Magnet sensing hole driller and method therefor

A portable autonomous device that drills holes in a surface, the portable autonomous device comprising:

• a receiver that is part of a control board coupled to an antenna, the receiver configured to receive from a controller a signal containing coordinates of a drill location;
• a drive system that moves the portable autonomous device to the drill location, the drive system including at least one wheel set pivotable about a wheel pivot assembly;
• an attachment mechanism that fixes the portable autonomous device to the surface at the drill location;
• magnet sensors that locate a freestanding magnet below the surface;
• a drill feed assembly coupled to a drive table that moves the drill feed assembly over the freestanding magnet located via the magnet sensors, wherein the drill feed assembly includes a drill spindle that drills a hole in the surface at the freestanding magnet;
• and
• a normality system configured to:
• determine an angle of the platform relative to the surface by measuring a pivot angle of the wheel set about the wheel pivot assembly;
• and
• adjust the angle of the platform relative to the surface based on the pivot angle of the wheel set to achieve a desired angle between the platform and the surface.

A method of drilling holes in a surface using a portable autonomous device having a platform and a drive mechanism coupled to the platform, the method comprising:

• moving, via the drive mechanism, the portable autonomous device to a drill location received via a wireless signal from a cell controller;
• fixing a position of the portable autonomous device at the drill location with an attachment mechanism;
• moving a drive table over a freestanding magnet located under the surface at the drill location;
• determining an angle of the platform relative to the surface using a normality system;
• wherein the drive mechanism comprises at least one wheel set pivotable about a wheel pivot assembly, and wherein determining the angle of the platform relative to the surface comprises measuring a pivot angle of the wheel set about the wheel pivot assembly;
• adjusting the angle of the platform using the normality system to achieve a desired angle between the platform and the surface;
• and
• drilling a hole at the freestanding magnet using a drill feed assembly coupled to the drive table.