Three-dimension position and heading solution
AssigneeTrimble Inc.
InventorsKent Wayne Kahle, Kurtis Maynard, Paul Y. Montgomery
Life of this patent
Estimating the term…
Abstract
Systems and methods for determining orientation and three-dimensional position of construction equipment are presented. An orientation device is mounted to a machine. The orientation device has an image sensor. The orientation device measures an offset between a direction of the orientation device and a reference at a known location. The heading of the machine is calculated based on the offset and the known location of the reference.
Claims20
A system for determining 3D position and heading of construction equipment, the system comprising:
- a machine for use at a construction site, wherein:
- the machine is movable so as to have a first degree of freedom, a second degree of freedom, a third degree of freedom, and a fourth degree of freedom;
- the first degree of freedom, the second degree of freedom, and the third degree of freedom correspond to a position of the machine, in three dimensions;
- and
- the fourth degree of freedom corresponds to a heading of the machine;
- a retroreflector coupled with the machine;
- a robotic total station, configured to track the retroreflector and determine the position of the retroreflector in three dimensions;
- an orientation device, wherein:
- the orientation device is coupled with the machine;
- and
- the orientation device comprises an image sensor;
- electronics configured to:
- determine the position of the machine in three dimensions using data from the robotic total station;
- determine a coordinate of a reference imaged on the image sensor, wherein the reference is at a known location;
- and
- calculate the heading of the machine based on the coordinate of the reference imaged on the image sensor and the known location of the reference.
A method for determining 3D position and heading of construction equipment, the method comprising:
- determining a position of a machine in three dimensions in a first coordinate system using a total station;
- creating an image of a reference with a camera, wherein the reference is at a known location in the first coordinate system;
- determining a coordinate of the reference in a field of view of the camera in a second coordinate system;
- determining an offset between the coordinate of the reference and a heading of the machine;
- and
- calculating the heading of the machine in the first coordinate system based on the offset and the known location of the reference.
A system for determining 3D position and heading of construction equipment, the system comprising:
- a retroreflector for coupling to a machine;
- a robotic total station, configured to track the retroreflector and determine a position of the retroreflector in three dimensions;
- an orientation device for coupling to the machine, wherein the orientation device comprises an image sensor;
- and
- electronics configured to:
- receive data from the robotic total station;
- determine the position of the machine in two dimensions or three dimensions using the data from the robotic total station;
- determine a coordinate of a reference imaged on the image sensor, wherein the reference is at a known location;
- and
- calculate a heading of the machine based on the coordinate of the reference imaged on the image sensor and the known location of the reference.
Dependencies are inferred from the claim text.