Survey device with articulated arm

Abstract

A survey device having an articulated arm and a system and method for positioning or measuring including the same. The apparatus has: a wearable device carried by an operator and including a power unit and a computing unit; an articulated arm for mounting a tool and / or a measuring device in a defined positional relationship with the arm. The articulated arm is designed and attached to the wearable device in a manner that can be manipulated by an operator. The apparatus also includes a pose unit that determines a position and orientation with respect to the 6-DoF. The articulated arm and the pose unit are in a fixed and defined positional relationship. A computer unit of the device determines a 6-DoF position and orientation of the installed measuring device and / or tool with respect to an external reference frame by using a defined positional relationship of the measuring device and / or tool with the assembly by: determining 6-DoF referencing of the pose unit with respect to the reference frame by means of the 6-DoF position and orientation; 6-DoF position reference is conducted on the assembly part relative to the pose unit based on the joint position determination of the hinged arm and the position relation between the first end of the hinged arm and the pose unit.

Description

Technical Field

[0001] The present invention relates to surveying equipment, methods, and systems for fiducial-based positioning or measurement. Background Art

[0002] Geodetic instruments for surveying (i.e., measuring or projecting, for example, point coordinates) are known in the art. Such surveying equipment for tracking or marking and measuring spatial points on the surface of a structure or object is particularly used for measuring the surrounding environment or workpieces, especially large entities such as airframes, or for the construction or inspection of buildings, for example, during the process of BIM (Building Information Modeling) to site assignment or layout of building elements (such as MEP (Mechanical, Electrical, Plumbing) installations, walls, anchor points, etc.). The distances and angles from such a measuring device to one or more target points to be surveyed can be recorded as spatial standard data.

[0003] On the other hand, planned position data (such as based on digital building plans or CAD data) can be projected onto the object surface in a real-position manner by laser beams for layout or lofting. The projection of visible or invisible points or lines is used to provide position reference points or lines as a reference for the human eye or an electronic system, and also allows for automatic positioning or machine guidance. Here, reference lines are typically created by widening the laser beam (especially possible for straight lines) or by rotating the projection of the laser point.

[0004] Visually indicated position (reference) marks can be used to assist in manual manufacturing or construction steps performed with handheld tools (such as screwdrivers, wrenches, crimping tools, riveting tools, drills, dispensing machines, etc.) or especially power tools (for example, which can be driven by electricity or air pressure). The reference marks help the user to apply the tool or operation at the correct position, for example, to mark a planned drill hole in a position-true manner according to the construction plan, or to mark an area to be preserved (for example, due to underlying hidden structures such as pipes or cables in a wall). In another example, the object surface is ground, sanded, or planed and can be measured, or it is indicated whether to continue or end the grinding, sanding, or planing.

[0005] Surveying instruments are used in traditional geodesy (land surveying), or for geodetic surveying or setting out in industry (e.g., 3D coordinate acquisition of workpieces for quality control), and for the accurate construction of buildings such as streets, tunnels or houses and for internal construction or assembly tasks, e.g., by designers such as architects, kitchen manufacturers, glaziers, bricklayers or staircase builders using templates, e.g., for as-built data acquisition. It should be emphasized that in this application, the terms "geodesy" and "geodetic surveying" are not limited to the scientific discipline involving the measurement and representation of the Earth's surface, but rather in a broad sense involve the measurement, surveying and position determination or projection of object points in order to obtain digital object coordinates or layouts or to mark digital object coordinates in space.

[0006] For measuring, surveying or projecting a target or object point or a plurality of such points, many surveying and measuring devices are known. For example, the distance and direction or angle from a surveying device (its absolute position in a global reference system) to a target point to be surveyed are recorded as spatial standard data. Well-known modern examples of such geodetic surveying devices are tachymeters and total stations, which are also referred to as electronic tachymeters or computer tachymeters. Thereby, with respect to position measurement or setting out, the positions of individual terrain points (e.g., land survey points or points on construction site objects in the interior or exterior areas of a building or in road construction) can be determined precisely.

[0007] Surveying or marking activities are usually carried out by the interaction of a fixed device having a known position and thus providing a position reference with a receiving or marking or targetable auxiliary measuring instrument, especially in cases where, due to obstacles obstructing the line of sight, a target point (e.g., a boundary marker) cannot be directly targeted by the surveying device.

[0008] Such a surveying or setting out process may require two users, one operating the surveying device and the other placing and holding the target or marker. In order to enable the user to carry out the surveying himself, total stations or laser trackers according to the prior art have means for mechanizing the target optical unit, for automated target search and tracking and for remote control of the entire device, with the result that measurements can be made from the target point with the aid of a suitable remote control unit. In addition, modern total stations also contain a microprocessor for digital further processing and storage of the registered measurement data and a radio data interface for establishing a radio connection to external peripheral components (e.g., a data registration device, which can be particularly implemented as a field computer). With the aid of the data interface, the measurement data registered and stored by the surveying instrument can be issued for external further processing, external registered measurement data can be read into the total station for storage and / or further processing, and remote control signals can be input or output to remotely control the total station or other external components, especially in mobile field use.

[0009] Thus, in many geodetic applications, points are surveyed by placing specially implemented target objects thereon. According to the prior art, these target objects include poles as object supports, which poles have markings that can be aimed at or retroreflectors as target objects. For surveying purposes, the tip of the plumb bob with the target point is brought into contact with the ground and kept vertical to determine the direction. When doing so, to determine the distance, by rotating the pole about its longitudinal axis, the pole will be horizontally aligned in such a way that the marking or reflector will reflect the light signal emitted by the surveying device back along the direction of the latter. Alternatively, a 360° reflector is used, which reflects the light signal back from any horizontal alignment.

[0010] Even in industrial surveys, specially implemented handheld targets or auxiliary surveying instruments are used to survey measurement points, especially multiple measurement points. These target instruments include non-contact measurement sensors (such as mobile optical scanning units) and so-called probing tools, which locate the measurement points on the object through their contact points, thereby allowing the surveying of the target points. Thus, the measurement of the object has high accuracy. This especially applies to the manufacturing or construction industries, for which it is very important to measure and inspect the surfaces of building structures or workpieces, especially for quality control purposes.

[0011] One problem with surveying using such aimable auxiliary instruments is that, as mentioned above, a line of sight from a total station, laser tracker, etc. to the target probe is required so that the surveying instrument's measurement beam can be used for aiming or its camera can be used to take an image. Therefore, the operator must take care not to let this line of sight be blocked by himself or another object.

[0012] This requirement to ensure the line of sight is a cumbersome requirement that requires a considerable amount of extra attention and is a requirement that is not usually easily met, especially in crowded measurement scenarios or when measuring complex objects.

[0013] As some countermeasures known in the art, surveying poles with GNSS sensors are used for positioning. However, the accuracy of GNSS signals is usually relatively low, and there is no signal available in some places. Another countermeasure is to use very long retroreflector poles so that the retroreflector is above the user's head when (vertically) positioned at the target point.

[0014] However, this magnifies another disadvantage of geodetic or industrial surveys using such auxiliary devices as poles or aiming probes. That is, transporting and carrying a pole that is usually more than two meters long and thus cumbersome is troublesome for the user and strenuous in difficult terrain (such as a wooded area). For example, such a pole described in EP 1645846A1 not only has reflectors installed, but now even has controllers and sensors (such as GNSS sensors or tilt sensors) directly installed on the pole, and thus also has batteries, which results in the operator having to carry a considerable weight for a long time. In addition, the vertical installation of the pole is associated with a certain amount of time consumption, and it is arduous for the user to keep it vertical during the measurement. The incorrect installation of the pole at the target point is a source of error in the incorrect determination of the position. More generally, it is usually difficult and troublesome for the operator to manipulate and carry measurement, marking, or tool-operating equipment.

[0015] This is especially true given the requirement for high positioning accuracy. For example, when measuring with a measurement system with a camera or scanner, manual (i.e., hand-held) measurements often have problems. Because in principle, very high computing power is required to record and process the scatter plot of a three-dimensional surface, especially if the recorded images or scan lines need to be merged due to the movement of the measurement system, the movement tolerance is usually significantly limited by speed and vibration. Therefore, substantial stabilization of the measuring instrument during measurement is mandatory, and if stability is not maintained, it will lead to the main cause of measurement errors. Summary of the Invention

[0016] Therefore, an object of the present invention is to provide an improved surveying device.

[0017] Another object of the present invention is to provide a surveying device with improved user manipulability.

[0018] These objects are achieved by implementing the features of the independent claims. The features of the present invention are further developed in an alternative or advantageous manner in the dependent patent claims.

[0019] The present invention relates to a wearable surveying device. The surveying device includes a wearable device that is designed to be carried by an operator and includes a power unit and a computing unit. The surveying device also includes an articulated arm that has a first end and a second end, and the second end is pivotally connected to the first end through at least a joint of the first articulated arm. The arm has at least a first position encoder, such as an angular encoder, for determining the joint position (especially meaning the rotational position).

[0020] The end of the second arm includes a fitting for mounting a tool and / or a measuring device, preferably releasably, in a fixed and / or determinable and thus defined positional relationship to the fitting.

[0021] The articulated arm is designed and attached to the wearable device by the first end such that, in use, the second end is freely and easily or readily accessible to the operator and can be directly manipulated by the operator by gripping the second end and / or indirectly manipulated by gripping a mounted measuring device and / or tool.

[0022] The survey device further includes a pose unit for actively and / or passively determining a position and orientation with respect to six degrees of freedom (6-Dof) based at least in part on signals (referred to as pose signals) received from and / or receivable by an external position reference, the external position reference being referenced to an external reference system (external to the survey device). The pose signals are used to determine at least one of the six degrees of freedom, in particular three translational DoFs. That is, external position reference signals (the so-called pose signals) from a position reference instrument or a position reference object can be collected (determination based on an active signal) or relayed (determination based on a passive signal) by the pose unit; it is also possible to implement a determination based on a passive signal, i.e., the survey device emits a pose signal (instead of relaying / reflecting / transmitting), which can be received by an external position reference device (although the signal emission itself is active, the pose determination is not performed by the pose unit - but by an external device that receives and detects the signal emitted by the survey device - and thus, in the context of the present invention, this pose determination is passive). In any case, the pose signals allow the determination of at least one of the six DOFs (i.e., not necessarily all six DOFs or a complete pose, but at least a part of the 6-DoF pose).

[0023] The term "(pose) signal" should be understood in a broad sense and includes, for example, external pose signals such as GNSS signals, survey beams, or light detectable by an image sensor from a position reference object or a survey device. It should also be understood that, as described above, the term "position reference" includes not only a position reference object or a passive unit to be measured (such as an optical reference marker) but also a reference or reference measurement device (such as a total station or a GNSS satellite), which are referenced to a reference system external to the survey device.

[0024] When the wearable device is carried by a user, at least a part of the pose unit is arranged in an exposed position to enable an unobstructed propagation path for the pose signal. For example, the pose unit is attached to the wearable device by an extension such that when the user carries the wearable device, the pose unit is in a raised position relative to the user's body, preferably above the user's head, so that no part of the user's body obstructs the signal path to and / or from the reference object or instrument.

[0025] The first end of the articulated arm and the pose unit are in a fixed and thus defined positional relationship with each other by being attached to the wearable device.

[0026] The computer unit of the survey device is configured to use the measurement device and / or tool and the defined positional relationship of the fitting to determine the 6-DoF position and orientation of the installed measurement device and / or tool relative to the external reference (system) in the following manner: determining 6-DoF reference to the pose unit relative to the external reference (system) through the 6-DoF position and orientation, and based on the determination of the joint positions and the fixed and defined positional relationship between the first end of the articulated arm and the pose unit, performing 6-DoF position reference to the fitting relative to the pose unit.

[0027] In other words, the position and orientation determined by the pose unit, which is at least partially based on the pose signal providing a relationship, link or connection to an external reference system or position reference, are transmitted via the articulated arm to the end joint for mounting the measurement device or tool in a manner controlled by at least one position encoder of the arm. Thus, at the end, the pose of the installed measurement device or tool is position-referenced. The disclosed wearable survey device offers the advantage that most of the weight is borne near the user's torso, e.g., on the back, rather than in the hand. Additionally, the pose unit provides positioning sensors and / or reflectors / markers arranged or installed in an optimal manner for signal reception (by the survey device and / or external devices), e.g., an unobstructed field of view for an imaging pose camera.

[0028] As an option, the pose unit includes such a camera for image-based position reference, in particular using images of external reference markers and / or using a SLAM algorithm. Additionally or alternatively, the pose unit includes a GNSS sensor, an inertial measurement unit (IMU), and / or an optical marker, such as a retroreflector or an optical sign or an LED, that can be targeted by an external geodetic optoelectronic survey instrument.

[0029] As described above, different components of the pose unit can be distributed throughout the surveying device. For example, the IMU is inside the backpack, and the retroreflector is outside the backpack. Thus, all these components of the pose unit are in a defined or known positional relationship with another part or the first end of the articulated arm.

[0030] As an alternative, the wearable device is implemented as a backpack or a shoulder-upper arm wearable device.

[0031] In some embodiments, the surveying device includes a laser pointer configured to emit a visible laser beam having a defined positional relationship (in terms of the emission direction) with the second end. The laser pointer is used to indicate a target object point, such as a staking point or a point to be measured. The device further includes a human-machine interface for indicating the alignment of the laser beam with the target object point, such as visual indication using an LED light or the laser beam itself (changing the beam color or visibility according to its correct alignment) and / or a speaker.

[0032] In another embodiment, the fitting includes a data interface for receiving sensed data from the installed measuring devices and / or tools by the computing unit, wherein the computing unit is configured to evaluate the sensed data.

[0033] As yet another alternative, the computing unit is configured to evaluate sensor data and / or retrieve data related to the ongoing or planned measurement and / or processing process using the installed measuring devices and / or tools from a database (such as a Building Information Model (BIM)) to generate a notification based on the evaluation result and output the notification to the operator via the operator interface. The notification provides instructions for the measurement and / or processing process and / or feedback on the measurement and / or processing process to the operator.

[0034] Optionally, the second end includes an electronic user display and / or is designed to receive and connect to an external electronic display device, such as a so-called smartphone. Thus, the computing device is configured to provide, via the screen of the display, an augmented reality view showing a real-time camera image of the object to be measured and / or processed by the installed measuring devices and / or tools, the augmented reality view showing position reference data and / or user instructions that are true to the position related to the measurement and / or processing process. Alternatively or additionally, the surveying device is designed to automatically adjust the position of the display for the orientation of the second end (including the orientation of the fitting), at least within an angular range of ±10° relative to a zero or starting orientation, such that the screen of the display remains in a pose that can be viewed by the operator. As yet another alternative, the zoom level of the display is automatically adjusted for the position of the second end (such as the position relative to the object or the operator), wherein the position is determined based on the position of at least one joint.

[0035] In some embodiments, the second end includes an input interface, and the computing unit is configured to receive user input that determines the positional relationship of the measuring device and / or tool with respect to the fitting.

[0036] Optionally, the arm includes a second joint for pivotally coupling the fitting to the second end and at least a second position encoder for determining the position of the second joint.

[0037] As an alternative, the fitting includes electrical contacts for powering the installed measuring device and / or tool via a power unit, and / or includes a compressed air interface for supplying compressed air to the tool from a compressed air container located in the wearable device.

[0038] As yet another alternative, the fitting is adjustable and / or replaceable to enable the installation of measuring devices and / or tools of different designs and / or sizes and / or configurations.

[0039] As yet another alternative, the fitting includes a data interface for transferring commands and / or reference data from the computing unit to the installed measuring device and / or tool.

[0040] The invention also relates to a measuring and / or tool system, the measuring and / or tool system including the claimed wearable survey device and a tool and / or measuring device. Thereby, the tool and / or measuring device is implemented as a survey pole, optionally, the survey pole itself is without a pose unit, i.e., without any unit such as a GNSS receiver or an inclination sensor, and / or the survey pole includes a ranging unit for measuring the distance to a point to be surveyed in a non-contact manner.

[0041] In other embodiments of the system, the installed device is an electronic distance measuring instrument, a laser scanning instrument, a power tool (such as a drill or a saw), a fixture or a gripper, or a marking instrument (such as a laser pointer or a sputter / sprayer).

[0042] In a further development of the system, the system (in particular the computing unit) is configured to refer the measurement data measured using the installed measuring device to the position reference (system) at the site, such that the operator can verify the measurement result without delay while still at the measurement position, in order to repeat or enhance the measurement if necessary. For example, when performing an actual measurement or work in a building or at a construction site, an external position reference allows the determination of measurement points in an external reference system of a building model or a construction (site) plan.

[0043] In a further development, the computing unit is configured to automatically apply stored configuration parameters associated with the measuring device and / or tool, in particular position and / or dimension parameters (such as the position of the sensor and / or tool tip), as the positional relationship of the measuring device and / or tool to the fitting.

[0044] Thus, the system includes means (e.g., based on wireless signals and / or image-based) for automatically identifying at least a part of the measuring device and / or tool, and an identifier-based retrieval or request of the parameters. Alternatively or additionally, the system is designed such that the computing unit receives the configuration parameters provided by the measuring device and / or tool during installation via a data interface at the fitting.

[0045] As an option for a system with an electrical measuring device and / or tool, it is entirely powered by the power unit of the wearable device, and the measuring device or tool itself does not require a battery.

[0046] The invention also relates to a surveying system, which includes an optoelectronic surveying instrument (in particular a total station or a laser tracker) and the claimed wearable surveying device with optically aimable markers (such as retroreflectors and / or LEDs).

[0047] The invention also relates to a method for calibrating a system according to claim 14. The method includes the following steps: the operator moves the installed measuring device and / or tool to a plurality of different positions, during the movement, at least some of the positions are determined in relation to the pose unit, and based on the determined positions, a 6-DoF positional relationship of the tool and / or measuring device to the pose unit is defined, in particular, a 6-DoF positional relationship of the tool and / or measuring device to the fitting and / or the first end of the articulated arm is also defined.

[0048] Thereby, the movement is a spherical movement, that is, one end of the measuring device and / or tool is fixed to a point in space as the center point of the sphere, such that the positions are the positions of the fitting and / or the measuring device and / or tool on the surface of the sphere.

[0049] Alternatively or additionally, the installed measuring device and / or tool includes an optical calibration marker, and the determined positions are the positions of the calibration marker determined based on an image captured by the camera of the pose unit.

[0050] The invention also relates to a computer program product comprising program code stored on a machine-readable medium or embodied by an electromagnetic wave comprising a program code segment and having computer-executable instructions which, when executed on a computing unit of the claimed positioning device, are adapted to carry out the claimed method. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The devices, methods, systems, arrangements and computer programs according to the invention will now be described or explained in more detail, by way of example only, with reference to working examples schematically illustrated in the drawings.

[0052] Specifically,

[0053] Figure 1 an exemplary embodiment of a surveying system with a wearable surveying device is schematically illustrated;

[0054] Figure 2a 、 Figure 2b a further exemplary embodiment of a wearable surveying device is schematically illustrated;

[0055] Figure 3a 、 Figure 3b an example of a calibration process for calibrating a wearable surveying device is schematically depicted;

[0056] Figure 4 an example of a surveying device including a user display unit is schematically illustrated;

[0057] Figure 5a 、 Figure 5b a further exemplary embodiment of a surveying system including a surveying device and an installed measuring device is schematically illustrated; and

[0058] Figure 6 another example of a surveying device is shown. DETAILED DESCRIPTION

[0059] Figure 1 An exemplary embodiment of a surveying or positioning system is schematically illustrated. In this example, the surveying system includes a surveying or positioning device 1, a tool 2 attached to the surveying device 1, and a surveying instrument 11, such as a total station or a laser tracker, which are known in principle in the art. The surveying device 1 (which is also described in more detail in different embodiments in the following figures) includes a wearable device 6 which, in the example, can be worn by an operator 10 on the (upper) arm / shoulder.

[0060] The pose unit 3 is attached to the wearable device 6 on the upper side, and the articulated arm 7 is attached to the wearable device 6 on the lower side by its first end. The pose unit 3 and the articulated arm 7 have a defined positional relationship with each other. The articulated arm 7 includes one or more joints 8, the joint positions of which can be measured by means of, for example, an angular encoder (not shown). The measuring device or the power tool 2 as shown in this exemplary figure (for example, a drill) is releasably attached to the second end of the articulated arm 7 by means of a fitting 9. A secure attachment of the releasable measuring device or tool 2 can be provided by at least one of, for example, a magnet (with a magnetic or ferromagnetic counterpart), a screw, a spring-loaded hook / claw, a twistable hook / claw, a bayonet fastener, a ball lock pin, etc. However, as an alternative to a replaceable instrument, a working or measuring instrument (such as the exemplary power tool), or a surveying or measuring unit, a marker, or a fixing device or holder (for gripping standard components, such as bricks, tiles, etc., in order to place them accurately; see also Figure 6 ).

[0061] Thus, as shown in the example, the power tool 2 is also held by the operator's arm 10s, so that the operator 10 can guide the tool 2. Thus, the arm 7 is preferably designed such that the load or weight of the tool is substantially supported by the articulated arm 7 and does not have to be borne by the operator's arm 10s.

[0062] The surveying instrument 11 is positioned separately from the positioning device 1 at the position reference point 12. By being positioned at the known geodetic point 12, a position reference relative to the world, global or absolute reference system is given, this external reference system (external to the surveying device 1) being schematically indicated in the figure by the coordinate system W. Examples of such reference systems are the local coordinate system of a reference building or construction structure (construction site) or a (more) global reference system, such as WGS84 or ETRS89.

[0063] The positioning device 1 includes the pose unit 3, which allows the pose to be determined completely, i.e., the position and orientation. That is, the positioning device 1 has a unit 3 for determining all six degrees of freedom (DoF) - three translational degrees of freedom and three rotational degrees of freedom.

[0064] In the example, the pose unit 3 includes a retroreflector 4 (implemented as a 360° prism, for example) as an example of an optically measurable and thus passive target that can be surveyed by an external surveying instrument 11 using a light beam B (such as a laser beam) as an external pose (reference) signal, while measuring the distance between the instrument 11 and the pose unit 3 or the retroreflector 4 and the associated distances (for example, by using two angular encoders for angle measurement), as is known in principle in the field of surveying. Thus, the 3-DoF position of the unit 3 is determined in the internal reference system of the survey station 11, and since the surveying instrument 11 is referenced to the global system as described above and thus serves as a position reference, it is ultimately referenced to this external reference system. In other words, the total station 11 tracks the retroreflector 4 and measures the position relative to the external reference system.

[0065] Special retroreflector arrangements are also known in the art that additionally allow the determination of the orientation of the pose unit 3. Such a reflector arrangement has, for example, a plurality of sensor arrangements and is thus active in this regard, using the plurality of sensor arrangements to provide an inclination determination relative to at least one axis. The inclination determination is made by irradiating the respective sensor arrangement (as an exemplary pose signal) with the measuring light beam B of the surveying instrument and determining the angle of incidence of the illuminating radiation by detecting the position of the light beam incidence pattern using sensors associated with the respective sensor arrangement. Such sensors are configured to determine the incidence position of the radiation incident on the detection surface of the sensor (such as a CCD or CMOS). Depending on the configuration of the respective sensor arrangement (and the illuminating radiation), the angle of incidence and the inclination on one, two, or three axes can be determined. By knowing the propagation direction of the illuminating radiation and the determinable angle of incidence, the orientation of the sensor arrangement and thus the entire reflector arrangement or the pose unit 3 relative to at least one axis can then be derived. Thus, at least one rotational DoF can be actively determined using the external pose reference signal B.

[0066] As an alternative or supplement to such reflectors that allow orientation determination in addition to position determination, the pose unit 3 includes other means 5 for orientation determination. For example, the orientation can be actively determined by internal means of position or motion sensors (such as tilt sensors, acceleration sensors, or IMUs (inertial measurement units)), which are, for example, arranged in the housing of the orientation sensor device 5 and are in a defined position and orientation relative to the retroreflector 4 as depicted, or more generally, in a known position within the pose unit 3.

[0067] As an alternative, passive orientation determination (i.e., not actively determined by the positioning device 1 itself) can be accomplished using markers arranged on the pose unit 3 or elsewhere on the survey device 1, where the positions of the markers are precisely known. Such visual markers can be present on the positioning device 1, which are arranged on its body in a pattern, having a defined spatial relationship with each other and a defined spatial relationship with respect to the origin of the internal coordinate system of the pose unit 3 or the positioning unit 1 in the marker area.

[0068] In particular, these visual markers can be provided by passive or active light points that can be captured by a camera, where the markers are particularly formed by reflectors or LEDs. Then the orientation is determined by image processing of the image, where the light from or of the markers (as an example of a visual pose signal) is captured using a position reference, and the relative positions of these markers with respect to each other are known. The image can be captured by an image capture unit on a part of the survey instrument 11. That is, in combination with other sensor data (i.e., camera images, inertial measurements, etc.), the 6 degrees of freedom of the pose unit 3 are calculated, for example, by applying a SLAM algorithm (simultaneous localization and mapping). It is also known in the art a survey station 11, which is designed such that a six-degree-of-freedom survey of an auxiliary instrument (such as the positioning device 1) can be performed only in a camera- or image-based manner, for example, using the light from reference markers installed in the environment as a visual pose signal.

[0069] The above-described embodiments are also examples of the distribution of the components of the pose unit 3 with respect to the device 1 (e.g., a reflector exposed on the back (which can be viewed or aimed at by the survey device 11 when the user 10 drills a hole in the wall), an IMU inside the wearable device, and a GNSS receiver or camera located at an exposed position above the user's head; see also Figure 2a 、 Figure 2b ). All these components of the pose unit 3 are rigidly mounted together, having a known positional relationship with each other.

[0070] Regardless of the arrangement, the 6-DoF pose of the pose unit 3 can be measured by active means (e.g., using on-board sensors, such as a pose signal detector / receiver on the side of the pose unit 3 or the survey device 1, and / or other active sensors, such as an IMU) and / or passive means (e.g., the pose unit 3 provides a pose signal only by transmission or emission, which is evaluated externally, i.e., by a sensor of an external position reference such as the survey instrument 11), whereby at least one of the six DoFs is determined using the pose signal with respect to some external position reference (e.g., the survey beam B used to determine the (at least) three translational DoFs of the pose unit 3 in the example).

[0071] As already mentioned, since the pose unit 3 and the articulated arm 7 are also in a defined positional relationship with each other, this means that the 6-DoF of the articulated arm 7 is also determined. Since the position of the joint 8 is known (determined by its angular encoder), this is also the case for the second end of the arm 7 or the fitting 9.

[0072] The arrangement of the various sections of the positioning system (with fully defined translational relationships and (if applicable) rotational relationships) ultimately allows the 6-DoF pose of the tool 2 attached or mounted to the articulated arm to be determined in an external, absolute or global reference system. That is, the known absolute position 12 is "picked up" by the surveying instrument 11 and thus used as a position reference / referenced to the external reference system and "forwarded" via the pose unit 3 and the articulated arm 7 in the position "chain" to the installed tool 2 (or vice versa depending on the perspective). Thus, the device 1 enables the survey (true position or reference position) positioning of the tool (or measuring device) 2 with the support of the articulated arm 7. With the help of the articulated arm 7, the position and orientation can be transmitted to the fitting 9 and from there to the tip point of the drilling machine 2.

[0073] Moreover, when using the tool 2 as shown, this allows the operator 10 to be indicated the absolute reference survey position, for example in the form of a visual reference line or point, as described in more detail below.

[0074] In the case where a sensor device is installed, the positioning system or device 1 allows the manipulation of such a measuring device supported by the articulated arm 7, which simplifies its positioning. Additionally, the system allows the collection of sensor data with an absolute position reference.

[0075] Thereby, the survey device 1 (in particular the articulated arm 7) is designed in such a way that the operator 10 can easily and freely operate the installed device 2. The articulated arm 7 is positioned and dimensioned to allow easy work to be carried out with or at its second end. For example, at least a part of the articulated arm 7 can extend along at least the lower part of the user's arm. The second end or the device 2 attached to the second end can be gripped by the user's hand and guided or manipulated in a convenient manner.

[0076] Thus, for example, the dimensions or position of the articulated arm 7 or the wearable device 6 can be adjustable to optimally fit the operator 10, e.g., by changing the length of the articulated arm section by a telescopic element or by adding additional arm sections to accommodate different arm lengths of different users 10. In this case, the articulated arm 7 can include means for automatically determining or identifying such position or dimension parameters of the survey device 1, e.g., by measuring the current arm length with a linear encoder, or the user can input such parameters into the computer of the device, or the parameters can be derived from the calibration process illustrated below. The defined adjustment or setting of the dimensions of the survey device 1 can also apply to other structures outside its articulated arm 7, such as the height or inclination of the pose unit 3 or the dimensions, position or orientation of the fitting 9, which can also be determined and thus defined by sensor measurements such as those of encoders, user input or calibration. Such setting definitions can be further applied to the installed measuring device or tool 2.

[0077] If the position reference is done passively, i.e., by measurements external to the positioning unit 1 (e.g., by a total station as shown), then the wireless transmission of the said data (indicated by the "flash" symbol 13 in the figure) can be used to transfer the external position reference data to the device 1 or the operator 10. Thus, the survey instrument 11 transmits the measured coordinates to the positioning device 1. Survey instruments 11 known in the prior art usually have a communication interface for establishing a wireless or radio link in any way.

[0078] Depending on the sophistication level of the survey instrument 11 (e.g., a laser tracker or a total station), such an instrument 11 usually includes means for motorizing the aiming and sighting devices, and means for automatic target finding and tracking in the case of using a retroreflector 4 (e.g., a 360° prism) as the target object. Thus, the operator 10 can also remotely control such a survey instrument 11 via the communication channel 13 using the control panel of the survey device 1, or more specifically, the measurement of the positioning device 1 by the survey instrument 11.

[0079] Figure 2a 、 Figure 2b A further exemplary embodiment of the mobile wearable survey device 1 for positioning or measuring is schematically shown.

[0080] In two exemplary embodiments, the survey device 1 includes a wearable device 6 in the form of a backpack as a central structure for supporting accessories including the articulated arm 7 and the pose unit 3. The pose unit 3 is arranged in an elevated position by a rod 16, e.g., at a height above the user's head when worn, above the backpack 6.

[0081] The backpack can be worn by an operator and serves as a housing for the computing or processing unit 20 and a power supply 19 (e.g., a battery) for powering the computing unit and one or more attachments, in particular an angle encoder at the joint 8 of the articulated arm 7, which joint 8 movably connects the arm section 17 or connects the arm 7 to the wearable device 6 and connects the fitting 9 to the arm 7. If the pose unit 3 is active, i.e., includes active components such as an electronic level sensor, these are also powered by the battery 19.

[0082] As previously mentioned, the arm 7 includes a plurality of arm sections 17 connected by joints or articulations 8. The articulation 8 provides mobility for the movable end e2 of the arm, which is opposite the first end 1, and at the movable end e2 there is a fitting 9. Generally, the user 10 of the articulated arm 7 simply guides a tool or measuring device mounted to the arm 7 via the fitting 9 to the surface of the object to be measured or worked on or along the surface of the object to be measured or worked on.

[0083] The power unit 19 located in the wearable device 6 can also be used to power a mounted measuring device or tool (not shown in the figure). Thus, the fitting 9 at the (second) end e2 of the arm includes an electrical interface or plug to which the sensor or tool is electrically connected or can be electrically connected. Such an interface or an additional interface located at the second end e2 of the arm 7 can also provide a data channel for transmitting data between the computing unit 20 and the mounted device, e.g., sending control instructions or receiving sensed data. These measurement data can then be recorded and provided to the user or an external entity.

[0084] As described above, each articulation 8 of the arm 7 is equipped with a sensor to determine the position information of the articulation 8, so that the pose of the arm 7 can be determined, and the position and orientation of the second end e2 can be determined.

[0085] The pose of the second end e2 or the fitting 9 can be related to the pose unit 3. More specifically, the positional relationship between the first end e1 of the articulated arm 7 and the center or zero point R of the pose unit 3 is defined, as indicated by the arrow L in Figure 2a 、 Figure 2b This definition of the spatial relationship is fixed or known, e.g., as stored device parameters. If the position can be adjusted, for example, by the joint 18 in the connecting piece 16, as depicted in Figure 2a then a sensor device such as an angle encoder is provided in the joint 18 to determine and store the current spatial relationship between the pose unit 3 and the arm 7. In Figure 2bIn an embodiment, the length of the rod 16 can be changed, for example, by the operator to lower or raise the pose unit 3 and is defined by measurement using a linear encoder (not shown). Together with the determined and thus defined positional relationship or pose of the second end e2 or the fitting 9 relative to the first end e1 of the arm 7, the pose of the second end e2 relative to the internal reference point R of the device can be calculated.

[0086] In other words, since the articulated arm 7 is rigidly connected to the pose unit 3 and transfers the position and orientation (6 degrees of freedom) to the fitting 9 on which a measurement sensor or tool can be mounted, the articulated arm 7 determines the transformation of the fitting coordinate system J relative to the pose unit or the device coordinate system D (with the reference point R as the origin, as shown; for clarity of the drawing, the coordinate systems D and J are shown displaced from their correct or "true" positions at the unit 3 or the fitting 9). As described above, the pose unit 3 determines the transformation of the device coordinate system D relative to the external reference system or the world coordinate system W (see Figure 1 ). Therefore, if an on-board computer is used (preferably directly on-site), the coordinates of the fitting 9 and thus the mounted tool or measurement device can be transformed into this global coordinate system W.

[0087] The determination of the 6-DoF of the pose unit 3 (i.e., the position and orientation of the device coordinate system D relative to the external reference system W) is provided, for example, by the target 4 and the sensor device 5. The target 4 can be measured by an external reference instrument based on the absolute reference system W, and the sensor device 5 is, for example, an IMU, an inclinometer, etc., as Figure 2a shown and as described above.

[0088] Alternatively or additionally, as Figure 2b shown, the determination of the 6-DoF of the device 1 or the internal reference system D is completely accomplished using on-board active sensors. For example, the pose unit 3 includes a GNSS sensor 14 and one or more cameras 15 for position and orientation determination, for example, using image evaluation tools (such as SLAM algorithms, etc.). Therefore, the GNSS signal S (indicated by a flashing symbol in the figure) and / or the light of the imaging reference object are used as pose signals, having reference information about the position and / or orientation.

[0089] In some cases, the spatial relationship of the installed tool or measurement device relative to the fitting 9 is defined by fixation. That is, for example, the position of the internal reference point of the sensor or the center point or tip of the tool relative to the fitting 9 or the second end e2 is given by the structure and is regarded as unchangeable or as a coefficient by the processing unit 20. Therefore, if there is also a fitting 9 for releasable mounting, the mounting is regarded as thermally stable and precisely reproducible.

[0090] In other cases, i.e., if the position or orientation of the installed device relative to the fitting 9 or the second end e2 may vary in some way, the definition of the positional relationship of the installed device is accomplished by measurement or calibration. Of course, in the fixed case, such calibration can also be done to initially define (e.g., as factory calibration) or verify (e.g., as user calibration) the tool-fitting / tool-arm relationship coefficients. An exemplary calibration process is described in the context of the following figures.

[0091] Figure 3a , Figure 3b shows an example of a calibration process for calibrating a mobile survey device 1. This exemplary calibration process respectively determines the position of the tip point 21 of the rod 2p or the tip point 22 of the drill 2 (only as exemplary measuring devices and tools) relative to the coordinate system of the fitting 9 of the articulated arm (not indicated here; see Figure 2a , Figure 2b for the reference sign J in the figures).

[0092] In the Figure 3a example, the survey rod 2p is mounted to the articulated arm 7 of the survey device 1 via the fitting 9, and the survey device 1 has a backpack as a wearable device. The survey rod 2p has joints that enable the installation and removal of the rod 2p from the fitting 9 while retaining the six degrees of freedom (i.e., position and orientation) of the rod 2p. As is known from surveying technology, the operator 10 can place the tip point 21 of the rod 2p on an object point to measure or stake out that point.

[0093] As described above, the support of the survey device 1 or the installed auxiliary measuring device 2p is designed such that the weight of the device is borne by the articulated arm 7. Thus, the operator 10 carries (at least most of) the weight at the torso or back rather than at the hands, which is more convenient.

[0094] Compared with some conventional survey systems, further labor-saving work using the survey rod 2p is achieved because the rod 2p can be "bare", i.e., without additional sensors (at least position sensors) or other accessories. Such units, which are usually part of a measuring rod known in the art, are transferred to the survey device 1. For example, the units for position or orientation determination (e.g., GNSS sensors or retroreflectors) are located in the pose unit 3 (or in the position encoder of the articulated arm) rather than attached to the rod 2p because it would be much more cumbersome to manipulate at the rod 2p.

[0095] The positional relationship of the rod 2p, or more specifically, the positional relationship of the rod tip 21 with respect to the surveying device 1, or more specifically, the positional relationship with respect to the fitting 9 can be fixed and stored as known parameters. Thus, the terrain points and the like measured by placing the tip 21 of the rod 2p on the terrain points can be positionally related to the fitting 9 and ultimately to the pose unit 3 and the global reference system, as described above. Thereby, different fixed rod joints can also be provided such that the length between the assembly point and the tip point 21 can be gradually varied. Then, the current fixed position can be indicated to the computing unit of the device, for example, by an input from the operator 10 or by indicating means (such as identification chips at the respective joint positions).

[0096] As an alternative, or in the case where the mounting of the rod 2p can be freely changed, for example, the rod 2p can be freely (more or less) continuously attached along its entire length, or calibration can be performed to verify or recalibrate the stored parameters.

[0097] For calibration, the operator 10 fixes the rod 2p to the ground point through the tip 21 of the rod. Then, the operator 10 rotates the rod 2p, that is, moves the top end in several directions while maintaining the ground end in its position, as indicated by the arrows in the figure (however, the illustration should not be construed as the movement being limited to 2D movement). Thus, the top end of the rod depicts a trajectory on the surface of a sphere, where the rod tip 21 or the surface point serves as the center point of the sphere.

[0098] As is known in principle in the art, based on such dome movement, the direction and distance between the fitting 9 and the tip point 21 can be calculated.

[0099] For example, the controller of the device 1 has a dome calibration function, where, when the dome calibration function is executed, at least three non-coplanar target positions linked to the terrain point 21 are determined based on the joint encoder values of the arm, where the non-coplanar target positions are provided, for example, by at least three different alignments or inclinations of the rod 2p in contact with the terrain point 21. Of course, for better calibration accuracy, more calibration positions are desirable.

[0100] Thereby, the continuous determination of the target positions can be performed, for example, at a previously predefined measurement rate (such as every tenth of a second, half a second, or one second), or (possibly dynamically) adapted to the speed of the pivoting movement performed by the operator 10, which is measured, for example, based on at least two measured target positions and their time difference.

[0101] As an alternative to the rod embodiment shown, the ground points are surveyed in a non-contact manner. That is, the rod 2p is significantly shorter compared to the illustration and includes an electronic distance measuring device for determining the distance from its lower end to the ground point. See also Figure 5aThe illustrated embodiment. Of course, for such a non-contact rod, the described calibration is not applicable, but other calibration methods are required, as illustrated below.

[0102] Figure 3b Another example of a calibration method is shown. In the figure, a drilling machine 2, as an example of a tool, is mounted to an articulated arm 7, which is attached to a shoulder-arm wearable device 6, as also exemplified in Figure 1 For calibrating the tip 22 of the tool 2 (e.g., the end 22 of a drill bit), again, the installed device 2 is moved by the user 10 (as indicated by the arrow), and measurements are thereby taken.

[0103] In this example, a calibration attachment with an optical calibration marker 23 is attached to the tip 22. Then the installed tool 2 is moved within the field of view (FoV) of the camera 15 of the pose unit 3. Thereby, the optical marker 23 is captured in different positions of the tool 2 in a plurality of camera images. Then, the marker 23 is detected in the images, for example, by an image evaluation algorithm run by the control and evaluation unit of the survey device 1. Image-based position determination methods are known in the art, for example, as disclosed in WO2005026767 A1.

[0104] For example, a camera image of the target marker 23 is taken, and the stored target marker pattern is matched to the target marker in the camera image by means of image processing, in particular made to coincide therewith. The position of the pattern on the image sensor allows the calculation of the orientation of the target marker point relative to the detection point.

[0105] In the case of rotation, certain regions of the target marker 23 are closer to the observer than others and thus appear larger. Based on the quotient of the length and area dimensions of the "front" and "back" components (the illustration of which is distorted), in particular also compared with the relative ratio in the "undistorted" (i.e., non-rotated) state (in this example 1:1), the orientation according to the front view can be determined by means of simple, known geometric considerations and calculations based thereon. Thereby, the stored target marker pattern can be rotated about a virtual axis, the associated line and area dimensions of which change in a precisely known and calculable manner until it can be exactly aligned with the image of the target marker 23.

[0106] Based on this information (e.g., the position or orientation of the marker 23 in the image), the tip point coordinates relative to the positioning device 1 are determined.

[0107] Moreover, in such a case, calibration may not be mandatory every time the tool 2 or a part thereof (such as a drill bit) is replaced. As described above, the tool parameters can be stored and retrieved automatically or via user input, and calibration only needs to be done from time to time to verify these stored tool position parameters. Thus, as an option, the computing unit can notify the user when calibration seems necessary, for example, after a certain period of time or after sensing an influence (such as a mechanical shock or a temperature drift). For example, the user can be notified via the display unit, as described below.

[0108] Figure 4 An example of a surveying device 1 including a user display unit 29 is shown, whereby the display unit 29 is shown on the right side of the figure in an enlarged view, with an exemplary screen display.

[0109] In the example, the display 29 is attached to the second end e2 of the articulated arm 7. Thus, the operator 10 can see its screen when operating the installed measuring device or tool (for example, drilling an object 30 with the tool 2 as shown). Thus, during measurement or manufacturing, the operator 10 can see the information provided by the display unit 29.

[0110] The display 29 can be an integral part of the device 1, for example, foldable or rollable when not in use. Alternatively, the device 1 includes an adapter to allow the attachment of an external electronic display, whereby, in addition to the mechanical interface, the adapter can also provide an electrical connection for power transfer or data communication.

[0111] Thus, a device can be provided that maintains an optimal view for the operator despite the movement of the second end e2. For example, the control unit of the device can be configured to adjust the zoom level according to the position of the display, in particular to zoom in the view when the display 29 moves away from the user 10 or the object 30, and vice versa. Thus, a dynamic automatic zoom of the artificial view presented by the display unit 29 can be provided, which depends on the distance of the second end e2 to a desired point or area of the object 30 or the user 10, where if the distance is larger, the scale of the artificial view decreases, and in contrast, if the distance is smaller, the scale increases.

[0112] As another example, if the second end e2 and thus the display 29 rotate, the displayed view can be kept upright either by a pure algorithmic screen adaptation or by mechanical compensation. Such mechanical adaptation is provided automatically, for example, by using gravity (such as a gimbal), or the arm 7 includes a motorized device for motorizing the adaptation of the position of the display based on the encoder readings of the arm.

[0113] In the example, the survey device 1 is designed to provide a live image of the object 30 on the display 29 using a camera (e.g., the camera 15 of the pose unit 3 already mentioned or a camera located at the second end e2, e.g., a camera integrated in the display device 29).

[0114] The live image 30v of the object and the image 2v of the tool 2 (especially showing the tool tip 22v of the image) are used, for example, to show an augmented reality (AR) view. In the example, the target point T is shown as an overlay in the live image 30v. The target point T is, for example, selected by the operator 10 from a set of predefined and stored positions given in the external reference system as a specific object position to work on, e.g., the position of a specific hole to be drilled. Based on the 6-DoF pose of the second end e2 or the installed tool 2 defined in the external reference system as described above, the selected position is overlaid on the live view in a real position manner. This helps the operator 10 to align the tip 22 of the drill 2 with the corresponding position T. Similarly, points to be measured using the installed measuring device or points to be staked out can be shown as overlays.

[0115] Moreover, based on the known information about the object 30, especially based on the known CAD data (computer-aided design) or BIM data (building information model) of the object 30, an artificial view of the object 30 can be calculated as a computer-rendered view and displayed on the screen as a position-true enhanced view. For example, the underlying known positions of hidden structures (e.g., pipes or cables in the wall 30) retrieved from a building database can be indicated as position-true virtual display objects, i.e., objects correctly associated in the reference system of the CAD or BIM model, so that the operator 10 can avoid hitting them.

[0116] Alternatively or additionally, the device 1 can include a projection device which is configured to provide information such as an optical projection of indicative graphic elements superimposed on and / or next to the object 30. That is, for example, the target object point can be indicated on the object 30 by a visible laser beam. The laser beam can also be (only) visible to the installed tool or sensor 2.

[0117] Such a light projector can be located at the movable end e2 or elsewhere and project a laser beam which indicates the target position, e.g., a point to work on, mark or measure, or a position reference, e.g., a horizontal line. Thereby, the defined position and orientation of the device 1 and thus the light projector relative to the object 30 can be used to indicate the degree of the desired alignment. For example, using the display 29, the LEDs at the arm or the color of the pointing laser itself, the flash lamp indicates at least roughly the distance to the target point by changes between red - yellow - green. Such user guidance can also be acoustic guidance, e.g., using sounds of different heights, modes or volumes or by computer-generated words.

[0118] Further information that can be presented to the user 10 via a man-machine interface (such as device 29 or an indicative laser pointer) can include conditions or parameters of the survey system or device 1, the object 30 or the tool 2, such as the battery state, the pose or position state (e.g., when the 6-DoF reference is finally determined) or accuracy, the current health status, the stored object dimensions or information about the object material, etc. Moreover, operation instructions can be displayed, such as the settings of the tool 2 or the measuring sensor to be applied, or warnings, such as if the current manipulation of the tool or sensor 2 is inappropriate, e.g., outside the measurement range or skewed manipulation.

[0119] For example, geometric object features are shown, in particular points, lines and / or areas, the desired direction of the moving probe or tool head, the desired target point or area to be approached with the probe, the measurement results that have been determined (such as measured points, lines or areas), the absolute and / or relative coordinate values of at least one point, line or area that has been measured and / or is to be measured, the deviation of at least one measured point, line or area from the expected value and / or its tolerance band, the dimensions of the geometric features of the object or the measurement protocol of the measured geometric features.

[0120] The user display 29 and the controller can also be used to implement a part of the above calibration function, i.e., instructions to the operator 10 to pivot the survey device 1 to generate the non-coplanar target positions, such as indicating the rotation direction, the rotation amount or the rotation mode. In particular, information about the optimal arrangement (especially uniform and / or large-area arrangement) of the calibration target positions or the accuracy level of the calibration can be calculated and displayed.

[0121] Figure 5a 、 Figure 5b A further exemplary embodiment of a survey system is shown that includes a survey device 1 and the installed measuring devices 25, 26.

[0122] In Figure 5a the example shown, there is a laser distance meter (disto) measuring device 25 that is known in the art and is mounted to the positioning device 1. The operator 10 can aim the electronic distance meter 25 at the measurement point T and perform a distance measurement through the measuring beam 27 of the distance meter.

[0123] In this embodiment, the laser distance meter measuring device 26 is in the assembly coordinate system J (see Figure 2a 、 Figure 2b) The displacement in is known and defined by the installed mechanical design (e.g., having a "click" type of assembly). In other words, the origin and the direction of measurement of the distance measurement are fixedly given and known in the coordinate system J, which enables the calculation of the coordinates of the measurement point T in the coordinate system J by applying the measured distance. These coordinates can then be transformed from the coordinate system J to the external world coordinate system W via the device coordinate system D.

[0124] Figure 5b Shown is a scanning device 27 mounted to a positioning device 1. As is known in principle, such a laser scanning device 26 surveys the surface of an object 30 by means of a laser beam 28 that rotates about one or two axes, thereby measuring the angular direction or emission direction and the distance to the respective object points.

[0125] In the present embodiment, the positional relationship of the displacement or the scanning origin of the scanning device 26 relative to the assembly coordinate system is known from the mechanical design or calibration. The calibration can be done, for example, using optical calibration marks as described above or by performing a defined scan of a reference object.

[0126] Further exemplary measuring devices can include, for example, a camera device (camerahead) having at least one camera, a stereo camera, or a multi-photo measuring head. Sensor features can also be mixed in the same head, for example, a sensor module having a camera and a pointing or measuring laser.

[0127] Figure 6 Shown is another example of a surveying device 1. In this example, the articulated arm 7 of the surveying device is equipped with a tool 2g implemented as a gripper. The user 10 can use the gripper 2g to grip a component such as a brick 31 to build, for example, a wall 32.

[0128] Using the positioning capabilities of the surveying device 1, the user 10 can accurately position the brick 31. The position reference given by the pose unit 3 allows the use of the gripper 2g to place an object such as the brick 31 in a position-defined manner (i.e., relative to an externally known position reference). Thus, the above-described user guidance (e.g., by visual or auditory means) can also be used as user guidance for placing the object 31.

[0129] Those skilled in the art will realize that the details shown and explained here regarding the different embodiments can also be combined with details from other embodiments and other arrangements can be made within the meaning of the present invention.

Claims

1. A wearable surveying device (1), the wearable surveying device (1) having a wearable device (6) designed to be carried by an operator (10) and comprising a power unit and a computing unit, An articulated arm (7) having □ a first end (e1) and a second end (e2), the second end (e2) being pivotably connected to the first end (e1) by at least a first joint (8), wherein The second end (e2) comprises a mounting part (9) for mounting a tool and / or a measuring device (2, 2p, 2g, 25, 26) to the mounting part (9) in a defined positional relationship, in particular releasably mounting the tool and / or measuring device (2, 2p, 2g, 25, 26) to the mounting part (9), □ at least a first encoder for determining the position of the joint, in particular an angular encoder, wherein the articulated arm (7) is designed and attached to the wearable device (6) via the first end (e1) in such a way that the second end (e2) is freely and easily accessible to the operator (10) and can be manipulated directly by the operator (10) by clamping the second end (e2) and / or indirectly by clamping an installed measuring device and / or tool (2, 2p, 2g, 25, 26), a posture unit (3) designed to actively and / or passively determine a position and orientation with respect to six degrees of freedom (6-DoF), wherein at least one degree of freedom is determinable based on a posture signal (B, S) received from and / or receivable by an external position reference (11), wherein when the wearable device (6) is carried by a user (10), at least a part of the posture unit (3) is arranged in an exposed position, in particular above the head of the user, to achieve an unobstructed propagation path for the posture signal (B, S), The first end (e1) of the articulated arm and the posture unit (3) are in a fixed and defined positional relationship (L) with each other, wherein the computer unit is configured to determine the 6-DoF position and orientation of the mounted measuring device and / or tool (2, 2p, 2g, 25, 26) relative to the external position reference (11, W) using the defined positional relationship of the measuring device and / or tool (2, 2p, 2g, 25, 26) to the assembly (9) by: · determining a 6-DoF reference of the pose unit (3) relative to the external position reference (11, W) by means of the 6-DoF position and orientation, and Based on the determination of the joint position and the fixed and defined positional relationship (L) between the first end (e1) of the articulated arm and the posture unit (3), a 6-DoF position referencing of the assembly (9) relative to the posture unit (3) is performed.

2. The surveying device (1) according to claim 1, It is characterized in that The posture unit (3) includes at least one of the following items: GNSS sensors (14), Inertial measurement unit (5), a camera (15) for image-based position referencing, in particular using images of external reference markers and / or using a SLAM algorithm, An optical marker (4) which can be targeted by an external optoelectronic surveying instrument (11).

3. The surveying device (1) according to claim 1 or 2, It is characterized in that The wearable device (6) is implemented as a backpack or a shoulder-upper arm wearable device.

4. The surveying device (1) according to any one of claims 1 to 3, It is characterized in that The surveying equipment (1) comprises a laser pointer for emitting a visible laser beam in a defined positional relationship with the second end (e2) to indicate a target object point (T), and A human-machine interface (29) for indicating the alignment of the laser beam with the target object point (T).

5. The surveying device (1) according to any one of claims 1 to 4, It is characterized in that The assembly (9) comprises a data interface for receiving sensory data from installed measuring devices and / or tools (2, 2p, 2g, 25, 26) by the computing unit, wherein the computing unit is configured to evaluate the sensory data.

6. The surveying device (1) according to any one of claims 1 to 5, It is characterized in that The computing unit is configured to evaluate sensor data and / or retrieve data related to the measurement and / or machining process from a database, generate a notification based on the evaluation results, and output the notification to the operator (10) via an operator interface (29), wherein the notification provides the operator with instructions and / or feedback on the measurement and / or machining process.

7. The surveying device (1) according to claim 6, It is characterized in that The second end (e2) comprises an electronic user display (29) and / or is designed to receive and connect to an external electronic display, wherein the computing device being configured to provide, via a screen of the display, an augmented reality view (30v) showing a real-time camera image of the object (30) to be measured and / or machined, the augmented reality view showing position-realistic position reference data and / or user instructions relevant to the measurement and / or machining process, and / or The surveying device (1) is designed to automatically □ adjusting the position of the display with respect to the orientation of the second end (e2), at least within an angular range of ±10° relative to a zero or starting orientation, and / or □ Adjust the zoom level of the display for the position of the second end (e2), which is determined based on the joint position.

8. The surveying device (1) according to any one of claims 1 to 7, It is characterized in that The second end (e2) comprises an input interface, and the computing unit is configured to receive a user input determining the positional relationship of the measuring device and / or tool (2, 2p, 25, 26) and the assembly (9).

9. A measuring and / or tool system, comprising a wearable surveying device (1) according to any one of claims 1 to 8 and a tool and / or measuring device (2, 2p, 2g, 25, 26), wherein the tool and / or measuring device (2, 2p, 2g, 25, 26) is implemented as at least one of the following: A surveying pole (2p), in particular wherein the surveying pole is without a pose unit, Electronic distance measuring instruments (25), Laser scanning equipment (26), Power tools (2), in particular drilling machines or saws, Fixture or holder (2g), Markers, especially laser pointers or sputtering devices.

10. The system according to claim 9, It is characterized in that The system, in particular the computing unit, is configured to reference measurement data measured with installed measurement devices (2p, 25, 26) to a position reference on site.

11. The system according to claim 9 or 10, It is characterized in that The computing unit is configured to automatically apply stored configuration parameters associated with a measuring device and / or a tool (2, 2p, 2g, 25, 26), in particular position parameters, in particular the position of a sensor tip and / or a tool tip (21, 22), as the positional relationship of the measuring device and / or the tool (2, 2p, 2g, 25, 26) to the assembly (9), therefore, the system comprising means for automatically identifying at least a part of the measuring device and / or tool (2, 2p, 2g, 25, 26), and the identifier-based request of the parameters, and / or The system is designed such that the computing unit receives the configuration parameters provided by the measuring device and / or tool (2, 2p, 2g, 25, 26) during installation via a data interface at the fitting (9).

12. A system according to any one of claims 9 to 11, It is characterized in that In case of electrical measuring equipment and / or tools (2, 2p, 2g, 25, 26), the system is powered only by the power unit of the wearable device.

13. A surveying system comprising an optoelectronic surveying instrument (11), in particular a total station or a laser tracker, and a surveying device (1) according to claim 2, the surveying device (1) being a wearable surveying device with an optically targetable marker (4).

14. A method of calibrating the system according to claim 9, the method comprising the steps of: The operator (10) moves the installed measuring device and / or tool (2, 2p, 2g, 25, 26) into a plurality of different positions, During the movement, at least some of the positions are determined in relation to the pose unit (3), Based on the determined position, defining a 6-DoF positional relationship of the tool and / or measuring device (2, 2p, 2g, 25, 26) and the pose unit (3), in, The movement is a spherical movement, i.e. one end (21) of the measuring device and / or tool (2, 2p, 2g, 25, 26) is fixed to a point in space as the center point of a sphere, so that the position is the position of the assembly (9) and / or the measuring device and / or tool (2, 2p, 2g, 25, 26) on the surface of the sphere, and / or The installed measuring device and / or tool (2, 2p, 2g, 25, 26) comprises an optical calibration mark (23), and the determined position is based on the position of the calibration mark (23) determined by an image captured by a camera (15) of the pose unit (3).

15. A computer program product comprising a program code stored on a machine-readable medium or embodied by an electromagnetic wave comprising program code segments and having computer-executable instructions for carrying out the method according to claim 14, in particular when executed on a computing unit of a locating device according to claim 1.

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