EP2277004A1 - Système de mesure mobile et procédé de mesure permettant de déterminer des sections transversales ou des contours - Google Patents

Système de mesure mobile et procédé de mesure permettant de déterminer des sections transversales ou des contours

Info

Publication number
EP2277004A1
EP2277004A1 EP08874184A EP08874184A EP2277004A1 EP 2277004 A1 EP2277004 A1 EP 2277004A1 EP 08874184 A EP08874184 A EP 08874184A EP 08874184 A EP08874184 A EP 08874184A EP 2277004 A1 EP2277004 A1 EP 2277004A1
Authority
EP
European Patent Office
Prior art keywords
measuring system
measuring
distance
space
pivoting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP08874184A
Other languages
German (de)
English (en)
Inventor
Benjamin Visel
Matthieu Richard
Joel Bonny
Marc-Henri Duvoisin
Sebastian Jackisch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2277004A1 publication Critical patent/EP2277004A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G01C15/004—Reference lines, planes or sectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements

Definitions

  • the present invention relates to a mobile measuring system for detecting profile sections of an object and / or space, a method for detecting profile sections of an object and / or space, and a method for detecting the extension of a surface of an object and / or space, in particular with respect to the horizontal.
  • the present invention provides a mobile measuring system for detecting profile sections of an object and / or space, which has at least one non-rotatably arranged and non-contact distance measuring device.
  • This distance measuring device is preferably a laser range finder, but a radar range finder, a microwave range finder, an ultra-wideband range finder or the like may be used.
  • the measuring system further comprises a first deflection device or partial device, which deflects a measuring signal emitted by the distance measuring device or divides it in different directions, a pivoting device for pivoting the deflection device or partial device about a first axis, in particular vertical axis, and a height adjustment device for adjusting the height of the deflection device or Parting device, wherein pivoting device and / or the height adjustment device are advantageously designed motorized.
  • a distance measurement is assigned to a corresponding pivoting angle of the distance measuring device, resulting in unique 3D coordinates that can be supplied, for example, to a CAD system (Computer Aided Design System) and further processed there to produce the profile section.
  • CAD system Computer Aided Design System
  • the height can be selected on which the profile section is to be generated. So also several profile sections of an object and / or space can be created on different contour lines. This plurality of profile sections may then be added by means of interpolation or the like a three-dimensional image of the object and / or space are linked.
  • the distance measuring device is preferably also pivotable about a second axis, which extends transversely, in particular perpendicular to the first axis, together with the pivoting device and the deflecting device or partial device.
  • a second axis which extends transversely, in particular perpendicular to the first axis, together with the pivoting device and the deflecting device or partial device.
  • profile sections transversely, in particular perpendicular to the first axis can be created, which is why the measuring system according to the invention is even more flexible, which will be described in more detail below with reference to an embodiment.
  • the pivoting movement about the second axis can also be motorized.
  • the measuring system advantageously comprises further deflecting devices and / or subassemblies.
  • Such deflecting and / or subassemblies make it possible to emit the measuring signal leaving the distance measuring device in any direction, which is why the measuring system according to the invention can be used very flexibly.
  • the further deflection devices and / or sub-devices may be provided such that they follow the pivoting movement of the first deflection device or sub-device about the first axis, as will be explained in more detail below with reference to FIGS. 2 and 3.
  • the further deflecting devices and / or subassemblies can be provided in such a way that they are arranged stationary relative to the pivoting movement of the first deflecting device or partial device about the first axis, ie do not rotate together with the first deflecting device or partial device.
  • the deflecting device (s) and / or the dividing device (s) are / is designed to be movable, for example foldable and unfoldable, rotatable or the like. So can these facilities For example, be designed such that they selectively influence the measuring device leaving the distance measuring device in the sense of a deflection or divide or pass unaffected. Likewise, the devices may be designed such that the deflection angle or the type of distribution of the signal is changed by their movement.
  • the measuring system further preferably has at least one leveling device which allows a predetermined orientation of the measuring system, in particular parallel to the horizontal.
  • the leveling device comprises at least one suitable sensor, such as an optical bubble, an inclinometer, a MEMS (Micro-Electro-Mechanical System), a thermodynamic sensor, a mechanical pendulum or the like, with which an actual orientation of the Measuring system can be detected.
  • the adjustment of the target orientation can be done manually or automatically with the aid of a corresponding actuator in the form of a motor or the like.
  • the leveling device can also detect only the actual orientation of the measuring system with the aid of a suitable sensor, without an alignment of the measuring system to achieve the desired orientation takes place. In this case, the profile section is created taking into account the detected actual orientation of the measuring system.
  • the distance measuring device is designed such that it can emit measuring signals which can be differentiated from one another.
  • the distance measuring device may, for example, have a plurality of modules which emit measuring signals which can be differentiated from one another.
  • a plurality of laser rangefinders may be provided as modules which emit measurement signals having different wavelengths.
  • the signals emitted by the various laser range finders and reflected at the object or space, which are received by the measuring system can be distinguished, so that at the same time a plurality measurements can be made. This can shorten the measurement period accordingly.
  • a single laser rangefinder may be provided which emits measurement signals in different wavelengths.
  • the measuring system comprises an evaluation unit for evaluating the measurement data acquired by the measuring system.
  • the evaluation unit can be, for example, a commercially available stationary or mobile computer or one which has been specially developed for the measuring system.
  • the evaluation unit comprises a computer program which allows the storage and further processing of the measurement data acquired by the measuring system. A further processing of the measured data takes place, in particular, in that two-dimensional and / or three-dimensional images of the object and / or space measured with the aid of the measuring system according to the invention are generated on the basis of the measured data.
  • the evaluation unit may also be one that has been specially developed for the measuring system.
  • the measuring system advantageously has at least one input unit and / or at least one output unit and at least one interface for wired and / or wireless data transmission.
  • the input unit may be a keyboard, a mouse, a touch screen or the like.
  • the output unit for example, a screen and / or printer can be used.
  • Interfaces for data communication between the individual electronic components of the measuring system can be installed in the form of W-LAN, Bluetooth, infrared interfaces and / or connections for data cables.
  • the input units, output units and interfaces can be integrated into components of the measuring system or provided separately.
  • the measuring device comprises a remote control for data communication with various components of the measuring system, such as with the evaluation unit, the pivoting device for carrying out the pivoting movement of the distance measuring device about the first axis, the height adjustment device, the distance measuring device or the like.
  • the remote control is advantageous in that it allows the control of the measuring system from a distance, such as the selection of certain parameters, such as the swivel angle and the height, in which or on the distance measurements are to be performed, the setting of reference points, the input and unfolding diverters, etc., turning on and off the measuring operation, and the like.
  • the measuring system has a signal output device which is designed such that it indicates to the user the beginning and / or the end of a measurement carried out by the distance measuring device. Accordingly, the user need not be in the immediate vicinity of the measurement system to be informed of the beginning and end of measurements.
  • the signal output means may also be arranged to inform the user of other states of the measurement system, such as the proper receipt of commands from the user, the state of charge of accumulators, if used, etc.
  • the signal may be, for example to be an optical, acoustic, haptic or tactile signal. It is also possible to output various signals which each have a different meaning for the user.
  • the present invention provides a method for detecting profile sections of an object and / or space, in particular using a mobile measuring system according to the present invention.
  • the measuring system is first arranged at a first location, from which the object and / or the space can be measured with the aid of the measuring system, and advantageously aligned, in particular with respect to the Horizontal.
  • This alignment can be real or virtual.
  • the real orientation the actual orientation of the measuring system is detected, whereupon the actual orientation, if it does not correspond to a predetermined target orientation, is adjusted by manual or automatic alignment of the measuring system to the corresponding desired orientation.
  • a virtual alignment only the actual orientation of the measuring system is detected, without an actual adaptation of the measuring system takes place to a predetermined target orientation.
  • This detected actual orientation is then taken into account in the subsequent further processing of the measured data determined with the aid of the measuring system.
  • the distances to a plurality of spatial points of the object and / or space arranged in a common plane are detected using the measuring system.
  • a profile section of the object and / or space is created in a last step. This profile section can then be output graphically via the output device (s).
  • the distance and / or the angular position of the profile section to a reference surface of the object to be measured and / or space is / are detected, in particular to the ground or ground.
  • the height at which the distance measurements are carried out can be verified.
  • the inclination of the reference surface can be detected on condition that the reference surface is flat and extends parallel to the horizontal.
  • at least three distances to mutually different points of the reference surface are preferably measured, whereupon the extension of the reference surface or the angular position of the profile section to the reference surface is detected by means of triangulation.
  • the inclination of the reference surface to the horizontal and / or the curvature of the reference surface can be detected when the measuring system has been aligned with respect to the horizontal. It should be clear that the measurement both the distance and the angular position becomes more accurate as the number of measurements increases.
  • a plurality of different profile sections is advantageously created, which preferably extend parallel to each other. These can then be combined, for example, by means of interpolation with each other to form a three-dimensional overall profile section of the object and / or space.
  • At least one profile section can be created which extends transversely, in particular perpendicular to the other profile sections.
  • the measuring system is arranged at least at a further location, whereupon at least one further profile section is created.
  • the profile sections of the various locations can then be linked together to create an overall profile section.
  • a reference point is advantageously used which is common to at least two profile sections.
  • the present invention provides a method for detecting the extent of a surface of an object and / or space, in particular using a mobile measuring system according to one of claims 1 to 12.
  • the Measuring system initially arranged at a location from which distance measurements to the surface of the object and / or space can be carried out using the measuring system. If the area is a garage entrance or the like, the measuring system is advantageously placed directly on the surface to be measured. Subsequently, the measuring system is preferably aligned, in particular with respect to the horizontal. This alignment can be real or virtual.
  • the actual orientation of the measuring system is detected, whereupon the actual orientation, if it does not correspond to a predetermined target orientation, is adjusted by manual or automatic alignment of the measuring system to the corresponding target orientation.
  • a virtual alignment only the actual orientation of the measuring system is detected, without an actual adaptation of the measuring system takes place to a predetermined target orientation.
  • This detected actual orientation is then taken into account in the subsequent further processing of the measured data determined with the aid of the measuring system.
  • the distances to at least three different spatial points of a surface of the object and / or space are then measured. Assuming that these points in space are located on a common plane, finally the extent or extension of the plane to the horizontal is calculated by means of triangulation on the basis of the measured data.
  • the measurement data acquired with the aid of the measuring system can also be adapted to a surface shape deviating from a plane. If the surface of the object and / or space is, for example, a curved surface and not a plane, the extent or curvature can be determined on the basis of the acquired measurement data.
  • the accuracy of the measurements carried out with the aid of the measuring system or method according to the invention basically increases with the number of distance measurements and profile sections. It should also be clear that, for uneven objects or spaces, such as gravel, Sand, tiles (unevenness due to joints) or the like are covered, distance measurements can be averaged, this should be helpful. Also, measurements that deviate significantly from measurements on immediately adjacent spatial coordinates can be disregarded in the evaluation by the evaluation unit. Otherwise, for example, deep furrows in floors due to poorly laid laminate or the like can lead to serious errors in the averaging of measurement results.
  • Fig. 1 is a perspective view of an embodiment of a mobile measuring system according to the present invention
  • Fig. 2 is a side view showing a first variant of the construction of a distance measuring device of the measuring system shown in Fig. 1;
  • FIG. 3 is a plan view showing a second variant of a distance measuring device of the measuring system shown in FIG. 1;
  • Fig. 4 is a plan view showing a third variant of a distance measuring device of the measuring system shown in Fig. 1;
  • Fig. 5 is a perspective view showing the mobile measuring system shown in Fig. 1 in a state in which the distance measuring means is pivoted together with a pivot means about a horizontal axis;
  • Fig. 6 is a perspective view showing the mobile measuring system shown in Fig. 1 in measuring a room;
  • Fig. 7 is a view showing an illustration of the profile section produced when measuring the space shown in Fig. 5;
  • Figs. 8a and 8b are schematic views showing the mobile measuring system shown in Fig. 1 in surveying a shaded room;
  • Fig. 9 is a view showing the mobile measuring system shown in Fig. 1 in measuring an inclined surface
  • 10a and 10b are schematic views showing alternative methods of measuring a roof pitch with the mobile measuring system shown in FIG.
  • FIG. 1 is a perspective view schematically showing an embodiment of a mobile measuring system according to the present invention, generally indicated at 10.
  • the mobile measuring system 10 comprises a non-contact distance measuring device 12, an optical device 13 for manipulating measuring signals output by the distance measuring device 12, a pivoting device 14, which is arranged between the distance measuring device 12 and the optical device 13 and with their help the optical Device 13 can be pivoted about a vertical axis 16 in the direction of the arrow 18 relative to the distance measuring device 12, a Leveling device 20, with the help of the distance measuring device 12 can be aligned in particular to the horizontal, a height adjustment device 22, with the help of the structure consisting of the leveling device 20, the distance measuring device 12, the optical device 13 and the pivoting device 14 in the direction of Arrow 24 can be moved up and down, a tripod 26, in which the height adjustment device 22 is received and the three length-adjustable legs 28, 30 and 32, an evaluation unit 34 in the form of a conventional laptop and a remote control 36.
  • the leveling device 20 is releasably held
  • the distance measuring device 12 comprises a laser range finder 12 a, which is designed and arranged such that it emits measurement signals upward in the direction of the arrow 37 through the pivoting device 14 to the optical device 13.
  • the measurement signals are manipulated by means of optical elements so that the measurement signals in the direction of dashed arrows 38, 39, 40, 42 and 44 emerge from the measuring system 10, which will be described in more detail below with reference to FIGS is explained.
  • the pivoting device 14 may comprise a conventional electrically, hydraulically or pneumatically driven motor or stepper motor connected to the optical device 13 so as to be able to rotate it incrementally or continuously in the direction of the arrow 18 about the vertical axis 16 relative to the distance measuring device 12. Further, the pivoting device 14 preferably comprises a rotary angle meter (not shown), with which the current angular position of the optical device 13 can be detected. The angular position of the optical Direction 13 and the detected in the corresponding angular position of the measuring system 10 distance value are assigned to each other and transmitted via a wireless interface 46 to the evaluation unit 34, which will be explained in more detail below.
  • the leveling device 20 is preferably designed such that it automatically aligns the distance measuring device 12 with respect to the horizontal.
  • the leveling device 20 includes corresponding sensors, such as tilt sensors in the form of an optical level, an inclinometer, a mechanical pendulum or the like, as well as actuators in the form of electrically, hydraulically or pneumatically operated motors.
  • the alignment of the distance measuring device 12 using the leveling device 20 can of course also be done manually. In this case can be dispensed with the actuators.
  • the height adjustment device 20 may be formed manually operable, but preferably a motor is provided, by means of which the height adjustment device 22 up and down in the direction of the arrow 24 is movable.
  • the power supply of the distance measuring device 12, the optical device 13, the pivoting device 14, the leveling device 20 and the height adjustment device 22 can take place via corresponding batteries or centrally via sliding contacts or the like, wherein the mobile measuring system 10 in the latter case via a power cable 48 with a power source (not shown).
  • the evaluation unit 34 comprises an input unit 50 in the form of a keyboard and an output unit 52 in the form of a display.
  • the evaluation unit 34 additionally comprises a computer program which requires the information necessary for processing the distance and angle information. to perform their own operations.
  • two-dimensional and / or three-dimensional profile sections of objects and / or spaces to be measured are generated on the basis of the measurement data and angle information provided by the distance measuring device 12 and the pivoting device 14, which are graphically displayed via the output unit 52 and printed out using a printer (not shown) can.
  • the evaluation unit 34 has a memory in which the measured data can be stored.
  • the evaluation unit 34 can take over further, the acquired measurement data further processing functions.
  • the remote control 36 enables communication with various components of the measuring system 10, in particular with the distance measuring device 12, the optical device 13, the pivoting device 14, the height adjustment device 22 and the evaluation unit 34.
  • the height position can be entered, to which the distance measuring device 12 using the height adjustment device 22 in the direction of arrow 24 to be moved up or down.
  • the pivoting angle or the pivoting direction can be adjusted by which the optical device 13 is to be pivoted by means of the pivoting device 14 about the vertical axis 16 in the direction of the arrow 18 relative to the distance measuring device 12.
  • the number of measurements to be performed by the distance measuring device 12 during the pivoting movement of the optical device 13 about the vertical axis 16 can be set.
  • measurements can be started and stopped using the remote control 36.
  • Other commands that can be output by means of the remote control 36 to the distance measuring device 12, the optical device 13, the pivoting device 14 and the height adjustment device 22 will be explained in more detail below.
  • the communication between the distance measuring device 12, the optical device 13, the Swivel device 14, the height adjustment device 22, the evaluation unit 34 and the remote control 36 can basically be done both wired and wireless.
  • wireless interfaces may be provided, such as Bluetooth, infrared and / or W-LAN interfaces, or the like, or corresponding data and power lines, slip rings, etc.
  • FIG. 2 is a schematic side view of a first variant of the structure of the optical device 13 of the measuring system 10 shown in FIG. 1.
  • the optical device 13 comprises a base 54 in the form of a base plate which, with the aid of the pivoting device 14, moves around the vertical axis 16 in the direction of the arrow 18 can be rotated relative to the distance measuring device 12 and which serves to receive the components of the optical device 13, namely a first deflecting device 56 which deflects the measuring signal emitted by the laser rangefinder 12a in the direction of the arrow 37 in the direction of the arrow 57, and two further deflection devices 58 and 60 which serve to redirect the measurement signal coming from the first deflection device 56 in further directions.
  • a first deflecting device 56 which deflects the measuring signal emitted by the laser rangefinder 12a in the direction of the arrow 37 in the direction of the arrow 57
  • two further deflection devices 58 and 60 which serve to redirect the measurement signal coming from the first deflection device 56 in further directions.
  • the deflection devices 56, 58 and 60 may be mirrors, prisms or the like, for example.
  • the deflecting devices 58 and 60 are designed to be pivotable so that they are movable in the direction of the arrows 62 and 64. If both deflection devices 58 and 60 are in their first position, in which they extend substantially parallel to the base 54 and rest against it, then the measurement signal coming from the first deflection device 56 is not deflected and exits in the direction of the arrow 40 shown by dashed lines the measuring system 10 off.
  • the measuring signal coming from the first deflecting device 56 is correspondingly deflected and exits the measuring system depending on the angular position of the deflecting device 58 in the direction of the dashed arrow 38 or 39 10 off.
  • the measuring signal coming from the first deflecting device 56 will be deflected downward and, depending on the angular position of the deflecting device 60, will be dashed shown arrow 42 or 44 from the measuring system 10 from.
  • the measuring system 10 according to optional measurements in each of the arrows
  • the optical device 13 is, as shown in Figure 1, surrounded by a housing, not shown in Figure 2, which serves to protect the individual components of the optical device 13.
  • This housing has corresponding outlet openings to the outlet of measurement signal in the direction of arrows 38,
  • FIG. 3 is a schematic view showing another variant of the structure of the optical device 13.
  • the optical device 13 comprises a base 54, which can be rotated about the vertical axis 16 in the direction of the arrow 18 relative to the distance measuring device 12 by means of the pivoting device 14, a first sub-device 66, that of the laser rangefinder 12a in the direction of A second divider 69, which divides the sub-signal 68a into sub-signals 70a and 70b, a first deflection device 71 which is designed to be movable between different positions and the sub-signal 70a optionally in the direction of the arrow 42nd or 44 deflects, a second deflecting 72, which is designed to be movable between different positions and deflects the sub-signal 68b optionally in the direction of arrow 38 or 39, as well as pivotable shutters 73, 74 and 75, which in the direction of arrows 76, 77 and 78 are movably arranged and the corresponding part signals 68b and 70
  • the measurement signal emitted by the laser rangefinder 12a is thus divided by the first subdevice 66 into the two component signals 68a and 68b.
  • the sub-signal 68a is again divided by the second sub-device 69 into the sub-signals 70a and 70b.
  • the partial signal 70a reaches the deflection device
  • the partial signal 70b leaves the measuring system directly in the direction of the arrow 40 without any further deflection.
  • the partial signal 68b reaches the deflection device
  • the shutters 74 and 75 are pivoted in the direction of the arrows 76 and 77 in such a way that they block the passage of the corresponding component signals 70a and 70b.
  • the shutters 73 and 74 are reversely pivoted in the direction of the arrows 77 and 78 when the measurement signal emitted from the laser distance meter 12a is to exit in the direction of the arrow 40.
  • the shutter 75 remains open in this case.
  • the shutter 74 remains open while the shutters 73 and 75 are pivoted into their blocking position.
  • the measuring system 10 can accordingly make optional measurements in each of the directions indicated by the arrows 38, 39, 40, 42 and 44.
  • the laser rangefinder 12a can alternatively also be designed such that it emits measurement signals having three different wavelengths. This can be achieved, for example, by means of different laser removal be realized keypad modules.
  • the shutters 73, 74 and 75 are respectively replaced by frequency- or wavelength-selective elements, each passing only one of the three wavelengths.
  • the measurement signals leaving the measurement system 10 in the directions of arrows 38 and 39, 40 and 42 and 44, respectively have a predetermined wavelength.
  • the measurement system 10 can also associate the response signals it receives with the respective directions, and therefore multiple measurements can be made simultaneously. In this way, the total measurement time can be shortened.
  • FIG. 4 is a schematic view showing a third variant of the structure of the optical device 13.
  • the optical device 13 comprises a base 54 in the form of a base plate with two separate, circular and concentrically arranged portions 54a and 54b.
  • the inner portion 54 a is formed and arranged such that it is rotatable by means of the pivoting device 14 about the vertical axis 16 in the direction of the arrow 18 relative to the distance measuring device 12.
  • the outer portion 54 b is formed and arranged so that it dwells during the rotational movement of the portion 54 a stationary with respect to the distance measuring device 12.
  • a first deflection device 56 Arranged on the inner portion 54a of the base 54 is a first deflection device 56, which deflects the measurement signal emitted by the laser rangefinder 12a in the direction of the arrow 40.
  • a first deflection device 56 Arranged on the inner portion 54a of the base 54 is a first deflection device 56, which deflects the measurement signal emitted by the laser rangefinder 12a in the direction of the arrow 40.
  • deflectors 79a, 79b, 79c, 79d, 79e and 79f are equally spaced deflectors 79a, 79b, 79c, 79d, 79e and 79f arranged.
  • deflecting devices 79a, 79b, 79c, 79d, 79e and 79f are designed to be movable such that the deflecting devices 19a, 79c and 79e selectively deflect the measuring signal coming from the first deflecting device 56 in the direction of the arrow 38 or 39, and that the deflecting devices 79b, 79d and 79f optionally deflect the measurement signal coming from the first deflection device 56 in the direction of the arrow 42 or 44.
  • the measuring system 10 During a rotational movement of the Section 54a of the base 54 about the vertical axis 16 in the direction of the arrow 18, the measuring system 10 according to optionally make measurements in each of the directions indicated by the arrows 38, 39, 40, 42 and 44 directions.
  • FIG. 5 is a perspective view showing the mobile measuring system 10 shown in FIG. 1, wherein the pivoting device 14 and the optical device 13 have been pivoted about a pivot axis 96 by 90 °.
  • the pivotal position achieved in this way is stabilized by means of a retaining element 98.
  • the outlet directions 38, 39, 40, 42 and 44 are rotated accordingly by 90 °.
  • FIG. 6 shows a schematic perspective view, in which the mobile measuring system 10 shown in FIGS. 1 to 5 is used to measure a space 100 which has a plurality of wall sections, wherein only the wall sections 102, 104, 106 and 108 are shown in FIG ,
  • the mobile measuring system 10 is first set up at a location in the middle of the room 100, whereupon the distance measuring device 12 of the mobile measuring system 10 is aligned by means of the leveling device 20 with respect to the horizontal. In this way it is ensured that the measuring signal emerging in the direction of the arrow 40 from the optical device 13 of the measuring system 10 extends parallel to the horizontal, then a starting point 110 is determined, which is located in FIG.
  • the measuring angle ⁇ is set by which the optical device 13 is to be pivoted by means of the pivoting device 14 during the performance of the measurement.
  • an endpoint 112 can also be fixed. be placed, which is also at the height hi.
  • the measurement is now started, whereupon the optical device 13 is rotated by the measuring angle ⁇ in such a way that a measuring line 114 between the starting point 110 and the end point 112 at the height hi travels from the measuring signal emerging from the optical device 13 in the direction of the arrow 40 becomes.
  • the measurement system 10 measures any number of distances to points located on the measurement line 114.
  • the individual distance measurements are assigned to the respective swivel angle of the optical device 13, at which the corresponding distance measurement was made, and sent to the evaluation unit 34. Based on the received measurement data, this generates a profile section 116 which can be printed out in the form of a two-dimensional image 118 or displayed via the output unit 52 of the evaluation unit 34, as shown in FIG.
  • the optical device 13 of the mobile measuring system 10 can be moved by means of the height adjustment device 22, for example to a further starting point 120, whereupon a further profile section along the measuring line 122 between the starting point 120 and another End point 124 can be generated.
  • the profile section thus produced can then be combined, for example, by means of interpolation with the first profile section 116 to form a three-dimensional profile section.
  • any number of profile sections can be created and combined with one another in order to produce the most accurate illustration of the space 100.
  • the measuring signal is deflected several times during the pivoting movement of the optical device 13 by the measuring angle ⁇ such that it is deflected in the direction of the arrow 42 (see also FIG Device 13 exits. In this way, distances to the ground 126 along the circular arc 128 are determined. At least three distance measurements to the floor 126 are required to determine the inclination of the floor 126 with respect to the horizontal by means of a triangulation method. However, it should be understood that the accuracy of the slope measurement increases with increasing number of distance measurements to the ground 126.
  • the inclination of the ceiling of the room 100 to the horizontal can be determined by the measurement signal is deflected in the direction of arrow 38 or 39, see Figures 1 to 4.
  • the mobile measuring system 10 merely has to be transferred to the state shown in FIG. Based on this state, the optical device 13 can be pivoted by means of the pivoting device 14 about the now horizontally extending axis 16 in the direction of the arrow 18, so that a vertical profile section is generated. Then, the height adjustment device 22 can be rotated by a motor, not shown, in the direction of the arrow 131 by a predetermined pivoting angle, after which a further vertical profile section can be created.
  • FIGS. 8a and 8b are schematic plan views of a space 130 to be measured with the aid of the measuring system 10, which has a projection 132 (also referred to as shading) which can not be completely measured from a location within the space 130 alone.
  • the mobile measuring system 10 is first set up at a first location within the room 130, as shown in Figure 8a. From this location any number of profile sections are detected at different heights, but starting from the location of the measuring system 10 shown in Fig. 8a no accurate measurement data on the space portion 134 shown in dashed lines can be achieved because this section 134 is covered by the projection 132 , Subsequently, a second location within the room 130 is selected for the mobile measuring system 10, from which the space portion 134 can be measured. This second position is shown in FIG. 8b. It can be determined by the user himself or proposed by the evaluation unit 34.
  • Profile sections of the space 130 at the corresponding heights are again generated from this second location, wherein this time no measured data can be obtained via the spatial section 136 shown in dashed lines in FIG. 8b, since this space section 136 is covered by the projection 132.
  • a two- or three-dimensional overall profile cut can then be achieved by combining the profile cuts obtained from the first location ( Figure 8a) and those obtained from the second location (see Figure 8b). This combination can be done, for example, by means of a reference point 138, which can be detected from both locations and whose spatial coordinates are known.
  • FIG 9 is a perspective view showing the mobile measuring system 10 during a process in which the inclination of an inclined surface 140 with respect to the horizontal is detected.
  • the mobile measuring system 10 is initially skewed Surface 140 is positioned.
  • the distance measuring device 12 is aligned substantially horizontally, which can be realized by adjusting the length of the legs 28, 30 and 32 of the stand 26.
  • the exact alignment of the distance measuring device 12 parallel to the horizontal is then again using the leveling device 20.
  • - as in the detection of the inclination of the bottom 126 of the space 100 see Figure 6) - at least three distance measurements to the inclined plane 140 along a circular arc 128 performed while the optical device 13 is pivoted by a measuring angle ⁇ .
  • the inclination of the inclined plane 140 with respect to the horizontal can then be determined, for example with a triangulation method.
  • FIGS. 10a and 10b show two variants for determining the inclination of roof slopes 150 and 152 with respect to the horizontal.
  • the mobile measuring system 10 is positioned directly below the gable, so that both roof slopes 150 and 152 can be detected by the measuring signal deflected in the direction of the arrow 39. Subsequently, the distance measuring device 12 is aligned by means of the leveling device 20 parallel to the horizontal. It should be noted that it is alternatively also possible for the distance measuring device 12 to detect the inclination of the distance measuring device 12 with respect to the horizontal only without an actual alignment of the measuring system 10 taking place. The inclination information determined by the sensors can then be taken into account later in the calculation of the profile section. It is therefore not absolutely necessary that an actual orientation of the distance measuring device 12 takes place.
  • the distances to at least six measuring points are determined.
  • at least three measuring points lie on a common surface on the sloping roof 150 and on the sloping roof 152. The more measuring points are determined here, the more accurate the gable profile can subsequently be detected by means of triangulation or the like.
  • one or more horizontal and / or vertical profile sections can be generated before, after or simultaneously with the measurement of the gable profile, as described with reference to FIG. 6.
  • the slopes of the roof slopes 150 and 152 may also be sequentially detected by first positioning the mobile measurement system 10 below the roof slope 150 and then below the roof slope 152, as shown in Figure 10b.
  • the distance measuring device need not be a laser rangefinder. Rather, alternatively, other non-contact rangefinder can be used.
  • a plurality of distance measuring devices may also be provided, such as a plurality of laser rangefinders which emit measuring signals having different wavelengths.
  • the different wavelengths serve for distinguishing measurement signals, which after their transmission to an object or a wall and then received again by the measuring system.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

L'invention concerne un système de mesure mobile permettant de déterminer des sections transversales d'un objet et/ou d'un espace, le système de mesure comprenant au moins un dispositif de mesure de distance placé de manière à résister à la rotation et fonctionnant sans contact, un premier dispositif de renvoi ou dispositif diviseur, qui renvoie un signal de mesure émis par le dispositif de mesure de contact ou répartit ce signal vers différentes directions, un dispositif de pivotement permettant de faire pivoter le dispositif de renvoi ou le dispositif diviseur autour d'un premier axe et un dispositif de réglage de hauteur permettant de régler la hauteur du dispositif de renvoi ou dispositif diviseur.
EP08874184A 2008-05-07 2008-12-09 Système de mesure mobile et procédé de mesure permettant de déterminer des sections transversales ou des contours Withdrawn EP2277004A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200810001619 DE102008001619A1 (de) 2008-05-07 2008-05-07 Mobiles Messsystem und Messverfahren
PCT/EP2008/067120 WO2009135549A1 (fr) 2008-05-07 2008-12-09 Système de mesure mobile et procédé de mesure permettant de déterminer des sections transversales ou des contours

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EP2277004A1 true EP2277004A1 (fr) 2011-01-26

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EP (1) EP2277004A1 (fr)
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DE102010030593A1 (de) * 2010-06-28 2011-12-29 Hilti Aktiengesellschaft Vorrichtung und Verfahren zur Höheneinstellung eines Ständers
DE202011110511U1 (de) * 2011-02-18 2014-10-16 Arnold Pugliese Zweidimensionale Entfernungsmess- und Aufzeichnungseinrichtung zum Bestimmen beispielsweise des Grundrisses eines Gebäuderaumes
JP6691721B2 (ja) * 2016-02-15 2020-05-13 株式会社トプコン 飛行計画作成方法及び飛行体誘導システム
US11320263B2 (en) * 2019-01-25 2022-05-03 Stanley Black & Decker Inc. Laser level system
CN114321639B (zh) * 2021-12-29 2022-09-02 扬州宇航测绘科技有限公司 一种高精度的激光测绘装置
US20230324173A1 (en) * 2022-04-08 2023-10-12 Stanley Black & Decker Inc. Motor controlled laser level assembly
CN117268271B (zh) * 2023-11-23 2024-02-02 中交(长沙)建设有限公司 一种箱梁测量设备和多功能箱梁转体装置

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EP1992974B1 (fr) * 2005-01-12 2016-01-06 Trimble Jena GmbH Dispositif de positionnement
DE102006031580A1 (de) * 2006-07-03 2008-01-17 Faro Technologies, Inc., Lake Mary Verfahren und Vorrichtung zum dreidimensionalen Erfassen eines Raumbereichs
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WO2009135549A1 (fr) 2009-11-12

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