Device and method for construction site lofting
By using a construction site layout tool that incorporates motion sensors and a computer processor, the problems of large errors and time consumption in existing technologies have been solved. This enables fast and accurate layout of unbuilt and invisible structural features, reducing costs and improving operational efficiency.
Patent Information
- Application Number
- CN202480035193.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2023-04-14
- Filing Date
- 2024-04-12
- Publication Date
- 2026-01-27
AI Technical Summary
Existing technologies for setting out features of unbuilt and invisible structures on construction sites suffer from large errors, are time-consuming, require two operators, and are expensive and unsuitable for small-scale construction projects, especially when using total stations and other equipment.
A construction site layout tool is used, including measuring equipment and a computer processor. Multiple motion sensors are used to acquire position and orientation data. The computer processor determines the position of the structural features and provides instructions to adjust the position of the measuring equipment to match the position of the structural features.
It enables the rapid and accurate identification of feature locations of unbuilt and invisible structures without requiring extensive training, reducing costs and improving operational efficiency.
Smart Images
Figure CN121420172A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to determining the location and / or measuring dimensions when laying out structures or other features on a construction site. Specifically, this disclosure may relate to, but is not limited to, identifying features of structures that have not yet been constructed. Background Technology
[0002] When constructing new structures, such as buildings, roads, landscape features, or any related service facilities, the characteristic locations of the structure must be laid out on the construction site to ensure proper construction and accurate positioning and orientation of the structure. Additionally, in some cases, it may be necessary to locate and identify features of existing, hidden structures at the surface level, such as underground pipes, cables, or junction boxes.
[0003] Traditional techniques for setting out the feature locations of such structures involve using measuring tapes and squares. In such cases, an origin point is first established (e.g., at a corner of the building), and a baseline is drawn from that origin (e.g., along one wall of the building). The dimensions of the structure are read from printed drawings, and two construction workers measure distances and angles from the origin and / or the baseline to establish the location of the building features. Errors arising from using such techniques are common and sometimes substantial. Furthermore, the process is time-consuming and requires two people.
[0004] In other known approaches, a total station can be used to lay out the structural features. However, a total station is an expensive surveying instrument, requires considerable skill and experience to operate, and is not suitable for most smaller construction projects.
[0005] Therefore, there is a need for an accurate and cost-effective method for setting out structural features on construction sites, which can be implemented by any construction worker without extensive training or experience. Summary of the Invention
[0006] The methods and apparatus disclosed herein are intended to solve one or more problems in the prior art, including the technical problems described herein.
[0007] According to one aspect of this disclosure, a construction site layout tool is provided for determining the location of features of unbuilt and / or invisible structures to be positioned. The tool includes: a measuring device comprising a plurality of motion sensors for acquiring data representing position and orientation based on rotational and linear motion of the measuring device in a volume coordinate system including orthogonal x, y, and z axes; and a computer processor configured to: determine an origin at a first location where the measuring device is placed; determine, based on stored data associated with the structure, the location where a feature of the structure should be positioned relative to the origin; determine, based on the acquired data representing position and orientation, the position of the measuring device relative to the origin; compare the position of the measuring device with the location where the feature of the structure should be positioned; and determine the difference between the position of the measuring device and the location where the feature of the structure should be positioned.
[0008] Optionally, the computer processor is further configured to: determine a reference line extending from the origin along a reference direction, and the location where the features of the structure should be positioned is also relative to the reference line.
[0009] Optionally, the computer processor is further configured to: determine the reference direction based on the fact that the measuring device is placed in the second position.
[0010] Optionally, the tool further includes: providing instructions to the user based on the determined differences; wherein providing the instructions includes: providing a guidance direction that indicates the direction from the measuring device to the location where a feature of the structure should be located.
[0011] Optionally, providing the indication includes providing a guide distance, the guide distance indicating the distance from the measuring device to the location where a feature of the structure should be positioned.
[0012] Optionally, the stored data includes data representing a blueprint of the structure.
[0013] Optionally, the stored data includes one or more preset shapes; and the computer processor is further configured to receive one or more dimensions of the preset shapes from the user.
[0014] Optionally, the tool further includes a user interface for allowing a user to select one of multiple features of the structure; wherein the position of the feature of the structure relative to the origin is determined based on the selected feature.
[0015] Optionally, the measuring device further includes a reference point, and the indication provided is based on the difference between the reference point and the location where the feature of the structure should be positioned.
[0016] Optionally, the computer processor is included in a processing device, which is separately disposed from the measuring device; wherein the measuring device includes a transmitter for transmitting acquired data representing position and orientation, and the processing device includes a receiver for receiving the transmitted data.
[0017] According to one aspect of this disclosure, a method is provided for determining the location of a feature of an unbuilt and / or invisible structure to be positioned, the method comprising: acquiring data representing position and orientation using a measuring device including a plurality of motion sensors for measuring rotational and linear motion of the measuring device in a volume coordinate system including orthogonal x, y, and z axes; determining an origin at a first location where the measuring device is placed; determining, based on stored data associated with the structure, the location where the feature of the structure should be positioned relative to the origin; determining, based on the acquired data representing position and orientation, the position of the measuring device relative to the origin; comparing the position of the measuring device with the location where the feature of the structure should be positioned; and determining the difference between the position of the measuring device and the location where the feature of the structure should be positioned.
[0018] According to one aspect of this disclosure, a processing apparatus is provided for determining the location of a feature of an unbuilt and / or invisible structure to be positioned. The processing apparatus includes: a receiver for receiving data representing position and orientation transmitted by a measuring device; and a computer processor for: determining an origin at a first location where the measuring device is placed; determining, based on stored data associated with the structure, the location where a feature of the structure should be positioned relative to the origin; determining, based on the acquired data representing position and orientation, the position of the measuring device relative to the origin; comparing the position of the measuring device with the location where the feature of the structure should be positioned; and determining the difference between the position of the measuring device and the location where the feature of the structure should be positioned.
[0019] According to one aspect of this disclosure, a method is provided for determining the location of a feature of an unbuilt or invisible structure to be located, the method comprising: receiving, by a receiver, acquired data representing position and orientation transmitted by a measuring device; determining an origin at a first location where the measuring device is placed; determining, based on stored data associated with the unbuilt structure, the location where the feature of the structure should be located relative to the origin; determining, based on the acquired data representing position and orientation, the position of the measuring device relative to the origin; comparing the position of the measuring device with the location where the feature of the structure should be located; and determining the difference between the position of the measuring device and the location where the feature of the structure should be located.
[0020] According to one aspect of this disclosure, a computer program product is provided, comprising computer program code; wherein, when executed on a computer processor, the computer program code controls a data processor to perform the steps of any of the methods described herein.
[0021] According to one aspect of this disclosure, a construction site layout tool is provided for determining the location of features of unbuilt and / or invisible structures to be positioned. The tool includes: a measuring device comprising a plurality of motion sensors for acquiring data representing position and orientation based on rotational and linear motion of the measuring device in a volume coordinate system including orthogonal x, y, and z axes; and a computer processor configured to: acquire data from the motion sensors when the measuring device is placed in a first position; determine the position and / or orientation of the measuring device at the first position based on the motion data, and determine an origin at the first position; determine the location where a feature of the structure should be positioned relative to the origin based on stored data associated with the structure; acquire further data from the motion sensors; determine a further position and / or orientation of the measuring device relative to the origin based on the further data; compare the further position and / or orientation of the measuring device with the determined location where the feature of the structure should be positioned; and determine the difference between the further position and / or orientation of the measuring device and the determined location where the feature of the structure should be positioned.
[0022] According to one aspect of this disclosure, a method is provided for determining the location of a feature of an unbuilt and / or invisible structure to be positioned, the method using a tool including a measuring device comprising a plurality of motion sensors for acquiring data representing position and orientation based on rotational and linear motion of the measuring device in a volume coordinate system including orthogonal x, y, and z axes, the method comprising: acquiring data from the motion sensors when the measuring device is placed in a first position; determining, based on stored data associated with the structure, the location where the feature of the structure should be positioned relative to an origin; acquiring further data from the motion sensors; determining, based on the further data, a further position and / or orientation of the measuring device relative to the origin; comparing the further position and / or orientation of the measuring device with the determined location where the feature of the structure should be positioned; and determining the difference between the further position and / or orientation of the measuring device and the determined location where the feature of the structure should be positioned.
[0023] According to one aspect of this disclosure, a processing apparatus is provided for determining the location of a feature of an unbuilt and / or invisible structure to be positioned. The processing apparatus includes: a receiver for receiving data representing position and / or orientation transmitted by a measuring device including a plurality of motion sensors for acquiring the data representing position and orientation based on rotational and linear motion of the measuring device in a volume coordinate system including orthogonal x, y, and z axes; and a computer processor for: determining, based on the motion data, the position and / or orientation of the measuring device at a first position and determining an origin at the first position; determining, based on stored data associated with the structure, the location where a feature of the structure should be positioned relative to the origin; acquiring further data from the motion sensors; determining, based on the further data, a further position and / or orientation of the measuring device relative to the origin; comparing the further position and / or orientation of the measuring device with the determined location where the feature of the structure should be positioned; and determining the difference between the further position and / or orientation of the measuring device and the determined location where the feature of the structure should be positioned.
[0024] According to one aspect of this disclosure, a method is provided for determining the location of a feature of an unbuilt or invisible structure to be located. The method includes: receiving, by a receiver, data representing position and / or orientation transmitted by a measuring device including a plurality of motion sensors for acquiring the data representing position and orientation based on rotational and linear motion of the measuring device in a volume coordinate system including orthogonal x, y, and z axes; determining, based on stored data associated with the structure, the location where the feature of the structure should be located relative to an origin; acquiring further data from the motion sensors; determining, based on the further data, a further position and / or orientation of the measuring device relative to the origin; comparing the further position and / or orientation of the measuring device with the determined location where the feature of the structure should be located; and determining the difference between the further position and / or orientation of the measuring device and the determined location where the feature of the structure should be located.
[0025] Optionally, in the method and apparatus, the position of the first position is known in a coordinate reference system; and the data related to the structure is defined in the same coordinate reference system, or in another coordinate reference system that can be transformed to that coordinate reference system.
[0026] Optionally, in the method and apparatus, the processor is used to determine the position and / or orientation of the measuring device at the first location using the acquired motion data, and optionally, using only the acquired motion data.
[0027] Optionally, in the method and apparatus, the processor is used to determine the further position and / or orientation of the measuring device using the acquired motion data, and optionally, using only the acquired motion data. Attached Figure Description
[0028] Embodiments of the disclosed method and apparatus will now be described in detail with reference to the accompanying drawings, wherein: Figure 1 This is a schematic diagram of a system for lofting structural features. Figure 2 This is a schematic diagram of a measuring device; Figure 3 This is a schematic diagram of a processing device; Figure 4 A floor plan of the ground floor of a building; and Figure 5 The flowchart illustrates a method for determining the location of features of an unbuilt structure. Detailed Implementation
[0029] In summary, this document discloses methods and equipment for laying out the locations of structural features (e.g., buildings, landscape areas, and / or concealed structural features, such as underground structures) on a construction site. The measuring equipment determines its position relative to an origin and compares that position with the location of the structural feature to be laid out. Instructions are provided to construction workers when the measuring equipment is correctly positioned as required.
[0030] Structural features may include corners of buildings or other structures, locations of walls or along walls, wall openings (e.g., doors, windows, or gates), underground pipes, conduits, or cables, and / or a portion of the perimeter of an area (e.g., a path or terrace). The term “structural feature” is used in the remainder of this Specific Embodiment, but it should be understood that this is not intended to be limiting, and the methods and apparatus disclosed herein can be used to lay out any feature or location required during construction work.
[0031] Figure 1A schematic diagram of an exemplary system 100 for lofting the locations of features of a structure is shown. System 100 includes a measuring device 102 and a processing device 104. Detailed descriptions of the exemplary measuring device 102 and processing device 104 are given below. Broadly speaking, the measuring device 102 includes multiple sensors for acquiring measurement data representing its position and / or orientation. For example, the multiple sensors may be used to record linear acceleration and angular velocity. The measuring device 102 is used to transmit the data representing position and orientation to the processing device 104. The processing device 104 includes: a memory for storing the positions of one or more features of the structure; and a processor for comparing the measured position of the measuring device 102 with the positions of one or more features of the structure. The processing device 104 is used to present an indication to construction personnel representing the error of the measuring device's position relative to the position of one or more features of the structure.
[0032] It should be understood that data representing at least a portion of the measurement can be processed in the measuring device 102 before being transmitted to the processing device 104. It should also be understood that the processing device 104 may be part of the measuring device 102, and may be housed within a single unit.
[0033] In an exemplary arrangement, the measuring device 102 may be a handheld portable unit suitable for carrying by construction personnel. In an exemplary arrangement, the processing device 104 may be a portable processing device, such as a mobile phone, tablet, or laptop.
[0034] exist Figure 1 In this diagram, the transmission (transmission) of data from measuring device 102 to processing device 104 is shown as wireless transmission 106. Wireless transmission can be radio frequency transmission using known hardware and communication protocols, such as Bluetooth®, near field communication, Wi-Fi, network-based communication (e.g., the Internet), or mobile telecommunications protocols. Wireless transmission 106 can also use optical transmission hardware and protocols. The transmission can be at least partially wired. Processing device 104 can also transmit data to measuring device 102 via the same or different communication media / protocols.
[0035] Real-time data transmission can be largely achieved. For example, measurement results can be recorded and then transmitted as quickly as possible (e.g., over an open communication link), representing these measurement results. In some schemes, data transmission can be intermittent and / or have a variable frequency (intermittent transmission from time to time). For example, the measuring device can record multiple measurements and store data representing these multiple measurements for subsequent transmission. In such a scheme, transmission can be triggered manually or by the measuring device 102 detecting the open communication channel of the processing device 104 (directly or indirectly).
[0036] Figure 2 A schematic representation of the measuring device 102 is shown. This measuring device 102 can be... Figure 1 The measuring device 102 includes a transmitter 202 and optionally a receiver 204. The transmitter 202 and receiver 204 can communicate with other entities (e.g., processing device 104 or functional entities in servers and / or telecommunications networks) and are configured to send and receive data accordingly.
[0037] The measuring device 102 also includes a memory 206 and a processor 208. The memory 206 may include non-volatile memory and / or volatile memory. A computer program 210 may be stored in the memory 206. The computer program 210 may be configured to perform the methods disclosed herein. The computer program 210 may be loaded into the memory 206 from a non-transient computer-readable medium 212 storing the computer program. The measuring device 102 may also include a motion (i.e., inertial) sensor 214. The processor 208 is used to perform one or more functions required to operate one or more of the remaining elements of the measuring device 102.
[0038] Inertial sensor 214 may include an accelerometer and / or a rate gyroscope. Inertial sensor 214 can be used to measure the acceleration and rotational speed of measuring device 102 along three orthogonal axes, typically designated as the x-axis, y-axis, and z-axis. The acceleration and rotational speed can be recorded in a volume coordinate system (i.e., a coordinate system fixed relative to measuring device 102 and defined by the x, y, and z axes) and can be converted to any other reference coordinate system (e.g., a local reference coordinate system based on a construction site and / or unbuilt structure layout) using known techniques. Inertial sensor 214 may be part of an inertial measurement unit (IMU) located within measuring device 103. Inertial sensor 214 may incorporate microelectromechanical systems (MEMS) technology.
[0039] Inertial sensors have been mentioned in this article, but it should be understood that other motion sensors may also be used. Such motion sensors include any sensor capable of detecting rotational and / or linear motion of the measuring device 102.
[0040] Each of the transmitter 202 and receiver 204, memory 206, processor 208, and inertial sensor 214 communicates data with other features of the processing device 102. The measurement device 102 can be implemented as a combination of hardware and software. Specifically, the software is used to run on the processor 208. The memory 206 stores various programs / executable files implemented by the processor 208 and also provides storage units for storing any required data.
[0041] Figure 3A schematic representation of a processing device 104 is shown. This processing device 104 can be... Figure 1 The processing device 104 includes a receiver 304 and optionally a transmitter 302. The transmitter 302 and receiver 304 can communicate data with other entities (e.g., the measuring device 102 or a server and / or a functional entity in a telecommunications network) and are configured to send and receive data accordingly.
[0042] The processing device 104 also includes a memory 306 and a processor 308. The memory 306 may include non-volatile memory and / or volatile memory. A computer program 310 may be stored in the memory 306. The computer program 310 may be configured to perform the methods disclosed herein. The computer program 310 may be loaded into the memory 306 from a non-transient computer-readable medium 312 storing the computer program. The processor 308 is used to perform the functions of the position and orientation determiner 314, the origin determiner 316, the feature locator 318, the comparison engine 320, and the indication generator 322 as described below. The processing device 104 may also optionally include a display 324 and a user interface 326.
[0043] Each of the transmitter 302 and receiver 304, memory 306, processor 308, display 324, and user interface 326 communicates data with other features of processing device 104. Processing device 104 can be implemented as a combination of hardware and software. Specifically, position and orientation determiner 314, origin determiner 316, feature locator 318, comparison engine 320, and indication generator 322 can be implemented as software for running on processor 308. Memory 306 stores various programs / executable files implemented by processor 308 and also provides storage units for storing any required data. Programs / executable files stored in memory 306 and executed by processor 308 may include, but are not limited to, position and orientation determiner 314, origin determiner 316, feature locator 318, comparison engine 320, and indication generator 322.
[0044] Figure 4 The diagram shows a blueprint or floor plan of the ground floor of the unbuilt building 400. It can be seen that the floor plan is oriented relative to north. To begin construction of building 400, construction workers or surveyors must "lay out" multiple points of building 400 on the construction site. For example, construction workers might first lay out the corners 402a-f of building 400. This is typically done using a series of stakes or pins driven into the ground, or by using paint or other markings. Once the corners of the building are laid out, for example, the foundation can be excavated and concrete poured.
[0045] It should be noted that, Figure 4The floor plan of building 400 is shown for illustrative purposes only. As previously stated, the exemplary methods and equipment can be used in any construction project, including landscaping and installation of service facilities such as cables, pipes, and conduits.
[0046] In the remainder of this specification, the lofting of angles 402a-f of building 400 will be used as an example of the operation of the methods and apparatus disclosed herein.
[0047] Figure 5 A flowchart is shown of an exemplary method for lofting features of a building 400 on a construction site.
[0048] In step 500, building-related data is stored in the memory 306 of the processing device 104. The building-related data may include... Figure 4 The blueprint shown is illustrated. In some arrangements, building-related data may include preset shapes, such as rectangles, circles or partial circles, and arcs. Building-related data may be pre-loaded into processing device 104 or downloaded from another device (e.g., via the Internet).
[0049] In step 502, the origin for the layout is determined by the origin determiner 316. The measuring device 102 is positioned at a first location on the construction site. When the measuring device 102 is positioned at the first location, the motion sensor 214 of the measuring device acquires position and orientation measurements.
[0050] In an exemplary arrangement, the first location on the construction site may be a known location relative to a coordinate reference system. For example, the first location may be a known location in a local (or engineering) coordinate reference system that covers all or part of the construction site. Alternatively, the first location may be a known location relative to a geodetic coordinate reference system, a geocentric coordinate reference system, and / or a projected coordinate reference system.
[0051] Building-related data can also be defined in a coordinate reference system, which can be the same as the coordinate reference system of the first location. In this way, the location and / or orientation of the building on the construction site can be determined based on the building-related data.
[0052] In an arrangement where the measuring device 102 and the processing device 104 are separate units, the transmitter 202 of the measuring device 102 transmits data related to the measurement acquired from the motion sensor 214 (e.g., data identifying the measurement acquired by the motion sensor 214 and / or the measurement value itself) to the processing device 104. In an arrangement where the processing device 104 and the measuring device 102 form part of a single device, external transmission via a medium is not required, and the measurement value acquired from the motion sensor 214 is directly transmitted to the computer processor for performing the functions of the processor 308.
[0053] Origin determiner 316 determines the origin as the position of measuring device 102 at a first position. In an exemplary arrangement, this is accomplished by position and orientation determiner 314 processing the acquired position and orientation measurements to determine the position and / or orientation of measuring device 102. For example, if during the initialization phase, the position determined from motion sensor 214 indicates that measuring device 102 is stationary for more than a specified period of time, origin determiner 316 may set that stationary position of measuring device 102 as the origin.
[0054] Therefore, the position and / or orientation of the measuring device 102 can be determined using only the motion sensor 214. The motion sensor 214 may include linear accelerometers and / or rate gyroscopes. In a particular arrangement, the motion sensor 214 may be composed of an inertial measurement unit comprising three linear accelerometers orthogonally aligned along the X, Y, and Z axes in a unified coordinate system, and three rate gyroscopes orthogonally aligned around the same X, Y, and Z axes.
[0055] Furthermore, the position and / or orientation of the measuring device 102 relative to one or more features of a structure (in an exemplary case, a building as defined by building-related data) can be determined using only measurements acquired by the motion sensor 214. This is accomplished by placing the measuring device 102 at a first location whose spatial relationship relative to the building-related data is known.
[0056] Reference Figure 4 In an example of lofting a 400° angle of a building, a permanent feature within the construction site can be "measured" such that the location of the permanent feature is known in a given coordinate reference system. In some exemplary arrangements, the permanent feature may be a pile driven into the ground or the like. The measurement point on the permanent feature can be designated as the first location.
[0057] The measuring device 102 can be placed at the measurement point, and its position and / or orientation can be determined. The determined position and / or orientation can then be set as the origin. When the position and / or orientation of the measuring device 102 are determined based on (optionally, only based on) measurements acquired by the motion sensor 214, the determined position and / or orientation can be relative rather than absolute. That is, arbitrary values can be assigned to the initial position and orientation, and subsequent positions and orientations are relative to the previous position and orientation.
[0058] In some exemplary arrangements, the first location may be determined as part of an existing structure. For example, the measuring device 102 may be initially positioned at corner 402a of building 400, which may be determined as the origin. Other features to be lofted may be located with reference to corner 402a.
[0059] Processing device 104 can be used to indicate to construction workers that an origin has been set, which can be done optionally through visual, auditory, or tactile means. Again, the origin need not be a feature of building 400; it can be any point on the construction site. The origin establishes a local coordinate system that is common to building-related data and the location of measuring equipment. Features of building 400 can be located and oriented within this coordinate system. Therefore, the determined origin can be spatially associated with one or more features of building 400. For example, it can be confirmed that the origin coincides spatially with a feature of the building (e.g., angle 402a). In another example, the distance and direction from the origin to a feature of building 400 (e.g., angle 402a) can be known / confirmed. Such confirmation can be provided by construction workers through user interface 326.
[0060] In an exemplary arrangement, the origin determiner 316 can be further used to set a baseline extending from the origin along a reference direction. This baseline can be set based on stored data associated with the building 400. For example, if angle 402a is set as the origin and the building's orientation relative to north is known, the origin determiner 316 can determine a baseline coinciding with wall 404a or wall 404b, which extend westward and southward from angle 402a, respectively.
[0061] In some exemplary arrangements, the origin determiner 316 can determine the direction of a baseline originating from the origin 402a based on the position of the measuring device 102 by the construction worker in a second location. For example, after the origin is determined, the construction worker can place the measuring device in any second location, and the origin determiner can determine that the baseline extends from the origin to that second location.
[0062] As before, processing device 104 can receive measurements acquired by motion sensor 214, which are processed by position and orientation determiner 314. If it is determined that measuring device 102 has been stationary for a period of time, origin determiner 316 can determine the direction of the baseline as the direction between the origin (e.g., angle 402a) and the second position (e.g., angle 402f). Therefore, it can be determined that the baseline coincides with wall 404a. Processing device 104 can be used to indicate to construction personnel that the baseline has been set, which can be done optionally by visual, auditory, or tactile means.
[0063] The origin and / or baseline allow for the determination of the coordinates of features of the unbuilt building 400 relative to a local reference system established on the construction site. This local reference system allows for the positioning and orientation of features of the building 400 relative to the origin. Therefore, the measuring device can be positioned within the local coordinate system based on (and optionally, using only) motion sensor data.
[0064] In step 504, the feature locator 318 determines the location of features of the building 400. This is done based on the origin and / or baseline, as well as stored data associated with the building 400. For example, the local reference system described above can be used to determine the features of the building relative to the origin and baseline. Furthermore, after the measuring device 102 is placed in the first and second positions, the position and / or orientation of the measuring device 102 relative to the origin and baseline are known.
[0065] In an exemplary arrangement, the worker can use the user interface 326 of the processing device 104 to select the feature to be laid out. For example, the worker can select angle 402b. The feature locator then determines the position of the feature relative to the origin and / or baseline (e.g., in a local reference frame). Alternatively, the next feature to be laid out can be automatically determined by the feature locator 318, which then determines the position of the feature relative to the origin and / or baseline. When using a preset shape, the worker can use the interface 326 to input one or more dimensions of the preset shape and then use these dimensions to determine the position of the feature relative to the origin and / or baseline.
[0066] In step 506, the position and orientation determiner 314 determines the position of the measuring device 102 in a manner similar to that described above. The inertial sensor 214 acquires position and orientation measurements, which are sent to the processing device 104 and processed by the position and orientation determiner 314 to determine the position and / or orientation of the measuring device 102. In an exemplary arrangement, this can be accomplished using only the motion sensor 214. The position of the measuring device 102 can then be determined in a local reference frame at the construction site. When using the inertial sensor 214, this can be accomplished using a dead reckoning method starting from the origin and / or baseline.
[0067] In step 508, the comparison engine 320 compares the position of the measuring device 102 with the position of a feature of the building 400 to be lofted. If the comparison shows a difference between the two positions, the instruction generator 322 generates an instruction for the construction workers in step 512 to indicate the difference. For example, the generated instruction may identify the guide direction, i.e., the direction in which the measuring device must move to reach the position of the feature to be lofted. In some arrangements, the generated instruction may identify the guide distance from the measuring device 102 to the feature to be lofted. The generated instruction may be provided visually, audibly, or tactilely.
[0068] After indicating the difference between the location of the measuring device 102 and the location of the features of the building 400 to be laid out to the construction personnel, the method returns to step 508 for further comparison.
[0069] If there is no discrepancy between the position of the measuring device 102 and the position of a feature of the building 400 to be lofted (or the discrepancy is within a preset allowable limit), then the indicator generator 322 generates an indication in step 514 indicating that the measuring device 102 is located at the position of the feature. This can also be provided visually, audibly, or tactilely.
[0070] In step 516, it is determined whether to lay out more features of building 400. If so, the method returns to step 504 and completes the process for subsequent features.
[0071] In an exemplary arrangement, the measuring device 102 may include a reference point. This reference point may be a location on the measuring device 102 where the position of the measuring device 102 is calculated. Therefore, the indication generated by the indication generator 322 may indicate a difference (or no difference) between the position of the reference point and the position of a feature of the building 400 to be lofted.
[0072] In an exemplary arrangement, the measuring device 102 may not include sensors (e.g., cameras, lidar, etc.) for measuring the properties of the external environment of the measuring device, and in one exemplary arrangement, it may not include other sensors for determining its position and / or orientation. In such an arrangement, since the measuring device 102 has been previously placed at the origin, the position and / or orientation of the measuring device 102 can be determined relative to the feature to be lofted.
[0073] This provides the advantage that this disclosure can be used in environments with little or no available visual features (e.g., fields or relatively flat ground), or in environments where the scene is changing (e.g., busy external environments such as construction sites).
[0074] A computer program can be configured to implement any of the methods described above. The computer program can be provided on a computer-readable medium. The computer program can be a computer program product. This product may include a non-transitory computer-usable storage medium. The computer program product may have computer-readable program code contained in a medium configured to perform the method. The computer program product may be configured to cause at least one processor to perform some or all of the methods.
[0075] This document describes various methods and apparatuses with reference to block diagrams or flowcharts of computer-implemented methods, apparatuses (systems and / or devices), and / or computer program products. It should be understood that the blocks and combinations of blocks and / or flowcharts shown in the block diagrams and / or flowcharts can be implemented by computer program instructions executed by one or more computer circuits. These computer program instructions can be provided to processor circuits of general-purpose computer circuits, special-purpose computer circuits, and / or other programmable data processing circuits to produce a machine, such that the instructions, executed via the processor of a computer and / or other programmable data processing device, transform and control transistors, values stored in memory locations, and other hardware components within such circuits implement the functions / actions specified in one or more blocks of the block diagrams and / or flowcharts. This creates means (functions) and / or structures for implementing the functions / actions specified in the blocks of the block diagrams and / or flowcharts.
[0076] Computer program instructions may also be stored in a computer-readable medium that can instruct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable medium produce an article of writing including instructions that implement the functions / actions specified in the block diagrams and / or flowchart blocks.
[0077] Tangible, non-transitory computer-readable media can include electronic, magnetic, optical, electromagnetic, or semiconductor data storage systems, apparatuses, or devices. More specific examples of computer-readable media will include the following: portable computer disks, random access memory (RAM) circuitry, read-only memory (ROM) circuitry, erasable programmable read-only memory (EPROM or flash memory) circuitry, portable optical disc read-only memory (CD-ROM), and portable digital video disc read-only memory (DVD / Blu-ray).
[0078] Computer program instructions may also be loaded onto a computer and / or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer and / or other programmable apparatus, thereby producing a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, implement steps for carrying out the functions / actions specified in block diagrams and / or flowchart blocks or blocks.
[0079] Therefore, this disclosure can be implemented in hardware and / or software (including firmware, resident software, microcode, etc.) running on a processor, which can be collectively referred to as a "circuit", "module" or a variant thereof.
[0080] It should also be noted that in some alternative implementations, the functions / actions indicated in the blocks may not occur in the order given in the flowchart. For example, depending on the functions / actions involved, two blocks shown consecutively may actually execute substantially simultaneously, or these blocks may sometimes execute in reverse order. Furthermore, the functionality of a given block in a flowchart and / or block diagram can be divided into multiple blocks, and / or the functionality of two or more blocks in a flowchart and / or block diagram can be integrated at least partially. Finally, other blocks can be added / inserted between the shown blocks.
[0081] It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed systems and methods. Other embodiments will become apparent to those skilled in the art upon consideration of the specification and practice of the disclosed systems and methods. The specification and embodiments are to be considered exemplary only, and the true scope of this disclosure is indicated by the appended claims and their equivalents.
Claims
1. A construction site layout tool for determining the location of features of unbuilt and / or invisible structures to be positioned, characterized in that, The layout tool includes: A measuring device comprising multiple motion sensors for acquiring data representing position and orientation based on rotational and linear motion of the measuring device in a volume coordinate system containing orthogonal x, y, and z axes; and Computer processors are used for: When the measuring device is placed in the first position, data is acquired from the motion sensor; Based on the motion data, the position and / or orientation of the measuring device at the first position is determined, and the origin is determined at the first position; Based on the stored data associated with the structure, determine the position of the features of the structure relative to the origin; Further data is acquired from the motion sensor; Based on the further data, determine the further position and / or orientation of the measuring device relative to the origin; Compare the further position and / or orientation of the measuring device with the determined location where the feature of the structure should be positioned; and Determine the difference between the further position and / or orientation of the measuring device and the determined location where the feature of the structure should be located.
2. The tool according to claim 1, characterized in that, in, The computer processor is also configured to determine a reference line extending from the origin along a reference direction, and the location where the features of the structure should be positioned is also relative to the reference line.
3. The tool according to claim 2, characterized in that, in, The computer processor is also used for: When the measuring device is placed in the second position, second data is acquired from the motion sensor; Based on the second data, the second position and / or orientation of the measuring device is determined; The reference direction is determined based on the direction between the second position and the origin.
4. The tool according to any of the preceding claims, characterized in that, Also includes: Based on the determined differences, an instruction is provided to the user; wherein, optionally, providing the instruction includes providing a guiding direction indicating the direction from the measuring device to the location where a feature of the structure should be positioned.
5. The tool according to claim 4, characterized in that, in, Providing the indication includes providing a guide distance, the guide distance indicating the distance from the measuring device to the location where a feature of the structure should be positioned.
6. The tool according to any of the preceding claims, characterized in that, in, The stored data includes data representing all or part of the blueprints of the structure.
7. The tool according to any of the preceding claims, characterized in that, in, The stored data includes one or more preset shapes; and the computer processor is also configured to receive one or more dimensions of the preset shapes from the user, and optionally, determine the location where features of the structure should be positioned based on the one or more preset shapes and the one or more dimensions.
8. The tool according to any of the preceding claims, characterized in that, Also includes: A user interface that allows a user to select one of several features of the structure; as well as The position of the structural features relative to the origin is determined based on the selected features.
9. The tool according to any of the preceding claims, characterized in that, in, The measuring device also includes a reference point, and the indication provided is based on the difference between the reference point and the location where the feature of the structure should be positioned.
10. The tool according to any of the preceding claims, characterized in that, in, The computer processor is included in the processing device, which is separately disposed from the measuring device; and The measuring device includes a transmitter for transmitting acquired data representing position and orientation. The processing device includes a receiver for receiving the transmitted data.
11. The tool according to any of the preceding claims, characterized in that, in, The position of the first location is known in a coordinate reference system; and the data related to the structure is defined in the same coordinate reference system, or in another coordinate reference system that can be transformed to that coordinate reference system.
12. The tool according to any of the preceding claims, characterized in that, in, The processor is configured to: use the acquired motion data, and optionally, use only the acquired motion data, to determine the position and / or orientation of the measuring device at the first location.
13. The tool according to any of the preceding claims, characterized in that, in, The processor is configured to: use the acquired motion data, and optionally, use only the acquired motion data, to determine the further position and / or orientation of the measuring device.
14. A method for determining the location of features of unbuilt and / or invisible structures, characterized in that, The tool includes a measuring device comprising multiple motion sensors, the motion sensors being used to acquire data representing position and orientation based on rotational and linear motion of the measuring device in a volume coordinate system containing orthogonal x, y, and z axes, the method comprising: When the measuring device is placed in the first position, data is acquired from the motion sensor; Based on the stored data associated with the structure, determine the position of the features of the structure relative to the origin; Further data is acquired from the motion sensor; Based on the further data, determine the further position and / or orientation of the measuring device relative to the origin; Compare the further position and / or orientation of the measuring device with the determined location where the feature of the structure should be positioned; and Determine the difference between the further position and / or orientation of the measuring device and the determined location where the feature of the structure should be located.
15. A computer program product, characterized in that, include: Computer program code; wherein, when executed on a computer processor, the computer program code controls a data processor to perform the steps of the method of claim 14.
16. A processing apparatus for determining the location of features of unbuilt and / or invisible structures to be located, characterized in that, The processing equipment includes: A receiver for receiving position and / or orientation data transmitted by a measuring device, the measuring device including a plurality of motion sensors for acquiring position and orientation data based on rotational and linear motion of the measuring device in a volume coordinate system including orthogonal x, y, and z axes; and Computer processor, which is used for: Based on the motion data, the position and / or orientation of the measuring device at the first position is determined, and the origin is determined at the first position; Based on the stored data associated with the structure, determine the position of the features of the structure relative to the origin; Further data is acquired from the motion sensor; Based on the further data, determine the further position and / or orientation of the measuring device relative to the origin; Compare the further position and / or orientation of the measuring device with the determined location where the feature of the structure should be positioned; and Determine the difference between the further position and / or orientation of the measuring device and the determined location where the feature of the structure should be located.
17. A method for determining the location of features of an unbuilt or invisible structure to be located, characterized in that, The method is performed by the receiver and includes: Receive data representing position and / or orientation sent by a measuring device, the measuring device including a plurality of motion sensors, the motion sensors being used to acquire data representing position and orientation based on the rotation and linear motion of the measuring device in a volume coordinate system including orthogonal x, y and z axes; Based on the stored data associated with the structure, determine the position of the features of the structure relative to the origin; Further data is acquired from the motion sensor; Based on the further data, determine the further position and / or orientation of the measuring device relative to the origin; Compare the further position and / or orientation of the measuring device with the determined location where the feature of the structure should be positioned; and Determine the difference between the further position and / or orientation of the measuring device and the determined location where the feature of the structure should be located.
18. A computer program product, characterized in that, include: Computer program code; wherein, when executed on a computer processor, the computer program code is used to control a data processor to perform the steps of the method of claim 17.