using objects and/or structures already present in the space, or introduced into the space .

The method of performing automatic learning of a multidimensional space (e.g., 3D space) by using the system of the present invention involves the measurement of the distance from the system device to one or more selected reference points within the multidimensional space and the distance from the system device to the multidimensional space. Measurement of distances within various existing objects and structures. These measurements are used by the system of the present invention to automatically generate a map (which may be in digital format) or a graphical representation of the multidimensional space in real time based on measurements made by system equipment at least a portion of which is located within the multidimensional space.

Moreover, in addition to creating a graphical representation of the multidimensional space being learned in real time, the system of the present invention can also display in real time the position of one of its components (eg, an object) relative to the measured location of the multidimensional space being learned. When such components are attached to the user or possessed by the user of the system, the method and system are thus able to display the user's position within the space being learned or within a virtual space superimposed on the space being learned in order to guide users through the space.

The automatic layout of a multidimensional space for a construction site according to the method and system of the present invention involves the use of reference points such as datums and targets to establish the orientation, position and orientation. Typically, a design for developing a multidimensional space is memorized as one or more drawings (e.g., CAD or computer-aided design drawings) that precisely draw between the objects and/or structures of the multidimensional space to be built spatial relationship. The design, when graphically depicted, represents a virtual space with specific physical characteristics. During the automatic layout of the multidimensional space performed by the user of the system of the invention, the system adapts itself to the multidimensional space with reference to the design drawing, and then when the design drawing is converted into the multidimensional space, indicates the selected objects contained in the design drawing and/or the exact location of the structure. Thus, the present invention is capable of directing a user within a multidimensional space to a single point (or region or volume or other higher dimensional region), enabling the user to make Marking of a specific location, orientation and/or arrangement of objects and/or structures to be constructed. In one embodiment of the invention, the user is able to control the devices of the system of the invention to automatically mark structures and/or objects specified in the design.

The system of the present invention includes components, wherein the components include at least one master station, a processor, and one or more targets. The components of the system of the present invention can communicate with each other to allow the system to perform automatic learning and layout of multidimensional spaces. During the learning and/or layout of the multidimensional space, the system can guide the user within the multidimensional space by displaying the multidimensional space (e.g., a 3D graphical representation), including: known or learned objects and/or structures and the user's current The physical location effectively both guides the user within the multidimensional space and effectively points the user where to make marks when the user performs layout of the multidimensional space. Furthermore, the system of the present invention can display the virtual space as an overlay on a depiction of multi-dimensional space. Thus, as the user physically moves within the multi-dimensional space, the system of the present invention is able to track the user's location and display that location in real-time within a graphical representation of the real space and/or virtual space.

As clearly shown in this description, when some or all of the steps required to complete the task are performed by the system equipment of the present invention according to the method of the present invention, the task is 'automatically' completed. Some or all of the final steps of the various tasks discussed herein are performed by system devices, which may be booted by firmware and/or software embedded in such devices; such tasks are thus performed automatically.

A virtual space is a visual or mathematical representation of a multidimensional space, which can be described in terms of boundaries, specific objects and/or structures for the design of a building site, relative to each other and relative to the establishment of the specified in the multidimensional space Positioning and orientation of reference points as well as information defining the actual physical dimensions of objects and/or structures are depicted. Information designed in mind is called virtual information. An example of virtual information is a set of drawings (e.g., 2D or 3D CAD (Computer Aided Design) drawings) generated by an architect or engineer for a building project. Henceforth, the terms "building site" and "multidimensional space" will be used interchangeably.

The term "learning" as used herein means that a user (preferably a construction navigator) uses the system of the present invention to locate reference points and other prescribed locations (e.g., marker stones, benchmarks) on a construction site according to the method of the present invention, Measuring distances between these specified points, identifying existing structures and/or objects on the construction site, measuring the actual physical dimensions of existing objects and/or structures and measuring distances between existing objects and/or structures located on the construction site The process of automatically generating a representation (e.g., a graphical 2D or 3D CAD drawing or other type of representation) of a building site in real-time, i.e., as learning is done. A reference point is a specifically defined point or location within a building site from which measurements are designated. Reference points are usually identified in the virtual information by designers (eg, architects, engineers), and marked in the multidimensional space, usually by site surveyors of the multidimensional space. Information generated from learning can become part of virtual information.

The term "layout" as used herein refers to the automatic identification, in real time, of the precise location of specific points and/or the location, orientation and Arrangement process. The placement process may also involve guiding the user of the system to a precise location within the multi-dimensional space. The precise location is then marked by the user, or the user of the invention can automatically mark the location of objects and structures within the building site using a device which is part of the system of the invention.

The systems and methods of the present invention enable a user to perform learning and/or layout of a building site by performing a mapping between a building site (ie, multi-dimensional space) and a virtual space. Mapping refers to specifying a known point in one space and computing or determining a corresponding point in another space where there is a well-defined relationship (eg, a mathematical relationship) between the two spaces. For example, the transition from virtual space to multidimensional space occurs when the method of the present invention applies a strictly defined relationship to a point within the designer's diagram to determine or compute the position of the corresponding point in multidimensional space, as done during layout. mapping.

The term 'building site' as used in this specification is understood to include any multidimensional space having defined boundaries within which the construction of objects and structures and their positioning and orientation relative to each other can be performed; building site also includes any multidimensional space, Some or all of the construction has already been completed. Accordingly, the terms "building site" and "multidimensional space" will be used interchangeably hereinafter.

The method of the present invention automates the processes associated with performing automatic learning or automatic layout of multi-dimensional spaces or both using reference points such as fiducials, targets and/or provided references. Typically, reference lines and datums are provided by a surveyor before construction begins at a construction site. These provided references are typically 2 mutually perpendicular lines that form a 2-dimensional plane representing the x-y coordinate system (mutually perpendicular lines, one of which is the x-axis and the other is the y-axis) established by the surveyor as A line from which objects and structures are measured for positioning and/or orientation by craftsmen (eg, carpenters, plumbers, electricians) at a construction site. Furthermore, the surveyor may also provide "datums," which are specific points within the construction site measured from provided reference lines, to further enable the craftsman to orient objects and/or structures within the construction site. A datum is typically a point identified on an existing structure (eg, column) within the construction site, offset anywhere along the reference line. Thus, for example, if a reference line of 2-dimensional space is drawn on the ground of a construction site, the datum may be a point measured from anywhere along either of the two reference lines, where such point may be at the point formed by the reference line on the x-y plane, or can be on the z-axis perpendicular to x and y on the third dimension of the three-dimensional space. Therefore, a datum is a reference point existing in an N-dimensional space, where N is an integer equal to or greater than 2.

I. Methods and systems of the present invention

The method of the present invention allows the user to introduce objects within the multidimensional space, which are additional reference points to be used during learning and/or layout of the multidimensional space. Targets differ from references in that they are randomly placed devices in multidimensional space that can receive and send (actively or passively) information to the system of the invention in order to establish additional reference points. For example, a target can be a relatively small square of flat material with a feature that can reflect infrared or other electromagnetic signals (optical signals, wireless signals, laser beams) to allow reference points to be established and documented in multi-dimensional space by the system of the present invention. reflective surface. Such objects may be attached by users of the system of the present invention to various surfaces within the multi-dimensional space in order to allow automatic learning and/or layout of the multi-dimensional space. Another example of a target is a prism located on a column placed within an architectural space. Targets can be stationary or moving. An active object can generate and send a signal to another device of the system of the present invention to indicate its position within the multidimensional space. A passive object reflects energy it receives from other components or devices of the system of the present invention to indicate its position in multidimensional space.

Referring to FIG. 1 , there is shown a flowchart of the method of the present invention implemented by using the system of the present invention. Various embodiments of the system of the present invention are shown in Figures 2-15. In the system embodiment shown, the method of the present invention may be implemented as a software program residing in a processor device (eg, a laptop computer). The processor device is any device on which the software executes the steps of the method of the invention as the various other components of the system execute the automatic learning and/or layout of the multi-dimensional space at the command.

软件的计算机辅助设计(CAD)软件的一部分，该软件允许用户生成多维空间的图形表示。软件也具有为了便于在施工和建筑市场内使用而构建的图形用户界面(GUI)。这样，Theocad(SM)被无缝地集成到

内以利用这样的软件的图形生成能力。应当指出，Theocad(SM)可被实施为独立软件包，它可以生成它自己的图形。Theocad(SM)适合于快速执行特定的定位、导航、读出和写入施工任务。The system software hereafter referred to as Theocad(SM) can be implemented as

Software is part of the computer-aided design (CAD) software that allows users to generate graphical representations of multidimensional spaces. The software also has a Graphical User Interface (GUI) built for ease of use within the construction and construction market. In this way, Theocad(SM) is seamlessly integrated into the

within to take advantage of the graphics generation capabilities of such software. It should be noted that Theocad(SM) can be implemented as a stand-alone software package which can generate its own graphics. Theocad(SM) is suitable for quickly performing specific positioning, navigation, reading and writing construction tasks.

Theocad(SM) may reside on a handheld, laptop, tablet or desktop computer or other processor with the ability to communicate (send information to or receive information) with the master module. The messages may be commands and/or responses generated by the master module or processor. A processor may be any microprocessor, microcontroller, microcomputer, mainframe computer, desktop computer, or other processing device that can execute instructions in the form of a software program and have a display for displaying graphics. The master station module can be any well-known device that can measure distances, angles and positions of reference lines, fiducials, and targets arranged in a multi-dimensional space. For example, the master station module shown in Figure 2 could be what is commonly referred to as a central station, and one particular applicable central station could be a Leica Geosystems Series 1200 Model 3. The Leica 1200 Total Station can resolve position at a distance of 1000 feet within 3 seconds with an accuracy of ±3/16 inch. The Leica 1200 Series Model 3 Total Station is capable of tracking moving prisms and therefore any mobile device, by which it measures the distance to targets such as prisms and other reflective targets. The system software can thus function as distance measurement, navigation and documentation control software. The system software sends commands to the master station and receives telemetry results back from the master station. The system software sends commands to the master firmware informing it to perform specified tasks as required (e.g., turn to a specified direction or move up or down to a specific angular position, turn on or off a visual laser pointer, measure distance or angle, etc.). The master responds by performing the requested function and then sending performance or telemetry results back to the system software. It should be noted that all of the software (eg, TheoCAD and AutoCAD) may reside within the processor, within the master or portions of the software may reside in both the processor and the master.

的便携式处理设备，以及TheoCAD(SM)软件设备被装载以专用软件，该专业软件显示场所的修改后的CAD图(平面图和正视图)，以便形成建筑场所的虚拟映射。所以，手持式设备现在可以在虚拟映射上叠加它的位置。Referring momentarily to FIG. 2, there is shown a first embodiment of the system of the present invention comprising a master station module 100 (shown as a stationary robotic device) having a tripod 107, a laser range finder 104, located at Wireless communication device 102 (including antenna), and computer and user interface 106 at the top. The system also includes a processor 114 and at least one object such as a prism 108 . The master station module implemented as a master station is a robotic device that moves the laser 104 so as to constantly track the prism 108 located on a post 112 similar to a surveyor's post except that it also has a prism located on it as shown. One terminal other than the wireless communication device 110 . The master station knows the position of the prism, which is communicated by the master station module 100 to the processor 114 via the communication device 110 . The communication device 100 is coupled to the processor 114 and used by the processor 114 to receive and/or send information to the master station module 100 which has its own communication device 102 . Communication devices 110 and 102 may be any type of wireless communication devices capable of exchanging information with each other according to a protocol. A protocol is a set of laws that dictates how information is formatted, sent, received, and interpreted by the device sending and/or receiving it. The protocol may be a well known protocol or a protocol designed by the manufacturer of the system of the present invention. If the communication of the location of the prism is interrupted, the master station module 100 may start a search pattern procedure to find the prism. Because processor 114 is attached to column 112 , the location of processor 114 within the construction site can be determined by master station module 100 . More specifically, master station module 100 is able to determine its location within the construction site by using well-known triangulation procedures. Therefore, because the master station module 100 knows its location and the relative location of the processor 114, the location of the processor within the building site can also be determined by the master station module 100. Processor 114 is shown executing

The portable processing device, and the TheoCAD(SM) software device are loaded with special software that displays modified CAD drawings (plan and elevation) of the site in order to form a virtual map of the building site. So, a handheld device can now superimpose its location on a virtual map.

Returning to Fig. 1, the method of the present invention shows step 10, in which the communication devices establish communication with each other. The master module 100, target, and processor 114 of FIG. 2 may have communication devices associated with them. After the system of the present invention is initially activated (ie, the system is first switched on), various communication links between the different communication devices are established. Establishment of a communication link between any two devices requires confirmation that the devices are switched on and that the devices can communicate with each other. Also, the communication between devices is such that they can correctly interpret each other's messages. Typically, a handshaking procedure between two devices is used to establish a link between the two devices. A link is thus the ability to effectively communicate according to the protocol followed by the system.

In step 12 of the method of the invention, various reference points are identified and located. Surveyors typically provide reference lines and datums. In addition, objects strategically placed in the construction site are also located and identified. Also, the master station is placed within the building site relative to a reference line or datum or target. There may be situations where there are no reference lines available at the construction site. In such a situation, the target is used as a reference point relative to which the master station is placed. Datums and reference lines may be indicated on a CAD drawing of the multi-dimensional space, where the drawing is stored in a processor of the system (eg, processor 114 of FIG. 2 ), or may be downloaded to a processor of the system. The objects are installed or fixed by the user at various points within the building site, so their position is likely to be known to the user. When the leica model 1200 total station is used as a master station, it can automatically locate certain types of targets, such as prisms.

In step 14 of the method of the present invention, various reference points are measured by using a leica model 1200 master station (eg master station 100 of FIG. 2 ). Specifically, the distance from the reference point to the master station and the angle (vertical and horizontal) of the reference point relative to the master station are measured and stored in the master station. The central station communicates this information to a processor (eg, processor 114 of FIG. 2). In use A processor under the control of TheoCAD(SM) as a platform, such as processor 114 of FIG. 2, can process said information in order to generate at least two specific types of information which lead to steps 16 and 18 of the method of the present invention . It should be noted that TheoCAD(SM) can be used as stand-alone software and with its own set of instructions in order to generate the information discussed in steps 16 and 18 of the method of the present invention.

In step 16 of the method of the present invention, TheoCAD(SM) software calculates the position of the master station within the multi-dimensional space being learned by the well-known process of triangulation. At least two reference points are used to determine the position of the master station. TheoCAD and AutoCAD software resident in the processor uses at least two reference point locations to determine the actual location of the master station and display said location on the processor's display. At building sites where satellite signals are available, the method of the invention may use the well-known GPS (Global Positioning System) to determine the location of the master station and thus the location of the processor.

At step 18, the TheoCAD and AutoCAD software are able to generate a 3-dimensional graphical representation of the building site as the reference points are located, identified, measured, stored and processed as described above. Additionally, other reference points in space that are not objects but non-reflective surfaces can be used to help generate 3-dimensional graphics. A stored CAD drawing of a construction site generated by an engineer or architect alone (not using the system of the present invention) can be downloaded to the processor and then aligned by a mapping operation to the 3D drawing of the construction site generated by the system of the present invention express. Mapping operations specify a known point in one space, and compute or determine the corresponding point in another space, where there is a well-defined relationship (eg, a mathematical relationship) between the two spaces. With the two spaces aligned, the user can easily see the difference between the learned space and the space generated solely by the architect of the building site. As each point is generated, so are the connections between these points, allowing the system of the present invention to generate a 3-dimensional graphical representation of a building site in real-time. Furthermore, the position of the processor, which can be maintained by the user and tracked by the master station, can also be displayed simultaneously with the space being generated and an overlay space generated separately by, for example, an architect using AutoCAD. Thus, a user of the system of the present invention can operate said system by using the method of the present invention in order to navigate the virtual space and also to make marks in the actual space, the marks representing the positions of objects and/or structures of the virtual space. That is, a user of the system can be guided by the system in real time to perform the layout of a building site.

II. Other Embodiments of the System of the Invention

3 shows a second embodiment of the system of the present invention, wherein the master station module 100 (e.g., Leica Total Station 1200 Series Model 3) points its laser beam 109 at a target 118 whose position is entered by the user 110 in coordinates. processor 114, and the coordinates are wirelessly transmitted to the central station. The user informs the processor 114 of the location where the laser is desired to be irradiated, and directs the laser beam of the master station module to the location.

Figure 4 shows a third embodiment in which the master station module 100 positions a prism 108 physically located on a mobile robot 122 with substations mounted thereon. The master station module 100 station includes software that can guide the mobile robot to a specific location via wireless communication. The movement is "blind", but it is navigated by the master station module 100 circuitry under the control of software residing on the master station module 100 computer 106 . The substation 120 installed on the mobile unit 122 may perform operations similar to the operation of the main station module 100 , but under the control of the module 100 . The mobile robot also includes a wireless communication device 110 and a laser 118 . The mobile robot's laser can then illuminate any point location represented by master station module 100 . This is useful because the master station module 100 is stationary and certain locations are not available for the master station module by line of sight.

FIG. 5 shows a fourth embodiment similar to the third embodiment of FIG. 4 , but in which a mobile robot 122 projects a graphic overlay on a surface by rapidly moving its laser beam 111 in a desired pattern 124 . This is useful in situations where you want to indicate to construction workers where to place structural material. For example, if it is desired that a 12 inch pipe be placed vertically, the mobile robot laser projects a 12 inch diameter circle on the ground or horizontal.

FIG. 6 also shows the fourth embodiment described above, wherein the displayed pattern is a two-dimensional projection of the three-dimensional overlay 126 .

FIG. 7 shows a fifth embodiment in which a mobile robot 122 is directed to specific location coordinates and directed to mark the ground with paint or dye by using a paint sprayer mechanism 128 . For example, the entire floor plan of a CAD drawing can be drawn on the ground in this way.

FIG. 8 shows a sixth embodiment, where a mobile robot 122 is directed to specific location coordinates, and is directed to perform certain machining operations, such as drilling holes in the ground by using a drill or marking tool 130 .

Figure 9 shows a seventh embodiment in which the mobile robot 122 is guided to specific location coordinates in order to perform metrological measurements. The mobile robot has a robotic arm 132 to which is attached a computerized measuring, pointing or marking device 133 . The graph shows such metering in action.

Figure 10 shows the seventh embodiment as described above, except that metering is being performed for the walls.

FIG. 11 shows an eighth embodiment in which a master station module 100 communicates with a plurality of columns such as each shown in the first embodiment of FIG. 2 . Processors ( 114A, 114B, and 114C ), respectively operated by users 116A, 116B, and 116C, communicate with each other in a local area network (LAN). User 116B does not have a pole, but is able to communicate with processors (114A and 114C) in order to locate the position of prisms 108C and 108A. A LAN can have a client-server protocol or a peer-to-peer protocol. Regardless, the location coordinates of any handheld unit are known to every other handheld unit.

12-14 show a ninth embodiment. In this embodiment, no central station is utilized. Instead, two stationary laser rangefinder units 221A and 221B (see FIGS. 12, 13 and 14) that can communicate to processor 214 operated by user 216 measure their vertical distance from the ground and distance separating them. The details of the rangefinder unit are shown in Figure 12A; each rangefinder has a light sensor 21, an axicon 22 and a laser 23 and a communication device (not shown). The rangefinder units encode their own position, and they send telemetry data to the target sensor. The target sensor can read the distance to each rangefinder unit (221A and 221B) for triangulation, as well as the angle of the triangle formed (A and B). This is shown in Figure 13. Figure 14 shows an alternative method of accurately measuring the height of the rangefinder unit by using a pole itself with a laser 215 mounted on a movable unit 230 and a sensor 217 along its height and fixed on a movable Mirrors 211 , 213 at each end of the mobile unit 230 . Once the sensor picks up the laser beam 219 of the rangefinder 221A, the true height above the reference can be measured by using the known position of the sensor array on the pole. The removable unit may also have a communication device to send information to processor 214 .

Figure 15 shows a portable processor handheld unit that measures its position using three gyroscopes and an accelerometer. The handheld unit communicates with other devices by using radio frequency signals. An inertial guidance system is a multi-platform wireless handheld computer, PDA, laptop, tablet, etc. combined with inertial measurement hardware and/or electronics and/or software that includes one or more gyroscopes for compensating a drifting resonant ring, and at least one highly accurate variable capacitance accelerometer. In order to initialize the unit, the operator must first refer to control points in space.

Although the invention has been described in detail with reference to specific embodiments, those skilled in the art will recognize that various changes and modifications can be made therein without departing from the spirit and scope of the invention. Thus, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

Claims (1)

1. method comprises:

Automatically generate the N dimension expression in described space based on the reference point in hyperspace, thus the system that makes the user use its at least a portion to be positioned at described space navigated in described space, wherein N is equal to or greater than 2 integer.

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