Method of determining the orientation of a machine

A method of determining the location and orientation of a robotic machine which moves about a worksite, comprising:

• providing a target on said machine,
• determining the location of the robotic machine in the worksite by directing a beam of laser light at the target from a robotic total station, said robotic station being located at a known position in the worksite,
• moving said target to a first position on said machine,
• determining the location of said first position in said worksite by directing a beam of laser light at the target from the robotic total station,
• moving said target to a second position on said machine,
• determining the location of said second position in said worksite by directing a beam of laser light at the target from the robotic total station, said first and second positions being known with respect to said machine, and defining a vector therebetween of a known orientation with respect to said machine, and
• determining the orientation of said vector with respect to said worksite, whereby the location of the machine and the orientation of the machine in the worksite may be determined.

A method of controlling a robotic machine which moves about a worksite and makes layout marks on the floor by lowering a marker into contact with the floor at desired locations, said robotic machine being capable of drawing a line across floor of the worksite by maintaining the marker in contact with the floor as the robotic machine moves, comprising

• providing a robotic machine capable of movement about a worksite and making layout marks on the floor of the worksite by bringing a marker on the machine into contact with the floor of the worksite to produce layout marks,
• providing a target on said machine,
• determining the location of the robotic machine in the worksite by directing a beam of laser light at the target from a robotic total station, said robotic station being located at a known position in the worksite,
• moving said target to a first position on said machine,
• determining the location of said first position in said worksite by directing a beam of laser light at the target from the robotic total station,
• moving said target to a second position on said machine,
• determining the location of said second position in said worksite by directing a beam of laser light at the target from the robotic total station, said first and second positions being known with respect to said machine, and defining a vector therebetween of a known orientation with respect to said machine, and
• determining the orientation of said vector with respect to said worksite, whereby the location of the machine and the orientation of the machine in the worksite may be determined.