AT523547B1 - Arrangement for creating a model of a scene - Google Patents

Abstract

The invention relates to an arrangement (100) for creating a model (B) of a scene comprising - a carrier device (10), a plurality of sensors (1a, 1b, 1c, 1d, 1e) being arranged on the carrier device (10), wherein the sensors (1a, 1b, 1c, 1d, 1e) - are sensitive to different types of measured values (13a, 13b, 13c, 13d, 13e) and / or have different sensitivities, and - for the directional acquisition of measured values (13a, 13b, 13c, 13d, 13e) are formed along lines of sight (11a, 11b, 11c, 11d, 11e), - a rotating and pivoting device (2), the rotating and pivoting device (2) being driven and designed for this purpose to rotate and / or pivot the carrier device (10) step by step about an axis of rotation (21), and - a control connected to the individual sensors (1a, 1b, 1c, 1d, 1e) and the rotation and pivoting device (2) - and model creation unit (4), with the control and model creation unit (4) in addition - to control the rotation and swivel device (2) for the step-by-step rotation and / or swiveling of the carrier device (10), - the individual sensors (1a, 1b, 1c, 1d, 1e) according to the rotary position of the rotation and swivel device ( 2) to control measured values (13a, 13b, 13c, 13d, 13e) in the form of snapshots (C) of measured values (13a, 13b, 13c, 13d, 13e), the control and model creation unit (4) taking the measured values (13a, 13b, 13c, 13d, 13e) of the individual sensors (1a, 1b, 1c, 1d, 1e) - each entry of a matrix (A) has measured values (13a, 13b, 13c, 13d, 13e) which were detected by the sensors (1a, 1b, 1c, 1d, 1e), or possibly values derived therefrom, corresponding to the position that is due to the rotational position of the rotating and swiveling device (2) at the respective recording time (t1, ... , tn) and - a model ( B) based on the matrix (A), it being provided in particular that selected layers (S1, ..., Sm) of the model (B) are each assigned to a sensor (1a, 1b, 1c, 1d, 1e) .

Description

description

The invention relates to an arrangement for creating a model of a scene according to claim 1.

[0002] Arrangements and procedures for recording and storing spatial information for use, for example, in forensic investigations are known from the prior art. For example, different methods of optical data acquisition, such as classic photographs or video recordings, are used in crime scene security. It is also known to create models from image recordings of the crime scene, but this is associated with a high expenditure of time for the acquisition of the image recordings. However, digital recording makes it possible to keep the recorded data available over a long period of time.

The disadvantage of the methods known from the prior art is that they are limited to the use of optical information sources, i.e. image recordings, in the data acquisition, and further information relevant to the investigators is acquired and managed separately. This information includes, for example, organic traces, fingerprints or temperature patterns, which in retrospect, for example when reconstructing the course of events, can only be assigned with difficulty to specific positions at the crime scene or in the recordings or models of the crime scene.

The object of the invention is therefore to provide an arrangement that provides a remedy in this regard and makes it possible to provide a model of a scene, for example a crime scene, in which a wide variety of measured values and other information are precisely spatially located together.

The invention solves this problem with an arrangement for creating a model of a scene with the features of claim 1. According to the invention there are provided: - a carrier device, wherein a plurality of sensors is arranged on the carrier device, the sensors - sensitive to are different types of measured values and / or have different sensitivities, and - are designed for the directional acquisition of measured values along lines of sight, - a rotating and pivoting device, the rotating and pivoting device is driven and is designed to incrementally move the carrier device by a To rotate and / or pivot the axis of rotation, and - a control and model creation unit connected to the individual sensors and the rotation and pivoting device, the control and model creation unit being designed to - the rotation and pivoting device for incremental rotation and / or Concealment control of the carrier device, - to control the individual sensors according to the rotational position of the rotating and swiveling device for the acquisition of measured values in the form of snapshots of measured values, the measured values of the individual sensors being fed to the control and model creation unit, - measured values for each entry of a matrix , which were detected by the sensors, or possibly values derived therefrom, according to the position that results from the rotational position of the rotation and pivoting device at the respective recording time, and - to assign a model, in particular a number of slices, based on the To create a matrix, it is provided in particular that each of the layers of the model is assigned to a sensor.

Such an arrangement advantageously enables a systematic, automated recording of the scene, for example a crime scene or an archaeological excavation

where data from a wide variety of sensors, which can be based on different physical principles, are recorded. By creating a model in which the recorded measured values are stored by the control and processing unit, the different information is stored in a structured manner and precisely located in the scene, so that an exact analysis of the data is also possible at a point in time in the future . Furthermore, this configuration of an arrangement according to the invention advantageously makes it possible to integrate new sensors easily and seamlessly into the arrangement at any time.

[0007] In the following, the matrix is understood to be a band-shaped matrix which has the shape of a cylinder jacket. The entry in the matrix takes place in accordance with the rotational position of the rotating and swiveling device, i.e. the respective entry in the matrix is made at a position in the direction of rotation that is derived from the position of the respective sensor and a value dependent on the angle of rotation of the rotating and swiveling device, which corresponds to the number of entries in the matrix in the direction of rotation, results.

Each element of the matrix represents, for example, a vector, the number of elements of which corresponds to the number of sensors. A model derived therefrom can have a number of layers that corresponds to the number of sensors, as well as, for example, at least one further layer that contains, for example, externally provided data and information.

A particularly computing power-saving creation of the model can be achieved if the control and model creation unit is designed to assign the individual of the measured values of the snapshots, or possibly values derived therefrom, to entries in the matrix, in particular the respective layer, to specify a mapping rule that is the same for all snapshots.

The specification of a mapping rule that is the same for all snapshots is understood below to mean that a mapping rule is specified by the control and model creation unit that only corresponds to the position that is due to the rotational position of the rotating and pivoting device whose respective recording time results, needs to be adjusted in order to assign the measured values contained in the respective snapshot to row and column positions. In this way, time and computing power can be saved, since the assignment to the row and column positions of the matrix does not have to be continuously re-determined.

A particularly exact measurement of a scene to be examined can be achieved if the arrangement comprises a height adjustment device connected in particular to the control and model creation unit, the height adjustment device being designed, in particular after being controlled by the control and model creation unit, which To change the height position of the carrier device with the sensors relative to a reference point, in particular relative to the floor of the scene, it being provided in particular that the control and model creation unit is designed to

- when transferring the individual snapshots of the sensors to the matrix, the

the position of the sensors must be taken into account and

- preferably to detect those measured values in the individual snapshots

and to assign to each other that were created by the same sensor and have the same counter-

the point of view of the scene and the measured values determined in this way, in each case from the same position

position in the matrix.

A particularly precise determination of the rotational position of the rotating and swiveling device while at the same time structurally simple structure of the arrangement can be ensured if the arrangement comprises a magnetic field sensor, the magnetic field sensor is designed and attached to the arrangement that the rotary position by means of the magnetic field sensor the rotation and pivoting device can be determined, it being provided in particular that the measured values of the magnetic field sensor are fed to the control and processing unit.

A particularly simple localization of the measured values of the individual sensors with respect to one another can be ensured if the lines of sight of the individual sensors and / or the extension

struggling of the lines of sight of the individual sensors intersect each other essentially in a common focal point, and that this common focal point lies on the axis of rotation.

A particularly simple and exact way of documenting the visual impression of the scene to be examined can be provided if one of the sensors arranged on the carrier device is an image recording unit.

A particularly simple way of creating a three-dimensional reconstruction of the scene to be examined can be provided if the arrangement comprises at least one further image recording unit connected to the control and model creation unit, the at least one further image recording unit being arranged on the carrier device in this way that their lines of sight meet in a further focal point, in particular different from the common focal point, preferably lying on the axis of rotation, the recordings made by the further image recording unit being fed to the control and model creation unit, and that the control and model creation unit is designed to to control further image recording unit for the acquisition of recordings, distance information from the individual recordings of the further image recording unit and the measured values, in particular recordings, from at least one sensor, which is preferably has the same sensitivity as the further image recording unit, to determine and to assign the respective distance information to the individual snapshots and the entries in the matrix.

A variant for creating a three-dimensional model of the scene to be examined, which is particularly easy to computationally, can be provided if the control and model creation unit is designed to detect those image points in the recordings made by the further image recording unit and by the at least one sensor and to assign to one another, which image the same object point of the scene and to determine the distance information on the basis of the image points assigned to one another in this way by triangulation.

A particularly compact and simply structured arrangement can be provided if the carrier device, and in particular the rotating and pivoting device and / or the height adjustment device, is arranged on a stand.

An arrangement according to the invention, with which scenes can be examined easily and reliably, the entry of which would be associated with a significant potential hazard or health risk for people, for example, can be provided if the carrier device, and in particular the rotating and pivoting device and / or the Height adjustment device, is arranged on an autonomous vehicle. With such an arrangement it is possible, for example, to record destroyed areas of a nuclear power plant that are radioactively contaminated due to a reactor accident, so that it is not necessary for people to enter in order to investigate the destruction.

A detection of scenes that are particularly extensive or are in areas inaccessible to people can be provided if the carrier device is arranged on an unmanned aircraft, the unmanned aircraft performing the function of the rotating and pivoting device, and optionally the height adjustment device , at least partially. Such an unmanned aerial vehicle is also referred to in English as a UAV - unmanned aerial vehicle. With an arrangement configured in this way, for example, avalanche cones or areas affected by mudslides can be detected without people having to put themselves in danger.

In order to be able to include additional information that was not detected by the sensors on the support device of the arrangement in the model of the scene in a particularly simple manner, it can be provided that the control and model creation unit is designed, in addition to the measured values determined by the directional detection by the sensors

evaluate, provided non-directional information that was determined, in particular externally, without assignment to a line of sight, to be added to the model, in particular selected entries of the matrix. Such an arrangement can be particularly advantageous, for example, in connection with crime scene investigations or crime scene documentation, since additional information such as fingerprints, organic traces or temperature measurements can be added to the model so that these are later available in a spatially precise location and not separately without being precise Location, for example, need to be stored in a paper file.

In order to be able to understand in a particularly simple and reliable manner whether measured values and / or external data of the model have subsequently been falsified, it can be provided that the control and model creation unit is designed to process each individual measured value recorded by the individual sensors and / or to assign a unique identifier to the model, in particular to each entry in the matrix, when it is and / or when it is created.

Further advantages and embodiments of the invention emerge from the description and the accompanying drawings.

Particularly advantageous, but not limiting, exemplary embodiments of the invention are shown schematically below with reference to the accompanying drawings and are described by way of example with reference to the drawings.

In the following there are schematically shown: [0025] FIG. 1 a first exemplary embodiment of an arrangement according to the invention,

FIG. 2 shows an exemplary embodiment of the carrier device of the arrangement from FIG. 1 with five sensors arranged thereon,

FIG. 3 shows the sensor fields of the sensors from FIG. 2 when creating a snapshot,

4 shows a detail from an exemplary embodiment of a model created with the arrangement from FIGS. 1 and 2,

5 shows a second exemplary embodiment of an arrangement according to the invention.

In the following, exemplary embodiments of an arrangement 100 according to the invention are described by way of example using a crime scene at which a criminal offense was committed as a scene to be examined. However, this example of a scene to be examined is not to be understood as restrictive and an arrangement 100 according to the invention can also be used to create a model of any other scene. An example of this is the use in a disaster area after e.g. earthquakes or mudslides, etc. in the search for victims.

1 and 2 show a first exemplary embodiment of an arrangement 100 according to the invention for creating a model B of a scene to be examined. As can be seen in FIGS. 1 and 2, the arrangement 100 comprises a carrier device 10, on which five sensors 1a, 1b, 1c, 1d, 1e are arranged in the exemplary embodiment shown. The sensors 1a, 1b, 1c, 1d, 1e are sensitive to different types of measured values 13a, 13b, 13c, 13d, 13e or have different sensitivities for the same type of measured value. The sensors 1a, 1b, 1c, 1d, 1e are designed for the directional acquisition of measured values 13a, 13b, 13c, 13d, 13e along lines of sight 11a, 11b, 11c, 11d, 11e, as shown schematically in FIG which will be discussed in more detail below. The sensors 1a, 1b, 1c, 1d, 1e can, for example, be based on different physical measuring principles or, for example, be sensitive to electromagnetic radiation of different wavelengths, i.e. have different sensitivity.

As indicated schematically in the first exemplary embodiment in FIG. 1, the sensor 1b is an image recording unit that creates images of the scene. The remaining sensors 1a, 1c, 1d, 1e in the exemplary embodiment in FIG. 1 are infrared sensors,

a UV sensor, an ultrasonic sensor and a laser distance meter. However, the listed sensor types are to be understood as examples.

The arrangement 100 in FIG. 1 further comprises a rotation and swivel device 2 which is driven, for example by a stepping motor, so that the rotation and swivel device 2 rotates and / or swivels the carrier device 10 step by step about an axis of rotation 21. Such a stepping motor advantageously enables a precise rotation of the carrier device 10 by a definable angle, with which the rotational movement can be adapted to the recording speed of the sensors 1a, 1b, 1c, 1d, 1e. The rotating and pivoting device 2 is designed as a combined device in the first and second exemplary embodiments, but separate devices can also be provided for rotating and pivoting the carrier device 10.

The arrangement 100 in the first embodiment further comprises a control and model creation unit 4, which is connected to the individual sensors 1a, 1b, 1c, 1d, 1e and the rotation and swivel device 2 and the rotation and swivel device 2 specifically for rotation or Pivoting of the carrier device 10 controls. The control and model creation unit 4 is connected to the individual sensors 1a, 1b, 1c, 1d, 1e and the rotation and swivel device 2 via cable connections, for example, as in FIG. 1. Alternatively, this connection can also be established as a radio connection, for example.

The control and model creation unit 4 also controls the individual sensors 1a, 1b, 1c, 1d, 1e to generate 2 measured values 13a, 13b, 13c, in individual rotary positions, in particular after every nth step of the rotation and swivel device 13d, 13e to be recorded. This acquisition of the measured values 13a, 13b, 13c, 13d, 13e takes place in the form of snapshots C of measured values and these snapshots C or the measured values 13a, 13b, 13c, 13d, 13e of the individual sensors 1a, 1b, 1c, 1d contained therein , 1e are fed to the control and model creation unit 4.

The control and model creation unit 4 can, as in the first and second exemplary embodiment combined, assume the control and model creation function. Alternatively, it is possible to control the rotation and swivel device 2, the sensors 1a, 1b, 1c, 1d, 1e and, if necessary, the height adjustment device 3 separately from the creation of the model. A compact and robust microcomputer, for example a one-chip system, can advantageously be used for control, while a unit with greater computing power can be used for creating a model B, which is described in more detail below.

FIG. 2 shows a schematic top view of the arrangement 100 according to the invention from FIG. 1. As can be seen in FIG. 2, in the exemplary embodiment shown, the lines of sight 11a, 11b, 11c, 11d, 11e of the sensors 1a, 1b, 1c intersect 1, 1d, 1e or their extensions in the direction of the center of the carrier device 10 each other at a common focal point 6. In the first exemplary embodiment, this common focal point 6 lies on the axis of rotation 21 of the rotating and pivoting device 2.

However, it is by no means absolutely necessary that the lines of sight 11a, 11b, 11c, 11d, 11e of the individual sensors 1a, 1b, 1c, 1d, 1e intersect, or that the common focal point 6 coincides with the axis of rotation 21. The relative positions or the orientations of the individual sensors 1a, 1b, 1c, 1d, 1e and their individual recording areas with respect to one another can be changed during the further processing of the measured values 13a, 13b, 13c, 13d, 13e of the individual sensors 1a, 1b, 1c, 1d, 1e can also be taken into account computationally by the control and model creation unit 4.

In the first embodiment of an arrangement 100 according to the invention, the carrier device 10 is designed as a plate with a circular cross-section. However, this is also not absolutely necessary and the carrier device 10 can have any other shape or cross-sectional area as long as sensors 1a, 1b, 1c, 1d, 1e can be mounted on it. Furthermore, the number of sensors is 1a, 1b, 1c, 1d, 1e in the exemplary embodiment in FIG. 2

to be understood by way of example and an arrangement 100 according to the invention can comprise more or fewer than five sensors 1a, 1b, 1c, 1d, 1e.

In the first exemplary embodiment, the arrangement 100 further comprises a height adjustment device 3, which is likewise connected to the control and model creation unit 4 in the exemplary embodiment. In the first exemplary embodiment, the height adjustment device 3 changes the height position of the carrier device 10 relative to a reference point after being activated by the control and model creation unit 4. In the first exemplary embodiment, the reference point is the floor of the scene. However, such a height adjustment device 3 is optional in an arrangement 100 according to the invention and a model B of a scene to be examined can also be reliably created without such a height adjustment device 3.

In the first exemplary embodiment, the arrangement 100 comprises a stand 8 on which the carrier device 10 as well as the rotation and swivel device 2 and the height adjustment device 3 are arranged. Such a stand 8 is particularly advantageous because it can be arranged in a stationary manner in the scene to be recorded and is vibration-resistant, which affects the quality of the recorded measured values 13a, 13b, 13c, 13d, 13e and further processing of the measured values 13a, 13b, 13c, 13d , 13e of the individual sensors 1a, 1b, 1c, 1d, 1e is particularly advantageous.

If such an arrangement 100 is now placed in a scene to be depicted, for example a crime scene, the rotation and pivoting device 2 is controlled by the control and model creation unit 4 to create a complete all-round recording of the scene, the carrier device 10 with the Rotate sensors 1a, 1b, 1c, 1d, 1e step by step by 360 ° around the axis of rotation 21. In this way, the scene is gradually encircled in an area that corresponds to the recording area 12a, 12b, 12c, 12d, 12e of the individual sensors 1a, 1b, 1c, 1d, 1e, ie in an area of 360 ° around the axis of rotation 21 , recorded.

Since the receiving area 12a, 12b, 12c, 12d, 12e of the individual sensors 1a, 1b, 1c, 1d, 1e has a vertically limited extent, the rotation and pivoting device 2 can also pivot the carrier device 10 to in a further 360 ° rotation around the axis of rotation 21 to record further measured values 13a, 13b, 13c, 13d, 13e of the scene. However, during a measuring process, i.e. while the carrier device 10 executes a 360 ° rotation, for example, the carrier device 10 is not pivoted. That is, the carrier device 10 is rotated, for example, by 360 degrees within the scope of a measurement, but not pivoted, i.e. not tilted. The tilt angle is set before the respective measurement process and is not changed during the measurement.

While the rotating and pivoting device 2 rotates the carrier device 10 step by step by 360 ° around the axis of rotation 21, the control and model creation unit 4 controls the individual sensors 1a, 1b, 1c, 1d, 1e after every nth step of the rotation and swivel device, for example after five steps, if one step corresponds to a rotation of 1 °, for recording measured values 13a, 13b, 13c, 13d, 13e in the form of snapshots C an. By how many steps the rotation and swivel device 2 has rotated or by which angular range the carrier device 10 has rotated when the control and model creation unit 4 sends the signal to the sensors to create measured values 13a, 13b, 13c, 13d, 13e 1a, 1b, 1c, 1d, 1e can be selected depending on which overlap the measured values 13a, 13b, 13c, 13d, 13e in the created model B should have from the same sensor 1a, 1b, 1c, 1d, 1e .

The control and model creation unit 4 then creates a model B based on, for example, a two-dimensional matrix A. This model B can, as in the exemplary embodiment in FIG. 4, have a plurality of layers S- +,..., Sm, whose number of rows and columns corresponds to the two-dimensional matrix A. For example, a separate slice S +, will. Such a model B can, for example, have m layers, where, for example, m-1 is the number of sensors

and e.g. an additional layer for external data such as GPS data, temperature, air pressure, or measured values from gas sensors, laboratory reports, etc. is provided.

To this end, the control and model creation unit 4 assigns each entry of the matrix A to such additional data provided or measured values 13a, 13b, 13c, 13d, 13e recorded by the sensors 1a, 1b, 1c, 1d, 1e. For this purpose, the control and processing unit 4 specifies the two-dimensional matrix A, for example corresponding to degree positions or coordinates in the scene, into which the individual snapshots C or the measured values 13a, 13b, 13c, 13d, 13e contained therein, which were recorded at the individual recording times t ;, ..., ta created by sensors 1a, 1b, 1c, 1d, 1e, mapped, ie mapped. Optionally, instead of the recorded measured values 13a, 13b, 13c, 13d, 13e, values derived therefrom such as interpolated or averaged values can also be assigned to the entries in the matrix A or, if applicable, the corresponding slice S-,..., Sm of the model B. In the exemplary embodiment in FIG. 4, five slices Sa,..., Se of the model B, which each contain the measured values of one of the sensors 1a, 1b, 1c, 1d, 1e, are indicated schematically.

The individual measured values 13a, 13b, 13c, 13d, 13e of the snapshots C created by the respective sensors 1a, 1b, 1c, 1d, 1e are transferred to the two-dimensional matrix A, this mapping rule or this mapping at is the same for all snapshots C and only needs to be adjusted according to the position that results from the rotational position of the rotating and pivoting device 2 at the time of recording t ;, ..., tn. This advantageously saves time and computing power, since it is not necessary to determine how the measured values contained in the matrix A are to be transferred for each snapshot C individually.

For the assignment, for example, the position of the respective sensor 1a, 1b, 1c, 1d, 1e, the position of the carrier device 10 or the rotating and swiveling device 2 and possibly angle functions and distance data are used. This procedure enables a targeted assignment of the individual measured values 13a, 13b, 13c, 13d, 13e to row and column positions, which makes the transfer to the rows and columns of the two-dimensional matrix A particularly easy.

As can be seen in Fig. 1, a magnetic field sensor 5 is arranged on the carrier device 10 in the first embodiment, which determines the exact rotational position of the rotating and pivoting device 2 and thus of the carrier device 10 and transmits it to the control and processing unit 4.

As an alternative or in addition to this, the orientation of the rotating and swiveling device 2 and thus of the carrier device 10 can be determined by means of, for example, radio points and triangulation. This can be particularly advantageous if a magnetic field sensor cannot be used when strong magnetic fields predominate in, for example, power plants.

In this way, the control and processing unit 4 can determine the rotational position of the rotating and swiveling device 2 when transmitting the rasterized, that is to say assigned to row and column positions, measured values 13'a, 13'b, 13'c, 13'd , 13'e into the matrix A particularly precisely.

The transmission of the rasterized measured values 13'a, 13'b, 13'c, 13'd, 13'e into the matrix A or the corresponding layer S3,..., Se of the model B can in each case directly after the creation of a respective snapshot C, ie immediately after the recording of the measured values 13a, 13b, 13c, 13d, 13e, or at any later point in time. Optionally, the measured values 13a, 13b, 13c, 13d, 13e of the snapshots C determined by the individual sensors 1a, 1b, 1c, 1d, 1e can initially be temporarily stored sensor-wise and then the matrix A sensor-wise or based on the matrix A of the respective Layer Sa; ..., Sm of model B.

For example, the individual measured values 13a, 13b, 13c, 13d of the individual sensors 1a, 1b, 1c, 1d, 1e determined during a measurement or a measurement process can be transferred to the matrix A. Each element of the matrix A can be viewed as a vector with x elements. Each first element corresponds, for example, to that of sensor 1a

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determined measured value 13a, every second element that of sensor 1b etc. The elements of the vectors of the matrix A can be understood as layers S, with the respective first elements of the vectors representing the first layer Sa, the respective second elements of the vectors representing the second layer Sy etc. For example, after a respective measurement, the matrix A can be converted into an individual model of the respective individual measurement with x + 1 layers S, where x corresponds to the number of sensors 1a, 1b, 1c, 1d, 1e and the additional layer can contain external information . Several such individual models of individual measurements can be combined in a model B. In this way, a particularly comprehensive representation of the relevant rooms can advantageously be made possible.

Further procedures for assigning measured values to entries in a matrix (A) or a model based on a matrix (A) are, for example, in Bahador Khaleghi, Alaa Khamis, Fakhreddine O. Karray, Saiedeh N. Razavi, Multisensor data fusion : A review of the state-of-theart, Information Fusion 14 (2013), pages 28-44 or at https://de.wikipedia.org/wiki/Multi-Sensor_Data_Fusion, last accessed on February 5, 2020.

If, as in the first exemplary embodiment in FIG. 1, a height adjustment device 3 is present, five measurement runs can also be carried out, for example, in each of which measured values 13a, 13b, 13c, 13d, 13e corresponding to the respective rotational position of the rotating and pivoting device 2 with all Sensors 1a, 1b, 1c, 1d, 1e are detected and flow into the model B according to the respective rotational position of the rotating and swiveling device 2. The height adjustment device 3 is particularly advantageous in this context, since at one installation point of the stand 8, several series of measurements can be recorded, for example, viewed relative to the floor of the scene at different distances or heights.

In this context, the matrix A can be specified with any number of rows and columns or, if necessary, expanded. As indicated in FIG. 4, any number of measurement runs at different heights can flow into the model B. This means that the model B can be created on the basis of multiple implementation of measurement passes, for example at different distances from the floor of the scene.

In this context, the control and processing unit 4 can optionally detect and assign to one another those measured values 13a, 13b, 13c, 13d, 13e in the individual snapshots C created at different heights, which were obtained from the same sensor 1a, 1b, 1c , 1d, 1e were created and map the same object point of the scene and assign these measured values to the same position in the matrix A and, if necessary, form an average value therefrom. This is particularly advantageous if the recordings made by the respective sensor 1a, 1b, 1c, 1d, 1e at different heights overlap.

The model B as a whole or each slice S;, ..., Sm of the model B individually can optionally also include global data such as the recording time t +, ..., tn, GPS coordinates, time, temperature at the recording time t; ..., tn, etc. can be assigned.

Fig. 3 shows an example of such a snapshot Ct1 comprising the measured values 13a, tı, 13b, t ;, 13c, t1, 13d, t1, 13e, t1, which at the recording time t1 with the sensors 1a, 1b, 1c, 1d, 1e of FIGS. 1 and 2 was created. As can be seen in FIG. 3, a range from 20 ° to 190 ° is covered with a single snapshot C.

The individual receiving areas 12a, 12b, 12c, 12d, 12e of the sensors 1a, 1b, 1c, 1d, 1e have different vertical extensions in the first exemplary embodiment and partially overlap one another. However, this is not absolutely necessary and a transfer of the snapshots C or the measured values 13a, 13b, 13c, 13d, 13e of the individual sensors 1a, 1b, 1c, 1d, 1e into the matrix A is also possible if the vertical extensions of the receiving areas 12a, 12b, 12c, 12d, 12e do not differ from one another and the receiving areas 12a, 12b, 12c, 12d, 12e do not overlap.

If, in the exemplary embodiment shown, the carrier device 10 is moved by the rotating and swiveling device 2 by five steps, i.e. by 5 °, a snapshot Ci is again made at the time t, which has the same angular range as the instantaneous

recording CH covers.

The individual measured values 13a, 13b, 13c, 13d, 13e of the snapshots C of all sensors 1a, 1b, 1c, 1d, 1e are determined according to the position that is due to the rotational position of the rotating and pivoting device 2 at the respective recording time t- , ..., t, is transferred to the matrix A and the model B of the scene is created in this way.

As indicated schematically in FIG. 4, the model B in the exemplary embodiment comprises a series of layers Sa, ..., Se. The rasterized, ie assigned to row and column positions, measured values 13'a, 13'b, 13 '° c, 13'd, 13'e of the individual sensors 1a, 1b, 1c, 1d, 1e from snapshots C related to the individual recording times t;,.. In FIG. 4, the rasterized measured values 13'a, tı, 13'b, t4, 13'c, t4, 13'd, t4, 13e, t4, which were created at the recording time t4 with the sensors 1a, 1b, 1c, 1d, 1e of FIGS. 1 and 2, are shown schematically.

Thus, in Fig. 4, the layer Sa of the model B is indicated schematically, which contains the rasterized measured values 13'a of the sensor 1a, while, for example, the layer Se contains the rasterized measured values 13'e of the sensor 1e. To clarify this procedure, those rasterized measured values 13'a, 13'b, 13'c, 13'd, 13'e of the respective sensor 1a, 1b, 1c, 1d, are shown in the individual layers Sz, ..., Se. 1e, which were created at the time of recording t.

The rasterized measured values 13a, 13'b, 13' ° c, 13'd, 13'e are entered in the respective slice Sa, corresponding to the rotational position of the rotating and pivoting device 2. That is, the respective measured value 13'a, 13'b, 13'c, 13'd, 13'e is in the respective layer Sa, ..., Sa at that position of the matrix A entered in the direction of rotation, which is derived, for example, from the position of the respective sensor 1a, 1b, 1c, 1d, 1e and a value dependent on the angle of rotation of the rotation and pivoting device 2 or the support device 10, which is related to the number of entries in the matrix A in Corresponds to the direction of rotation.

Such a structure of the model B is particularly advantageous if, for example, the course of events is to be virtually reconstructed in court. In this case, the individual layers Sa,..., Sm of the model B, for example the recordings of the UV sensor of the arrangement 100 in FIG the image recordings, which were created by the sensor 1b, are displayed in order to be able to recognize exactly at which position in the scene or the crime scene traces can be found - for example on which objects or furniture.

In this context, the control and model creation unit 4 can optionally insert externally created measured values, data or information that were not created by one of the sensors 1a, 1b, 1c, 1d, 1e of the arrangement 100 into the model B. Such information can be, for example, fingerprints, results of DNA analyzes, or the like, which were determined or sampled at certain positions at the crime scene. On the basis of these positions, such data can be transferred from the control and processing unit 4 into the model B, for example into a separate slice S, which is based on the slice Sy captured optically by, for example, the image recording unit 1b. In this way, the laboratory results relating to a DNA test, for example, can be anchored at the point where the sample was taken.

As already mentioned, e.g. time, temperature and humidity can also be stored together with the corresponding layer S or centrally for the entire model B. Such data of the model B compiled from the global information of the individual layers S can be called up at any time, regardless of the respective layer S.

Optionally, the control and model creation unit 4 can each of the

Sensors 1a, 1b, 1c, 1d, 1e to assign a unique identifier to the recorded measured values 13a, 13b, 13c, 13d, 13e and / or to each entry in the matrix A when it is created. Additionally or alternatively, the control and model creation unit 4 can also assign a unique identifier to the model B when it is created. This unique identifier, e.g. a digital signature, can, for example, guarantee the usability of the recorded measured values 13a, 13b, 13c, 13d, 13e or entries in court. For example, by signing the recorded measured values 13a, 13b, 13c, 13d, 13e or entries in the matrix A, as well as the derived model B during creation, subsequent modification of the measured values 13a, 13b, 13c, 13d, 13e or the Entries or of model B can be made visible.

Because data that originate from the same position in the scene are stored virtually congruently in different layers S of model B, there is advantageously the possibility of displaying the most varied of data sources superimposed on one another when displaying the data. This multidimensional data acquisition or storage makes it particularly easy for investigators to evaluate the recorded measured values, for example, and the recorded measured values can also be analyzed at any time in the future and assigned to exact positions at the crime scene. In this way, the data acquisition and storage can also be made completely transparent, so that, for example, usability in court, e.g. through the use of digital signatures, can be guaranteed.

5 shows a second exemplary embodiment of an arrangement 100 according to the invention, the components of which are designed as in the first exemplary embodiment. In the second embodiment, however, the carrier device 10 with the sensors 1a, 1b, 1c, 1d, 1e as well as the rotation and swivel device 2 and a height adjustment device 3 are arranged on an autonomous vehicle 9, which can be controlled by means of a remote control 91. Such an autonomous vehicle 9 is particularly advantageous, for example, to create a model B for scenes that cannot be entered by people because they are radioactively contaminated or there is great heat there, such as in the vicinity of volcanic craters.

As can be seen in FIG. 5, the arrangement 100 in the second exemplary embodiment additionally comprises a further image recording unit 7 which, like the sensors 1a, 1b, 1c, 1d, 1e, the rotation and swivel device 2 and the height adjustment device 3 with a control - and model creation unit 4 is connected. In the second exemplary embodiment, this connection is established via a radio link. As can be seen in FIG. 5, the further image recording unit 7 is arranged on the arrangement 100 with a height offset to the sensors 1a, 1b, 1c, 1d, 1e, in particular the sensor 1b, which is also designed as an image recording unit. Such an image recording unit 7 can of course also be provided in a stationary arrangement 100 which, for example, has a stand 8 as in the first exemplary embodiment.

In the second exemplary embodiment, the lines of sight of the further image recording unit 7 intersect at a further focal point, which lies on the axis of rotation 21, but is different from the common focal point 6. However, this geometric arrangement of the image recording units to one another is by no means absolutely necessary and a computational consideration of the alignment, the relative position and the recording area of the image recording units to one another is possible when transferring the measured values, or values derived therefrom, into matrix A or model B.

In the second embodiment, the control and model creation unit 4 is advantageously designed to determine distance information from the individual recordings of the further image recording unit 7 and the recordings of the sensor 1b, which is also designed as an image recording unit, ie has the same sensitivity as the other Image capture unit 7.

This is achieved in the second exemplary embodiment in that the control and model creation unit 4 detects and assigns those image points in the recordings of the further image recording unit 7 and the sensor 1b which image the same object point of the scene. On the basis of these pixels assigned to one another, the control

and model creation unit 4, finally, the distance information by triangulation and assigns it to the individual snapshots C and thus to the positions in the two-dimensional matrix A. Optionally, laser distance measurements and / or ultrasound measurements can also be used to obtain a spatial image of the scene.

A carrier device 10 according to the invention with sensors 1a, 1b, 1c, 1d, 1e can optionally, as already mentioned, on an unmanned aircraft. UAV - unmanned aerial vehicle. In this case, the unmanned aircraft itself partially takes over the function of the rotation and pivoting device 2 or the height adjustment device 3, since the unmanned aircraft relatively aligns the carrier device 10 by rotating in a horizontal plane around its own axis or the distance between the carrier device 10 to the ground of the scene can change by varying the flight altitude. The unmanned aircraft can have a corresponding device for pivoting or tilting the carrier device 10, since the unmanned aircraft cannot adopt a stable position in the air in a tilted position.

With such an arrangement 100, large areas such as archaeological excavation sites can advantageously be easily recorded and models B of the excavation sites can be created. Such an arrangement 100 is also particularly advantageous in order, for example, to create models B of scenes that are inaccessible to people and vehicles, such as, for example, avalanche cones or areas affected by mudslides.

Due to the diverse possibility of designing an arrangement 100 according to the invention with a wide variety of sensors 1a, ..., 1e and the possibility of arrangement on a wide variety of stationary devices or mobile means of transport, an arrangement 100 according to the invention can be widely used not only in the context of crime scene investigation and Law enforcement, but also in archeology, in connection with torrent and avalanche control, but also, for example, in the context of nature observation or to study climate changes.

Claims (1)

Claims 1. An arrangement (100) for creating a model (B) of a scene comprising - a carrier device (10), wherein a plurality of sensors (1a, 1b, 1c, 1d, 1e) is arranged on the carrier device (10), the Sensors (1a, 1b, 1c, 1d, 1e) - are sensitive to different types of measured values (13a, 13b, 13c, 13d, 13e) and / or have different sensitivities, and - for the directional acquisition of measured values (13a, 13b, 13c, 13d, 13e) are formed along lines of sight (11a, 11b, 11c, 11d, 11e), - a rotating and pivoting device (2), the rotating and pivoting device (2) being driven and designed for the purpose To rotate and / or pivot the carrier device (10) step by step about an axis of rotation (21), and - a control and swivel device connected to the individual sensors (1a, 1b, 1c, 1d, 1e) and the rotation and pivoting device (2) Model creation unit (4), the control and model creation unit (4) being designed to - the Ro tations- and pivoting device (2) for the step-by-step rotation and / or pivoting of the carrier device (10) to control, To control measured values (13a, 13b, 13c, 13d, 13e) in the form of snapshots (C) of measured values (13a, 13b, 13c, 13d, 13e), the control and model creation unit (4) receiving the measured values (13a, 13b, 13c, 13d, 13e) of the individual sensors (1a, 1b, 1c, 1d, 1e) are fed, - Each entry of a matrix (A) in each case measured values (13a, 13b, 13c, 13d, 13e) from the sensors (1a , 1b, 1c, 1d, 1e) were recorded, or possibly values derived therefrom, corresponding to the position that is due to the rotational position of the rotational and Pivoting device (2) at the respective recording time (t, ..., tn) results in ASSIGNING and - to create a model (B) based on the matrix (A) that includes, in particular, a number of layers (S + 1, ..., Sm), it is provided in particular that selected layers (S +, ..., Sm) of the Mo- dells (B) are each assigned to a sensor (1a, 1b, 1c, 1d, 1e). 2. Arrangement (100) according to claim 1, characterized in that the control and model creation unit (4) is designed for the assignment of the individual of the measured values (13a, 13b, 13c, 13d, 13e) of the snapshots (C) , or possibly values derived therefrom, for entries in the matrix (A), in particular the respective layer (S- ;, ..., Sm), to specify a mapping rule that is the same for all snapshots (C). 3. Arrangement (100) according to claim 1 or 2, characterized in that the arrangement (100) comprises a height adjustment device (3) connected in particular to the control and model creation unit (4), the height adjustment device (3) being designed for this purpose To change the height position of the carrier device (10) with the sensors (1a, 1b, 1c, 1d, 1e) relative to a reference point, in particular relative to the floor of the scene, in particular after being activated by the control and model creation unit (4), it is provided in particular that the control and model creation unit (4) is designed to - when transferring the individual snapshots (C) of the sensors (1a, 1b, 1c, 1d, 1e) to the matrix (A), the height position of the sensors (1a, 1b, 1c, 1d, 1e) must be taken into account and - to preferably detect and assign to each other those measured values (13a, 13b, 13c, 13d, 13e) in the individual snapshots that were created by the same sensor (1a, 1b, 1c, 1d, 1e) and map the same object point of the scene and the to assign measured values determined in this way to the same position in the matrix (A). 4. Arrangement (100) according to one of the preceding claims, characterized in that the arrangement (100) comprises a magnetic field sensor (5), wherein the magnetic field sensor 10/11 12th Austrian AT 523 547 B1 2021-10-15 (5) is designed and attached to the arrangement (100) in such a way that the rotational position of the rotating and swiveling device (2) can be determined by means of the magnetic field sensor (5), with provision being made in particular that the measured values of the magnetic field sensor (5) of the control - and processing unit (4) are supplied. Arrangement (100) according to one of the preceding claims, characterized in that the visual rays (11a, 11b, 11c, 11d, 11e) of the individual sensors (1a, 1b, 1c, 1d, 1e) and / or the extensions of the visual rays (11a , 11b, 11c, 11d, 11e) of the individual sensors (1a, 1b, 1c, 1d, 1e) essentially intersect at a common focal point (6), and that this common focal point (6) lies on the axis of rotation (21) . Arrangement (100) according to one of the preceding claims, characterized in that one of the sensors (1b) arranged on the carrier device (10) is an image recording unit. Arrangement (100) according to one of the preceding claims, characterized in that the arrangement (100) comprises at least one further image recording unit (7) connected to the control and model creation unit (4), wherein the at least one further image recording unit (7) has the carrier device (10) is arranged in such a way that its lines of sight meet in a further focal point, in particular different from the common focal point (6), preferably located on the axis of rotation (21), the recordings made by the further image recording unit (7) being the control - and model creation unit (4) are supplied, and that the control and model creation unit (4) is designed to - control the further image recording unit (7) for recording recordings, - distance information from the individual recordings of the further image recording unit (7) and the Measured values, in particular recordings, from at least one sensor, which preferably has the same Sensiti like the further image recording unit (7), to determine and to assign the respective distance information to the individual snapshots (C) and to the entries in the matrix (A). Arrangement (100) according to Claim 7, characterized in that the control and model creation unit (4) is designed to detect those image points in the recordings made by the further image recording unit (7) and by the at least one sensor (1b) and to assign to one another, which image the same object point of the scene and to determine the distance information on the basis of the image points assigned to one another in this way by triangulation. Arrangement (100) according to one of the preceding claims, characterized in that the carrier device (10), and in particular the rotation and pivoting device (2) and / or the height adjustment device (3), is arranged on a stand (8). Arrangement (100) according to one of the preceding claims, characterized in that the carrier device (10), and in particular the rotation and pivoting device (2) and / or the height adjustment device (3), is arranged on an autonomous vehicle (9). Arrangement (100) according to one of the preceding claims, characterized in that the carrier device (10) is arranged on an unmanned aircraft, the unmanned aircraft performing the function of the rotating and pivoting device (2), and optionally the height adjustment device (3), at least partially takes over. Arrangement (100) according to one of the preceding claims, characterized in that the control and model creation unit (4) is designed to, in addition to the measured values (13a) determined by directed detection by the sensors (1a, 1b, 1c, 1d, 1e) , 13b, 13c, 13d, 13e), provided non-directional information that was determined, in particular externally, without assignment to a line of sight, to be added to the model (B), in particular selected entries of the matrix (A). 13. Arrangement (100) according to one of the preceding claims, characterized in that the control and model creation unit (4) is designed to provide each individual measured value (13a, 13a, 13b, 13c, 13d, 13e) and / or the model (B), in particular each entry of the matrix (A), when it is and / or when it is created, a unique identifier is assigned. In addition 3 sheets of drawings