EP3237841A1

EP3237841A1 - Method for examining object properties of an object in a substrate

Info

Publication number: EP3237841A1
Application number: EP15813875.0A
Authority: EP
Inventors: Torsten Gogolla; Dietmar Schoenbeck; Sascha Korl; Jens Neumann
Original assignee: Hilti AG
Current assignee: Hilti AG
Priority date: 2014-12-23
Filing date: 2015-12-22
Publication date: 2017-11-01
Also published as: WO2016102564A1; RU2673368C1; US10502566B2; CN107278273A; US20170370721A1; JP2018506028A; JP6762301B2; EP3037778A1

Abstract

The invention relates to a method for examining object properties of an object (23, 25) in a substrate (18), using an arrangement (10) that comprises a detector device (11), a localisation device (12) and a control device (13), in which: - in a first step, a first object having first object properties to be examined and first target coordinates is selected, - in a second step an actual position of the detector device (11) is determined using the localisation device (12), - in a third step an actual detection field is determined from the actual position of the detector device (11), by means of the control device (13) and - in a fourth step, the first target coordinates are compared with the actual detection field of the detector device (11), by said control device (13).

Description

Method for verifying object properties of an object

in a background

Technical area

The present invention relates to a method for checking object properties of an object in a substrate according to the preamble of claim 1.

PRIOR ART DE 20 2010 016 564 U1 discloses a device for detecting objects in a subsoil. The device comprises a detector device, a localization device and a control device. The operator moves the detector device across the interface, the detector device performing a series of measurements. The localization device regularly determines the current position of the detector device during the measuring operation. The measurement data of the detector device and the position data of the localization device are transmitted to the control device, which assigns and stores the measurement and position data. The measurement and location data can be further processed by the control device and displayed for example on a screen.

DESCRIPTION OF THE INVENTION The object of the present invention is the development of a method for checking object properties of an object in a ground.

This object is achieved according to the invention in the aforementioned method for checking object properties of an object in a substrate by the features of independent claim 1. Advantageous developments are specified in the dependent claims.

According to the invention, the method for checking object properties of an object in a substrate by means of a device which has a detector device, a localization device and a control device, is characterized in that: ^■ in a first step, a first object having at least one first object property to be checked and first desired coordinates is selected,

^■ in a second step, by means of the localization device, a current position of the detector device in space is determined,

- In a third step by the control device from the current position of the detector device, a current detection field is determined and

^■ the first target coordinates are compared by the control device with the current detection area of the detector device in a fourth step.

The method according to the invention is concerned with checking the object properties of a known object by means of a detector device. The term "object" encompasses all elements which are arranged in a subfloor Examples of objects which are determined by means of the detector device are power lines, broadcasting lines, conduits, water pipes, heating pipes and reinforcing irons. Copper or plastic), the diameter, location and use as hot or cold water supply to the object properties that can be inspected, including, but not limited to, material, spacing and location to other types of conductors and use When embedding reinforcing bars in concrete slabs, it is possible to check whether the indicated quantity of reinforcing bars has been embedded and whether the distances between the reinforcing bars are optimal according to the state of the art be.

Necessary requirement for the inventive method is that the desired coordinates of the object to be tested are known. The desired coordinates can be present as absolute coordinates or as relative coordinates relative to a reference object. Particularly relevant for the application is the possibility to check the information of a construction plan with the aid of the method according to the invention. A design plan contains a large number of objects with their object properties and setpoint coordinates. The design plan should be in a readable form for the controller in order to load the data of the object directly from the design plan; otherwise, the operator must manually enter the data of the object into the control device.

In the first step of the method according to the invention, a first object to be tested with associated first desired coordinates is selected and the object properties of the first object to be tested are determined. Before a measurement is carried out by means of the detector device, the detector device must be positioned at a point detector above the first object and moved across the object at a scanning detector. For this purpose, the current position of the detector device in space is determined in the second step by means of the localization device. From the current position of the detector device, the control device determines the current detection field of the detector device in the third step; the relationship between the current position and the detection field of the detector device is known. In the case of the scanning detector, the detection field corresponds to the local scanning area around the object. Subsequently, in the fourth step of the method, the first desired coordinates are compared by the control device with the current detection field of the detector device.

The further method steps of the method according to the invention depend on the comparison of the first desired coordinates of the first object with the current detection field of the detector device. In this case, three variants are distinguished: In a first variant, the first object is arranged within the current detection field, in a second variant, the first object is at least partially disposed outside the current detection field and in a third variant, the dimensions of the first object are larger than the current one Detection field of the detector device.

In the first variant of the method, at least one measurement in the ground is carried out by means of the detector device when the first desired coordinates of the first object are arranged within the current detection field. The method according to the invention has the advantage that the triggering of a measurement or a series of measurements in the background by means of the detector device takes place automatically by the control device.

Particularly preferably, the measurement is carried out by the detector device with detection parameters which are adapted to the first object properties of the first object to be tested. Because the object properties of the first object are known, the detection parameters with which the detector device carries out one or more measurements can be adapted to the object properties to be tested. The measurement with adapted detection parameters increases the accuracy and reliability of the measurement results.

In the second variant of the method, an adjustment instruction for the detector device is calculated from the current position of the detector device and the first desired coordinates of the first object by the control device and displayed on a display device if the first desired coordinates of the first object are at least partially outside of the current detection field are arranged. The second to fourth steps of the method according to the invention are regularly repeated during the movement of the detector device until the first desired coordinates of the first object are arranged within the current detection field of the detector device. In the third variant of the method, an adjustment instruction for the detector device is calculated by the control device and displayed on a display device and during the movement by means of the detector device a series of measurements carried out in the underground when the first desired coordinates of the first object partially within the arranged current detection field and the dimensions of the first object are greater than the current detection field. The third variant is relevant for objects whose dimensions exceed the size of the detection field, such as power lines, water pipes and reinforcing bars.

In a preferred embodiment of the method, the background measurement with the detector device and the position determination with the localization device are started simultaneously by the control device. Due to the simultaneous start of the position determination and the background measurement, the localization device and the detector device are synchronized. Since the measurement times for the position determination with the localization device and the background measurement with the detector device generally differ from one another, the position values and the measurement results are not determined at the same time. By synchronizing the measured position values and measurement results of the background measurement can be assigned to each other. The closer the times for the position determination and the background measurement are to each other, the smaller the error in the location coordinates.

In a refinement, the method according to the invention is additionally characterized in that, in the first step, a second object with second object properties to be tested and second setpoint coordinates is selected in addition to the first object, and in the fourth step, the second setpoint next to the first setpoint coordinates of the first object - To be compared coordinates of the second object with the current detection field of the detector device. The further developed method has the advantage that several objects can be checked by means of the detector device.

The further method steps of the method according to the invention depend on the comparison of the first desired coordinates of the first object and the second desired coordinates of the second object with the current detection field of the detector device. In this case, three variants are distinguished: In a first variant, one of the two objects is arranged within the detection field, in a second variant both objects are arranged within the detection field and in a third variant both objects are arranged outside the detection field.

In the first variant, at least one measurement in the background is carried out by means of the detector device when the first desired coordinates of the first object or the second _c

5

Target coordinates of the second object are arranged within the current detection field of the detector device. In this case, the at least one measurement is carried out by the detector device particularly preferably with detection parameters which are adapted to the object properties of the object arranged within the current detection field. The measurement with adapted detection parameters increases the accuracy and reliability of the measurement results that the detector device determines.

Particularly preferably, after the background measurement with the detector device, an adjustment instruction for the detector device is calculated from the current position of the detector device and the desired coordinates of the object arranged outside the current detection field and displayed on a display device. The second to fourth steps of the method according to the invention are regularly repeated during the movement of the detector device until the further object is arranged within the current detection field of the detector device and a measurement can be carried out with the detector device. In the second variant, at least one measurement in the ground is carried out by means of the detector device when the first desired coordinates of the first object and the second desired coordinates of the second object are arranged within the current detection field of the detector device.

By means of the detector device, a first measurement with first detection parameters, which are adapted to the first object properties of the first object, and a second measurement with second detection parameters, which are adapted to the second object properties of the second object, are particularly preferably carried out. For objects with different object properties, such as different materials or depths in the ground, the optimal detection parameters may differ greatly. Several measurements, each with adapted detection parameters, can improve the accuracy of the measurement results.

In the third variant, a first distance and a second distance are calculated from the current position of the detector device and the first setpoint coordinates of the first object and the second setpoint coordinates of the second object by the control device when the first setpoint coordinates of the first object and the second desired coordinates of the second object are located outside the current detection field of the detector device. The first distance represents the difference of the first object to the current position of the detector device and the second distance corresponding to the difference of the second object to the current position of the detector device. Particularly preferably, the first distance and the second distance are compared by the control device and for the object with the smaller distance to the current position of the detector device is calculated by the control device an adjustment for the detector device and displayed on a display device. In a further development, the method according to the invention is additionally characterized in that, in the second step, by means of the localization device in addition to the current position of the detector device, a current orientation of the detector device is determined. Particularly preferably, in the third step, the current detection field of the detector device is determined by the control device from the current position and the current orientation of the detector device. By determining the current orientation, the accuracy with which the orientation of the detector device can be determined is increased. The current orientation of the detector device can be determined, for example, by means of a camera or by subtraction between a plurality of known markings which are mounted on the detector device. Here are all known methods to determine the orientation of an object in space.

Preferably, the current orientation of the detector device is additionally taken into account in all method steps of the method according to the invention which make use of the current position of the detector device.

embodiments

Embodiments of the invention are described below with reference to the drawing. This is not necessarily to scale the embodiments, but the drawing, where appropriate for explanation, executed in a schematic and / or slightly distorted form. With regard to additions to the teachings directly recognizable from the drawing reference is made to the relevant prior art. It should be noted that various modifications and changes may be made in the form and detail of an embodiment without departing from the general idea of the invention. The disclosed in the description, the drawings and the claims features of the invention may be essential both individually and in any combination for the development of the invention. In addition, all combinations of at least two of the features disclosed in the description, the drawings and / or the claims fall within the scope of the invention. The general idea of the invention is not limited to the exact form or detail of the preferred embodiment shown and described below or limited to an article that would be limited in comparison with the subject matter claimed in the claims. For given design ranges should also within the limits mentioned lying values as limits and can be used arbitrarily and claimable. For simplicity, the same reference numerals are used below for identical or similar parts or parts with identical or similar function.

Show it:

FIG. 1 the application of a device for checking object properties of an object in a ground with a detector device, a localization device and a control device;

FIG. FIG. 2 shows a rear wall of the interior of FIG. 1 with a first object to be checked and a second object to be checked;

FIG. 3 shows the interaction of the detector device, the localization device and the control device of FIG. 1 in the form of a block diagram;

FIG. 4 shows a first embodiment of the method according to the invention for

Checking the object properties of a power line; and

FIG. 5 shows a second embodiment of the method according to the invention for

Checking the object properties of a first object designed as a power line and a second object designed as a water line.

FIG. 1 shows a device 10 for carrying out the method according to the invention for checking object properties of an object in a substrate. The term "object" combines all elements that are arranged in a subsoil.

The device 10 comprises a detector device 11, a localization device 12 and a control device 13. The detector device 11, localization device 12 and control device 13 are designed as separate components that can be connected via communication lines and communicate with one another. However, the control device 13 can also be integrated into the detection device 11. The detector device 1 1 is designed as a hand-held detector device which is moved during the measurement over the ground.

In detector devices, a distinction is made between held and guided detector devices; a held detector device is held during the measurement without advancing movement over the substrate to be detected and a guided detector device is during the measurement along a linear path or in any train led over the underground to be detected. As a hand-held or hand-held detector means is called, which holds the operator with his hand over the substrate to be detected or leads. The design as a held or guided detector device depends inter alia on the dimensions of the objects to be tested; For elongated objects, such as power lines, water pipes or rebar, usually several measurements must be performed to fully capture the objects.

The method according to the invention will be described with reference to a measuring task in an interior 14. The interior 14 consists of a bottom 15, a left and right side wall 16, 17, a rear wall 18 and a ceiling 19. The boundaries 15-19 of the interior 14 are summarized under the term "underground". The interior 14 is spanned by a three-dimensional coordinate system X, Y, Z, the origin of coordinates (0, 0, 0) in the left lower corner between the bottom 15, left side wall 16 and rear wall 18 is arranged. On the rear wall 18, a kitchenette is provided with electrical appliances. To supply the electrical appliances power and water connections are required, which are arranged in the rear wall 18. An oven with steam function requires a power connection 21 and a water connection 22. The power connection 21 is connected via a vertical power line 23 to a horizontally extending power line 24 and the water connection 22 is supplied via a water line 25. For the measurement task, the vertical power line 23 is defined as the first object and the water line 25 as the second object. In the case of the power line 23, the material, the distance to other supply lines and the use as heavy or low-current cables can be object properties to be tested, which are to be checked by means of the detector device 11. In the case of the water line 25, for example, the material (copper or plastic), the diameter, the position and the use as hot or cold water line belong to the object properties which can be checked by means of the detector device 11.

Prerequisite for the inventive method is that the desired coordinates of the object to be tested are known. The desired coordinates may be included in a design plan, for example. The design plan is a technical drawing of a construction project in which all information required to produce an object is shown. The design plan can include all objects of the interior 14 as a total plan or contain only a few objects as a subplan. For different craftsmen, such as electricians, masons, installers, different objects and object properties are relevant in a design plan. FIG. FIG. 2 shows the rear wall 18 of the interior 14 with the first object 23 to be tested and the second object 25 to be tested, which are arranged in the rear wall 18. The rear wall 18 lies in the XY plane of the coordinate system and has a width B in the X direction and a height H in the Y direction. Before a measurement is carried out by means of the detector device 11, the detector device 11 must be positioned above the first object 23, the second object 25 or the first and second objects 23, 25. For this purpose, by means of the localization device 12, the current position P _act with the coordinates x _act , y _act , z _{act of} the detector device 1 1 in the interior 14 is determined. The current position P _{act of} the detector device 1 1 is determined by means of two localization marks 26A, 26B. In the exemplary embodiment, the localization marks 26A, 26B are mounted on the upper side of the detector device 11. From the current position of the detector device 11, the control device 13 determines a current detection field 27 of the detector device 11. There is a known relationship between the positions of the localization marks 26A, 26B and the detection field 27 of the detector device 11. A current orientation O _ak t of the detector device 1 1 can likewise be determined with the aid of the localization marks 26A, 26B.

After the control device 13 has determined the current detection field 27 of the detector device 11, the desired coordinates of the objects 23, 25 are compared by the control device 13 with the current detection field 27 of the detector device 11. The desired coordinates of the objects to be tested can be present in different forms. For elongated objects, such as the power line 23 and the water pipe 25, it is advantageous to specify as desired coordinates at least one end point, the length of the object and the orientation of the object. The power line 23 has an upper end point E _Q i with the coordinates x ₀ i, y ₀ i, z ₀ i and a length Ii; It is oriented as a vertical power line parallel to the Y direction. The water pipe 25 has an upper end point E _o2 with the coordinates x ₀₂ , y ₀₂ , z ₀₂ , a length l ₂ and an orientation parallel to the Y direction. As an alternative to the upper end points E _o1 , E _{o2 of} the objects 23, 25, the lower end points E _u , E _{u2 can be} specified.

FIG. 3 shows the structure and the interaction of the detector device 1 1, the localization device 12 and the control device 13 in the form of a block diagram. The detector device 1 1, localization device 12 and control device 13 are formed in the embodiment as separate components that can communicate with each other via communication links.

The detector device 1 1 and the control device 13 can be connected to one another via a first communication connection 31. The control device 13 is connected via a second Communication link 32 with the localization device 12 connectable. The communication links may be formed as wireless communication links, such as wireless, infrared, Bluetooth, Wi-Fi or Wi-Fi links, or as wired communication links. In addition to the listed wireless connection technologies, all known and future wireless connection technologies for data and image transmission are suitable.

The control device 13 comprises a housing 33, in which an operating device 34 and a display device 35 are integrated. The operating device 34 and the display device 35 can, as shown in FIG. 2 shown as separate parts formed or shared, for example, be integrated into a touch screen. The control device 13 also has an evaluation and control element 36, a memory element 37 and a first transmitting and receiving element 38.

The detector device 1 1 comprises a sensor device 41, a control element 42 for controlling the sensor device 41 and a second transmitting and receiving element 43. Starting from the first transmitting and receiving element 38 of the control device 13, the first communication connection to the second transmitting and receiving element 43 of the detector device 1 1 constructed. The control commands for the detector device 1 1 are transmitted from the control device 13 via the first communication link 31 to the control element 42 of the detector device 23. The sensor device has a single sensor element or a plurality of sensor elements; the sensor elements can be designed as inductive sensors, capacitive sensors, radar sensors, magnetic field sensors or other sensors suitable for detecting objects in surfaces.

The localization device 12 comprises a measuring device 44, a control and evaluation element 45 for controlling the measuring device 44 and for evaluating the measured values and a third transmitting and receiving element 46. The localization device 12 is, for example, as a total station and the measuring device 44 as a distance and Angle measuring device formed. Starting from the first transmitting and receiving element 38 of the control device 13, the second communication link 32 is constructed to the third transmitting and receiving element 46 of the localization device 12.

The design plan may be stored in the memory element 37 of the control device 13. The control device 13 can be connected to a central memory 48 via a third communication connection 47. The term "central memory" covers all electronic devices used for archiving data. These include, for example, a server, a notebook, a computer, an external hard drive and a PDA. The third communication connection 47 can be used to construct Onspläne transfer from the central memory 48 to the control device 13 and stored in the memory element 37 or processed design plans are transmitted from the control device 13 to the central memory 48 and archived there.

The central memory 48 comprises a memory device 51 and a fourth transmitting and receiving element 52. Starting from the first transmitting and receiving element 38 of the control device 13, the third communication link 47 is constructed to the fourth transmitting and receiving element 52 of the central memory 48. Data in the form of construction plans, photo and video files, etc. are transmitted from the control device 13 via the third communication link 47 to the memory device 51. FIG. 4 shows a first embodiment variant of the method according to the invention for checking object properties of a first object on the basis of a flowchart. The first embodiment will be described with reference to the vertically extending power line 23, which forms the first object to be tested and which is arranged in the rear wall 18 of the inner space 14. The operator selects in a step S01 by means of the operating device 34 from a suitable construction plan of the interior 14, which is loaded into the control device 13. Various design plans of the interior 14 may be stored in the memory element 37 of the controller 13 and the operator selects a suitable design plan. Alternatively, the operator can set up the third communication connection 47 to the central memory 48 via the operating device 34 and transmit a construction plan from the memory device 51 of the central memory 48 to the control device 13. In a step S02, the operator selects the power line 23 with its _desired coordinates (E _o1 , E _u i) as object to be tested from the construction _plan and sets the object properties of the power line 23 to be tested. As an object property to be tested, the position of the power line 23 is defined in the exemplary embodiment.

For scanning detectors and for objects whose dimensions are greater than the dimensions of the detection field 27, several measurements must be carried out with the detector device 1 1 and assigned to the nearest position data of the localization device 12 in order to completely detect the object; Here it is advantageous to start the measurements at an end point of the object. As a starting point for the measurements, one of the end points _E.sub.o1 , _{E.sub.U1 of} the power line 23 can be fixed _{beforehand or} the control _device 13 decides during the execution of the method which end point _E.sub.o1 , _{E.sub.U1 of} the power line 23 is closer and generates a corresponding adjustment _instruction for the detector device 1 1. 1m embodiment of FIG. 4, the upper end point E _{o1 of} the power line 23 is set as the starting point for the measurements. In a step S03, the localization device 12 determines the current position P _akt and the current orientation O _ak t of the detector device 1 1 on the rear wall 18. The current Position and orientation P _act , O _ak t of the detector device 1 1 are transmitted from the localization device 12 to the control device 13 in a step S05. In a step S06, the control device 13 determines from the current position and orientation P _act , O _ak t of the detector device 1 1 the current detection field 27 of the detector device 11. Subsequently, the target coordinates of the upper end point E _{o1 of} the power line 23 are compared by the control device 13 with the current detection field 27 of the detector device 1 1 in a step S07. In this case, the control device 13 checks in step S07 whether the upper end point E _{o1 of} the power line 23 is arranged within the current detection field 27.

If the upper end point E _{o1 of} the current line 23 is not arranged within the current detection field 27 of the detector device 1 1 (N in S07), the control device 13 calculates the current position P _{act of} the detector device 1 1 and the desired value in a step S08 Coordinates of the upper end point E _{o1 of} the power line 23 an adjustment for the detector device 1 1, which is displayed on the display device 35. The method according to the invention is continued with step S05. The current position and orientation P _act , Oa _k t of the detector device 1 1 are determined by the localization device 12 with a measuring frequency f; the measuring frequency f is for example 1 Hz.

If the upper end point E _{o1 of} the power line 23 is arranged within the current detection field 27 (J in S07), the control device 13 compares the current orientation O _ak t of the detector device 1 1 with the orientation of the object 23 in a step S09 runs parallel to the Y direction, the detector device 1 1 should be aligned accordingly and then moved in the Y direction via the power line 23. For accurate detection of the position of the power line 23 and in particular in the use of a scanning detector is usually a serpentine movement over the power line 23 across away required, which is indicated by an adjustment of the control device 13 on the display device 35. If the detector device 1 1 is not aligned parallel to the Y direction (N in S09), the control device 13 prepares an adjustment instruction for the operator in a step S10, which is displayed on the display device 35. During the rotational movement of the detector device 11 by the operator, the current orientation O _ak t of the detector device 11 is determined in a step S11 with the aid of the localization device 12, and the method is then continued with step S09. If the detector device 1 1 is aligned parallel to the Y direction (J in S09), the detector device 1 1 starts in one step S12, the execution of a series of measurements with detection parameters, which are adapted to the object properties of the power line 23. For example, magnetic and / or electrical field strengths are suitable as measured quantities for the power line 23. The actual position and orientation of the power line 23 can be determined via the assignment of the measurement data of the detector device 1 1 to the temporally closest position data of the localization device 12 and compared with the respective desired coordinates of the power line 13 by the control device 13. The end of the measurements is displayed on the display device 35 in a step S13.

In the first embodiment of the method according to the invention, the current position P _{act of} the detector device 1 1 and the current orientation O _ak t of the detector device 1 1 in steps S07 and S09 successively compared with the desired coordinates of the power line 23. Alternatively, the current position P _akt and current orientation Oa _k t of the detector device 1 1 can be compared in a common method step with the desired coordinates of the power line 23 and on the display device 35 can then be an adjustment for the position and orientation of the detector device 1 1 are displayed.

FIG. 5 shows a second embodiment variant of the method according to the invention for checking the object properties of a first object and of a second object on the basis of a flowchart. The second embodiment will be described with reference to the power line 23 forming the first object to be tested and the water pipe 25 forming the second object to be tested. In this case, the power line 23 and the water pipe 25 are arranged in the rear wall 18 of the inner space 14.

As the starting point for the measurements, one of the objects 23, 25 to be tested can be determined in advance, or the control device 13 decides which object 23, 25 is closer during the execution of the method and generates a corresponding adjustment instruction for the detector device 1 1. In the exemplary embodiment FIG. 5, the distances are determined and compared. Since the desired coordinates of the objects 23, 25 and thus also the dimensions of the objects 23, 25 are known before the method is carried out, it is clear in advance whether an object can be detected with a measurement or whether the detector device 1 1 is detected by the Object moves and at the same time a series of measurements must be performed. In the exemplary embodiment, the length of the power line 23 and the length l _{2 of} the water line 25 are greater than the dimensions of the detection field 27 of the detector device 1 1, so that several measurements with the detection device 1 1 and the localization device 12 must be performed to the objects 23, 25 completely. Scanning detectors require multiple measurements in each case. The operator selects in a step S101 a suitable design plan of the interior 14, which is loaded into the control device 13. In a step S102, the operator selects the power line 23 as the first object to be checked and the water line 25 as the second object to be checked from the design plan, and sets the object properties of the power line 23 and the water line 25 to be tested. After the objects 23, 25 and the object properties to be tested have been set in step S102, the operator starts the inspection of the object properties via the operating device 34 in a step S103.

The localization device 12 determines in a step S104 the current position P _act and the current orientation O _{act of} the detector device 1 1 on the rear wall 18. The current position and orientation P _act , O _{act of} the detector device 1 1 in a step S105 from the localization device 12 to the control device 13, which determines the current detection field 27 in a step S106 from the current position and orientation of the detector device 1 1. Subsequently, the current detection field 27 is compared by the controller 13 with the target coordinates of the power line 23 and the target coordinates of the water pipe 25 in a step S107.

If neither an end point E _o1 , E _{u1 of} the power line 23 nor an end point E _o2 , E _{u2 of} the water pipe 25 within the current detection field 27 of the detector device 1 1 is arranged (N in S107), the controller 13 calculates a ers - th distance di between the power line 23 and the current position P _{act of} the detector device 1 1 and a second distance d ₂ between the water pipe 25 and the current position P _{act of} the detector device 1 first

The control device 13 creates for the object with the smaller distance to the current position P _{act of} the detector device 1 1 in a step S109 an adjustment instruction for the detector device 1 1, which is displayed on the display device 35. During the movement of the detector device 1 1 by the operator, the current position P _act and current orientation O _{act of} the detector device 1 1 are determined in a step S110 using the localization device 12 and the method is continued with step S105. If an end point E _o1 , E _{u1 of} the power line 23 or an end point E _o2 , E _{u2 of} the water line 25 is arranged within the current detection field 27 (J in S107), the control device 13 compares the current orientation O _akt in a step S111 the detector device 1 1 with the orientation of the disposed within the detection field 27 object.

If the current orientation O _{act of} the detector device 1 1 deviates from the orientation of the object to be tested (N in S1 1 1), the control device 13 prepares in a step S112 an adjustment for the detector device 1 1, which is displayed on the display device 35. During the rotational movement of the detector device 1 1 by the operator, the current orientation O _ak t of the detector device 1 1 is determined in a step S113 using the localization device 12 and the method continues with step S1 1 1. If the current orientation O _ak t of the detector device 1 1 corresponds to the orientation of the object (J in S1 1 1), the control device 13 creates an adjustment instruction for the detector device 11 in a step S114 and starts a series of measurements with the detector device 11; The detection parameters are adapted to the object properties to be tested. The end of the measurements for the object to be tested is displayed on the display device 35 in a step S115 and the method for the further object to be checked is continued.

The current position P _act and current orientation O _ak t of the detector device 1 1 are determined in a step S1 16 with the aid of the localization device 12 and transmitted to the control device 13. The control device 13 determines the current detection field 27 from the current position and orientation P _act , O _ak t of the detector device 1 1 in a step S117 and compares the current detection field 27 with the desired coordinates (end points, orientation) in a step S118. of the object to be tested.

If no end point of the object is arranged within the current detection field 27 of the detector device 1 1 and / or the orientation of the object deviates from the current orientation O _ak t of the detector device 1 1 (N in S1 18), the control device 13 calculates in a step S119 from the current position and orientation P _act , O _{act of} the detector device 1 1 and the desired coordinates of the object (endpoints and orientation) an adjustment for the detector device 1 1, which is displayed on the display device 35. During the movement of the detector device 1 1 by the operator, the current position P _act and current orientation O _{act of} the detector device 1 1 are determined in a step S120 using the localization device 12 and the method is continued with step S1 17th

If an end point of the object is arranged within the current detection field 27 of the detector device 1 1 and the orientation of the object corresponds to the current orientation O _{act of} the detector device 1 1 (J in S1 18), the control device 13 prepares an adjustment instruction for the device in a step S121 Detector 1 1 and starts a series of measurements with the detector device 1 1; The detection parameters are adapted to the object properties to be tested. The end of the measurements for the object to be tested is displayed on the display device 35 in a step S122. The method according to the invention is terminated after step S122.

Claims

claims

1 . Method for checking object properties of an object (23, 25) in a substrate (18) by means of a device (10) having a detector device (1 1), a localization device (12) and a control device (13), wherein:

in a first step, a first object (23) having at least one first object property (Ai) to be tested and first desired coordinates (E _O1 , E _U1 ) is selected,

^■ in a second step, by means of the localization device (12), a current position (P _ak t) of the detector device (11) in a space (14) is determined,

^■ in a third step by the control device (13) from the current position (Pa _k t) of the detector device (1 1) a current detection field (27) is determined and

^■ in a fourth step, the first desired coordinates (E _O1 , E _U1 ) of the control device (13) with the current detection field (27) of the detector device (1 1) are compared.

2. The method according to claim 1, characterized in that by means of the Detektoreinrich- device (1 1) at least one measurement in the ground (18) is carried out when the first

Target coordinates (E _O1 , E _U1 ) of the first object (23) within the current detection field (27) are arranged.

3. The method according to claim 2, characterized in that the measurement is carried out by the detector device (1 1) with detection parameters which are adapted to the first object properties (Ai) of the first object (23).

4. The method according to claim 1, characterized in that from the current position (Pa _k t) of the detector device (1 1) and the first desired coordinates of the first object (23) from the control device (13) an adjustment for the detector device ( 1 1) is calculated and displayed on a display device (35) when the first desired coordinates of the first object (23) are arranged at least partially outside the current detection field (27).

5. The method according to claim 1, characterized in that by the control device (13) an adjustment for the detector device (1 1) calculated and displayed on a display device (35) and during the movement by means of the Detektoreinrich- device (1 1) a row of measurements in the subsurface (18) is carried out when the first desired coordinates of the first object (23) partially within the current detection field (27) arranged and the dimensions () of the first object (23) greater than the current detection field (27) are.

6. The method of claim 1, wherein:

^■ in the first step, in addition to the first object (23), a second object (25) with second object properties to be tested and second setpoint coordinates (E _O2 , E _U2 ) is selected, and

- In addition to the first target coordinates (E _O1 , E _U1 ) of the first object (23) in addition to the second target coordinates (E _O2 , E _U2 ) of the second object (25) of the control device (13) with the Current detection field (27) of the detector device (1 1) are compared.

7. The method according to claim 6, characterized in that by means of the detector device (1 1) at least one measurement in the ground (18) is carried out when the first

Target coordinates (E _O1 , E _U1 ) of the first object (23) or the second desired coordinates (E _O2 , E _U2 ) of the second object (25) within the current detection field (27) of the detector device (1 1) are arranged ,

8. The method according to claim 7, characterized in that the at least one measurement is carried out by the detector device (11) with detection parameters which are adapted to the object properties of the object located within the current detection field (27).

9. The method according to any one of claims 7 to 8, characterized in that after the measurement with the detector device (1 1) from the current position (P _act ) of the detec tor device (1 1) and the desired coordinates of the outside of the current Detection field (27) arranged object of the control device (1 3) calculates an adjustment for the detector device (1 1) and displayed on a display device (35).

1 0. A method according to claim 6, characterized in that means of the Detektoreinrich- device (1 1) at least one measurement in the ground is carried out when the first desired coordinates (E ₀ i, E _u i) of the first object (23) and the second desired coordinates (E _O2 , E _U2 ) of the second object (25) within the current detection field (27) of the detector device (1 1) are arranged.

1 1. A method according to claim 10, characterized in that by means of the detector device (1 1) a first measurement with first detection parameters, which are adapted to the first object properties of the first object (23), and a second measurement with second detection parameters, the second object properties of the second object (25) are adapted to be executed.

12. The method according to claim 6, characterized in that from the current position (Pakt) of the detector device (1 1) and the first and second desired coordinates of the first and second object (23, 25) of the control device (13) a first and second distance (di, d ₂ ) are calculated when the target coordinates of the first and second object (23, 25) outside the current detection field (27) of the detector device (1 1) are arranged.

13. The method according to claim 12, characterized in that the first and second distance (di, d ₂ ) of the control device (13) are compared with each other and for the object with the smaller distance to the current position of the detector device (1 1) of the Control device (13) an adjustment for the detector device (1 1) calculated and displayed on a display device (35).

14. The method according to claim 1, characterized in that in the second step by means of the localization device (12) additionally a current orientation (O _a kt) of the detector device (1 1) is determined.

15. The method according to claim 14, characterized in that in the third step, the current detection field (27) of the detector device (1 1) from the current position (P _act ) and the current orientation (O _a kt) of the detector device (1 1) determined becomes.