EP3775993A1 - Dispositif mobile et procédé de détection d'un espace objet - Google Patents

Dispositif mobile et procédé de détection d'un espace objet

Info

Publication number
EP3775993A1
EP3775993A1 EP19720395.3A EP19720395A EP3775993A1 EP 3775993 A1 EP3775993 A1 EP 3775993A1 EP 19720395 A EP19720395 A EP 19720395A EP 3775993 A1 EP3775993 A1 EP 3775993A1
Authority
EP
European Patent Office
Prior art keywords
mobile device
emission
scanner
object space
frame
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.)
Pending
Application number
EP19720395.3A
Other languages
German (de)
English (en)
Inventor
Mandolin MAIDT
Andreas Goebel
Stefan Romberg
Georg Schroth
Michael Jaschke
Prashant DOSHI
Sarah GODOJ
Hernando Samuel PINZON HOLGUIN
Matthias Wagner
Humberto ALVAREZ-HEREDIA
Neeti TYAGI
Paul Zeller
Christian Werner
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.)
Navvis GmbH
Original Assignee
Navvis 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 Navvis GmbH filed Critical Navvis GmbH
Publication of EP3775993A1 publication Critical patent/EP3775993A1/fr
Pending legal-status Critical Current

Links

Classifications

    • 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
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • 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
    • G01S7/4808—Evaluating distance, position or velocity data
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • 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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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 device for detecting an object space. Furthermore, the invention relates to a device for detecting an object space with a mobile device.
  • the present invention relates to detecting an object space within a building.
  • a laser scanner is used in conjunction with multiple cameras. From the signals of the laser scanner and the images of the cameras, a point cloud is generated, from which a three-dimensional building model is created.
  • Satellite navigation plays a role in georeferencing and reducing long-term drift.
  • the fastest possible real-time position determination is required for determining the position within buildings during the mobile detection of object spaces in order to be able to provide the system operator in real time with a display of the detection process in the surroundings so that he can thus control the detection process in that the building interior is scanned as consistently as possible and in high quality.
  • systems are generally used in which a laser beam is emitted through a mirror rotating about an axis in a plane in space.
  • solid state lasers without moving parts can be used to create a rotating laser beam.
  • each data set contains for each data set (point of the point cloud) usually the respective time stamp of the respectively emitted laser pulse with the associated angular position within the axis of rotation.
  • each data record contains one or more values which are derived from one or more successively received reflection signals and which indicate the distance, calculated from the laser light propagation time, of the respectively reflecting surfaces in the direction of the emission beam and the associated reflection intensities.
  • Semitransparent or semi-reflective surfaces can in this case lead to successively receiving a plurality of reflection signals, which then belong to surfaces of different distances.
  • the image information of panoramic cameras which usually consist only of image files that are provided with a timestamp of the recording time.
  • the exact position and orientation of the respective camera in the room must be known or determined for each time stamp and image file, thereby using known or to be determined by calibration camera parameters such as lens focal length and imaging characteristics, and sensor size and resolution -
  • the image data and the point cloud data can be assigned to each other. In this way, an object space can be detected in three dimensions.
  • Panoramic images can also be used to provide a highly realistic virtual tour of the captured object space.
  • image files in the foreground which can be combined by means of so-called “stitching" with the help of 3D information (position and orientation of each camera in the room) to seamless 360-degree panoramas, the exact view at a certain point in the environment correspond to what a viewer would perceive locally.
  • the entirety of the panoramic images represents a plurality of individual discrete positions on which the underlying images were taken. The viewer can only jump from one discrete position to another discrete position and switch from panorama to panorama, unlike the above-mentioned point cloud model, which can be continuously "flown”.
  • the point cloud model available as background information can be used here to animate the transitions between the individual panoramic images as transitions of differently transformed individual subsections (for example table surfaces) in such a way that the observer has the impression of a semi-fluid movement in 3D space receives the two discrete positions.
  • the point cloud model offers even more possibilities, such as an overlay of the point cloud via the photo panorama view or an assignment of an exact 3D coordinate to each pixel of the panorama image (for example, length measurements of recorded objects by clicking the boundary points in the panorama image as well as the insertion of location-related information ("points of interest" in the panoramic images).
  • capturing the environment inside the building by simultaneously capturing point cloud data and panoramic images is also possible through stationary, tripod-mounted devices that move from position to position.
  • the positions can be aligned here, for example, at fixed reference points and marks in the room, which can also be found in already existing plans, which facilitates the assignment.
  • the continuous detection by a mobile system is advantageous.
  • stationary buildings are suitable for smaller buildings, as described above ,
  • IMU inertial measurement units
  • SLAM Simultaneous Localization and Mapping
  • the acquired data of a laser mirror rotation passage are compared with those of one or more preceding passes.
  • the two sets of points of the two measurement passes would be more or less congruent but translationally and / or rotationally displaced within measurement tolerances, thus resulting immediately and simultaneously gives a profile of the environment as a 2D cut through the 3D space (corresponding to the laser scanner level) and at the same time the movement / rotation of the detection system within that 2D cut (hence the term "Simultaneous Localization and Mapping").
  • the movement and in particular the rotation in relation to the scanning frequency must not be too fast.
  • structured light solutions in which (infrared) dot patterns are emitted by the detection system whose distortion in the camera image provides conclusions about the 3D structure of the captured scene.
  • time-of-flight cameras which emit a light flash similar to a parallel laser scanner and very precisely determine the individual time for each pixel of the camera sensor, at which the reflection signal is detected, so that over the time of light from this Distance information for the pixel in question results.
  • these systems are not suitable for detailed coverage of large buildings.
  • stereo depth cameras which, similar to the human eye, obtain depth information from the parallax information of two camera images. Again, the precision and resolution for surveying applications is insufficient.
  • laser scanners are particularly suitable.
  • the real-time visualization of the acquisition process and the movement in space on an operator screen can then be particularly simple, robust and fast if, as shown in the above example, a 2D laser scanner in one during the movement scans the constant level, the This means that the detection system is also moved in a parallel 2D plane, as is the case in buildings with flat floors in the rooms and corridors.
  • 2D-SLAM or realtime 2D-SLAM with three degrees of freedom 3 DoF, "Degrees of Freedom" (ie 2 space axes XY and one rotation axis - "GierenTyaw").
  • Trolley-based mobile mapping systems using 2D-SLAM techniques usually require termination of the current scan and start of a new scan, as soon as, for example, a larger step, a steeper ramp or even stairways have to be overcome, even if individual systems are able to process ramps with small gradients, for example by evaluating IMU data, or to compensate for disturbances due to bumpers, overrun cables, etc. by means of correction algorithms.
  • the publication describes George Vosselman, "DESIGN OF AN INDOOR MAPPING SYSTEM USING THREE 2D LASER SCANNERS AND 6 DOF SLAM", ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume 11-3, 2014. ISPRS Technical Commission III Symposium, 5.-7. September 2014, Zurich, Switzerland. 10.5194 / isprsannals-ll-3-173-2014 (https: //www.isprs-ann-photogramm-remote-sens-spatial-inf- sci.net/ll-3/173/2014/isprsannals-ll-3- 173-2014.pdf) a method for detecting an object space within a building.
  • EP 2 388 615 A1 and US 2017/0269215 A1 disclose a multiple scanner which emits fan-shaped signal beams and measures the reflections of these signal beams.
  • the invention has for its object to provide a mobile device and a method for detecting an object space with which the detection of the object space in building environments is improved so that an uninterrupted detection is possible even if the mobile device during movement height differences, for Example on steep ramps or the like, overcomes, and that also such objects can be precisely detected, which are in similar height as the mobile device during the detection process.
  • the mobile device according to the invention for detecting an object space has a frame. At least one single scanner is mounted on the frame. This individual scanner comprises a first emission unit for generating a first signal beam in a first emission direction, a first receiver for detecting a first reflection radiation, which is generated by reflection of the first signal beam on at least one object of the object space, and a first scanning device for changing the first emission direction of the first first signal beam. Furthermore, the mobile device has a multiple scanner mounted on the rack above the single scanner.
  • the multiple scanner comprises a plurality of second component integrated emission units for generating a plurality of second signal beams in second emission directions, a second receiver for detecting second reflection radiation generated by reflections of the second signal beams on one or more objects of the object space, and a second sampling means for changing the second emission directions of the second signal beams.
  • the mobile device further comprises an evaluation device which is at least coupled to the second receiver in terms of data and which is designed to generate and output in real time, at least from the second reflection radiation detected by the second receiver, a graphical representation of those regions of the object space through which the mobile device can be moved and / or moved.
  • an evaluation device which is at least coupled to the second receiver in terms of data and which is designed to generate and output in real time, at least from the second reflection radiation detected by the second receiver, a graphical representation of those regions of the object space through which the mobile device can be moved and / or moved.
  • the mobile device has a data interface, which is data-technologically coupled at least to the first receiver and which is designed to output data which was generated at least from the first reflection radiation detected by the first receiver to a memory device for post-processing.
  • the mobile device can detect and output in real time the position of the device in the object space during the detection process even in building environments, in particular within a building.
  • the device comprises the multiple scanner with the associated evaluation device.
  • the object space can be detected very accurately, whereby a three-dimensional model of the detected object space can be generated only in a post-processing.
  • the device comprises at least one high-precision single scanner.
  • the individual scanner can thus be configured such that the data generated by the individual scanner is not suitable for real-time processing for calculating and outputting the position of the device in FIG Object space must be suitable.
  • the multiple scanner is provided.
  • the individual scanner can thus be optimized to generate data with which the object space can be modeled as precisely as possible in a post-processing. Furthermore, the individual scanner is arranged on the frame of the mobile device so that it can also detect objects which are arranged below the height of the multiple scanner in the object space. Namely, the single scanner is disposed below the multiple scanner so that the signal beams generated by the emission unit of the single scanner can hit the bottom of objects located at the level of the multiple scanner or even below the multiple scanner. The detection of the underside of such objects has been insufficiently possible in known detection devices.
  • the object space can also be detected without interruption even if the vertical orientation of the device changes when the device is moved up or down, for example, via a ramp.
  • the use of the multiple scanner allows in this case the uninterrupted detection of the object space. Namely, by using the multiple scanner, a real-time 3D SLAM method with six degrees of freedom can be used. It is not necessary to divide the entry procedure into subtransactions and to reassemble these subtransactions in postprocessing.
  • the advantage of the use of the multiple scanner in the mobile device is that the device always detects not only new surface sections of the object space during movement, since the second signal beams sweep over these surface sections, but the signal beams also always strike surface sections which have already been detected, that is, those surface portions which have already been detected by previously transmitted other second signal beams.
  • This makes it possible to carry out a comparison of the second reflection radiation detected by the second receivers from previously detected second reflection radiation. From this comparison, the movement of the mobile device can then be calculated so that it is possible to determine the position of the mobile device in the object space. This makes it possible in turn to generate and output a graphical representation of those areas of the object space through which the mobile device has been moved.
  • the frame defines placement points on which the frame can stand freely on a horizontal plane.
  • three attachment points are defined, so that the frame stands in any case without shaking on a horizontal plane.
  • the single scanner is in this case mounted on the frame at a vertical distance from the plane defined by the attachment points, which is smaller than 60 cm. The distance is in particular smaller than 55 cm. The single scanner is thus mounted very low on the frame.
  • This arrangement has the advantage that an obliquely upwardly emitted first signal beam can strike the underside of an object that is at a horizontal distance from the mobile device. In this way it is possible to detect in particular the undersides of tables, chairs or the like.
  • the precision of the detection of objects of the object space by the multiple scanner is less than the precision of the detection of the objects of the object space by the individual scanner.
  • the use of the less precise multiple scanner is not a disadvantage for the real-time processing, as a so-called subsampling is performed on a so-called coarser voxel grid to reduce the computational effort. Therefore, for the real-time processing as high precision, as it is required for post-processing, not necessary.
  • the higher precision of the single scanner allows a more accurate modeling of the object space in the post-processing.
  • the data generated by the multiple scanner can be used in the post-processing, but the single scanner can be optimized for the most accurate detection of the objects of the object space, without restricting the design of the single scanner in terms of real-time processing of the data. Likewise, while it is possible to also use data generated by the single scanner in real time processing to generate the graphical representation of the object space. An optimization of the design, however, takes place for this processing of the data only for the multiple scanner.
  • the second emission directions are fan-shaped, so that an emission fan is formed with a central axis.
  • the multiple scanner is mounted to the frame so that the plane formed by the emission fan is vertically aligned.
  • the opening angle of the Emission fan can be in a range of 25 ° to 35 °. Preferably, the opening angle is 30 °.
  • the second emission units of the multiple scanner are, in particular, one or more lasers.
  • the second signal beams can be emitted by a plurality of lasers simultaneously, fan-shaped in the second emission directions.
  • successive laser pulses are emitted in the second emission directions, so that the fan-shaped emission of the second signal beams results in the second emission directions only when a particular time interval is considered.
  • the laser pulses in the second emission directions can be emitted by a laser whose emission direction is changed.
  • a plurality of lasers are used, which emit pulses one after another in different directions of emission. The distances of the pulses can be selected so that the reflection of the laser pulse is detected before the next laser pulse is emitted.
  • the time interval between the laser pulses depends on the range to be achieved by the signal beams for detecting the object space.
  • the second scanning device is designed to rotate the second emission directions of the second signal beams about a second axis of rotation.
  • the multiple scanner thus scans the volume of the rotational body of a fan.
  • the multiple scanner is mounted on the frame so that the second axis of rotation is inclined by a first angle relative to the vertical.
  • the first angle is in particular in a range of 5 ° to 12 °, advantageously in a range of 6 ° to 9 °, and this angle is preferably 7 °.
  • the fan-shaped emission is tilted upwards, so that fewer areas are irradiated below the multiple scanner. In this direction, advantageously results in a lower coverage with a person who moves the mobile device.
  • the second axis of rotation is thus tilted forward, in particular with regard to a direction of movement of the mobile device.
  • the tilting of the second rotation axis is also advantageous for the real time 3D SLAM method. Namely, in this case, not only sections running exactly horizontally to the direction of movement are delivered by the object space for real-time visualization, but sections running transversely to the direction of movement.
  • the information necessary for the SLAM process is still detected, that is, recurrent features of the environment that can be detected in successive rotational passes of the laser scanner.
  • an environmental feature detected in one rotation pass in a first scan plane of the multilevel scanner could reappear in the subsequent rotation pass in the acquisition record of the next or next level of the scanner.
  • 3D visualization it also quickly detects large areas of space for the purpose of 3D visualization for the operator, including, in particular, nearby features of the floor in front of the detection device and more distant features of the ceiling behind the detection device. Since 3D visualization does not focus on precision, the flat angle of impact on the floor or ceiling and the associated error spread - even with limited precision of the multi-level scanner - are no disadvantage.
  • the visualization of the detected environment in 3D is made possible in a representation that provides more details than a multi-slice-line-sectional representation, which is preferably used in the field of autonomous driving, which involves fast detection of large areas of space in real time, especially with high range forward in the direction of travel goes.
  • the first scanning direction is designed to rotate the first emission direction of the first signal beam about a first axis of rotation, which is perpendicular to the first emission direction, so that a first plane is scanned.
  • the first emission unit of the single scanner is in particular also a laser.
  • the signal beam may comprise laser pulses whose reflection is detected by the first receiver. The rotation of the signal beam thus scans a plane.
  • the single scanner is a one-level scanner in this case.
  • the first level includes, in particular, a second angle with the vertical, which lies in a range of 10 ° to 20 °.
  • the second angle is in particular in a range of 13 ° to 17 °. It is preferably 15 °.
  • horizontally oriented surfaces can be optimally captured.
  • vertically aligned surfaces are also scanned, at least at a flat angle of incidence, so that a transition from a horizontal to a vertically oriented surface, ie an edge, can be detected.
  • this device has at least one second individual scanner.
  • This second individual scanner comprises a third emission unit for generating a third signal beam in a third emission direction, a third receiver for detecting a third reflection radiation, which is generated by reflection of the third signal beam on an object of the object space, and in particular a third scanning device for changing the third emission direction of the third signal beam.
  • the third scanning device is designed, in particular, to rotate the third emission direction of the third signal beam about a third rotational axis, which is perpendicular to the third emission direction, so that a second plane is scanned.
  • the second plane includes, in particular, a third angle with the vertical, which lies in a range of 10 ° to 20 °, in particular in a range of 16 ° to 19 °.
  • the third angle is 18 °.
  • this has at least a third individual scanner.
  • This third individual scanner comprises a fourth emission unit for generating a fourth signal beam in a fourth emission direction, a fourth receiver for detecting a fourth reflection radiation, which is generated by reflection of the fourth signal beam on an object of the object space, and in particular a fourth scanning device for changing the fourth emission direction of the fourth signal beam.
  • the fourth scanning device is in particular designed to rotate the fourth emission direction of the fourth signal beam about a fourth axis of rotation, which is perpendicular to the fourth emission direction, so that a third plane is scanned.
  • the third plane includes in particular a third angle with the vertical, which lies in a range of 10 ° to 20 °, in particular in a range of 16 ° to 19 °.
  • the third angle is 18 °.
  • the first, second and third planes of the first, second and third individual scanners are thus substantially vertically aligned, enclosing an acute angle with the vertical.
  • this alignment of the planes has the further advantage that there is little shadowing due to frequently occurring vertical surfaces. For example, an object standing on a table only hurls a very short shadow in the horizontal direction when signal beams strike due to its vertical extent. In addition, there is less scattering of the measured values on horizontally oriented surfaces.
  • the second and third individual scanners are symmetrically arranged and aligned relative to a center plane of the mobile device.
  • the plane is scanned in an angular range that is less than 360 °. In this case, a dead angle results in which the plane is not scanned.
  • the blind spot scanners are used as the second and third individual scanners, ie, when the second and third planes are scanned in an angular range smaller than 360 °, so that at the second level At a blind spot and at the third plane, a third blind spot results, the blind spots of these planes are preferably aligned as follows: In a view against a second plane normal, a first leg of the second blind spot encloses a third angle with the vertical is in a range of 5 ° to 10 ° and is outside the second blind spot.
  • the blind spot can be for example 90 °. Due to the symmetrical arrangement of the third single scanner to the second single scanner then the blind spot of the third single scanner is aligned symmetrically accordingly.
  • the above-defined selection of the third angle in a range of 5 ° to 10 ° has the advantage that a preferred detection of the object space above the mobile device is ensured. In this way, in the mobile device inexpensive single scanners, each having a blind spot, are used, the detection of the object space in particular above the mobile device is not affected thereby. In combination with the first single scanner, the object space can be completely captured in this way.
  • this has at least one second individual scanner, comprising a third emission unit for generating a third signal beam in a third emission direction, a third receiver for detecting a third reflection radiation, which is generated by reflection of the third signal beam on an object of the object space, and at least one third individual scanner, comprising a fourth emission unit for generating a fourth signal beam in a fourth emission direction, a fourth receiver for detecting a fourth reflection radiation, which is generated by reflection of the fourth signal beam on an object of the object space, wherein the second individual scanner and the third individual scanners are symmetrically arranged and aligned with respect to a center plane of the mobile device.
  • the mobile device provides a trolley-based mobile mapping system.
  • this system it is important to best represent the spatial structure of the objects that are usually found in the scanned buildings by a point cloud detection.
  • the alignment of the individual scanners used for point cloud detection (usually one-level laser scanners) plays a decisive role here.
  • B ⁇ M Building Information / Wocte // 'ng
  • the laser scanner beams impinge there at a not too shallow angle, so that the scattering range of the measured values or measurement errors is not increased by stretching. Therefore, in prior art mapping systems, the point cloud detection laser scanners are typically oriented at angles oblique to the direction of movement, for example 45 °, because if they were scanning at right angles or at right angles to the direction of movement, their laser beams would hit the door and door at very shallow angles Window reveals, as these are generally perpendicular to the walking and moving direction of the detection system in building passages.
  • the detection of such structures and edges in the building which also run obliquely to the direction of movement, but are usually arranged vertically, it is recommended that the laser scanner still additionally obliquely forward or backward align relative to the direction of movement.
  • Such an arrangement is particularly good for vertical surfaces which are orthogonal to the detection direction.
  • An oblique arrangement of the individual scanners additionally reduces any occlusion by an operator or other device of the device.
  • the frame comprises a base element and a frame head.
  • the height of the frame head is in this case by a Adjustable mechanism changeable.
  • the adjusting mechanism may in particular comprise a sensor which is designed to detect the vertical distance of the frame head from the base element.
  • Several wheels can be mounted on the base element of the frame, by means of which the mobile device can be rolled over a base, so that the frame is designed to be mobile.
  • the frame and / or the wheels can in particular define a forward movement direction for detecting the object space.
  • the frame is dynamic, ie in the current scanning process, height adjustable.
  • height adjustable can be realized by a column guide or rail guide between the base member and the frame head adjustability in height.
  • the two upper single scanners must therefore be dynamically calibrated relative to the lower single scanner.
  • this calibration can take place in that the sensor of the adjustment mechanism detects the vertical distance of the frame head from the base element, resulting in the distance between the upper individual scanner and the lower individual scanner.
  • the data of this sensor are recorded and transmitted to the interface for common storage with the data of the individual scanner and possibly the multiple scanner.
  • the measurement data supplied by the sensor can then be taken into account in the calculation of the precision point cloud from the data obtained from the individual scanners and, if appropriate, the data of the multiple scanner.
  • the second axis of rotation of the multiple scanner is tilted forward in the forward movement direction.
  • the first plane can also be tilted forward in the direction of forward movement, so that the first emission direction of the first signal beam of the first single scanner is oriented obliquely upward, at least temporarily, in the forward movement direction.
  • the second and / or third plane may be aligned rearwardly with respect to the forward movement direction, so that the third and / or fourth emission direction of the third and / or fourth signal beam of the second and / or third individual scanner is oriented obliquely downward, at least temporarily, in the forward movement direction are.
  • the second and third planes may be pivoted sideways with respect to a vertical plane in the advancing direction.
  • the alignments of the individual scanners are also important for the detection of horizontal surface structures.
  • the signal beams ie in particular the laser beams of the individual scanners
  • a known trolley-based mobile mapping system with a second and third single-level laser scanners for detecting the point cloud data, both in the pitch / pitch angle and in the yaw / yaw angle with respect to the direction of movement of the mapping system are thereby improved, that these single-level laser scanners are mounted as high as possible on the system, and in addition a first single-level laser scanner, d. h is used for point cloud detection, which is mounted as far down the system and radiates obliquely up front.
  • the obliquely upward scan plane of this lower one-level laser scanner also enables good detection of those sides of perpendicularly suspended structures which are parallel or at a very shallow angle to the scan planes of the aforementioned upper one-planes Laser scanner.
  • the frame head comprises a cross member.
  • This cross member has in a horizontal plane a fixed geometric arrangement relative to the base member.
  • the multiple scanner and / or the second and third individual scanners are mechanically fastened to the frame head in a fixed geometric arrangement. This ensures that the arrangement of the scanners attached to the frame head is calibrated. After a height adjustment of the frame head, no new calibration with regard to the arrangement of the multiple scanner and the second and third individual scanner is required.
  • the pre-positioning advantageously comprises a sufficiently precise alignment for a mechanical coupling between additionally provided positioning pins in the head and corresponding positioning bushings in the cross member in a subsequent coupling process.
  • boards for the electrical coupling are prepositioned to a sufficient extent so that a secure connection between spring contact pins on the board in the head and the contact surfaces on the board in the cross member is made possible.
  • the operation of a further provided handle lever can then simultaneously ensure a secure mechanical and electrical coupling between the head and the cross member.
  • the positioning pins of the head and the positioning sockets in the cross member are firmly aligned with each other in the degrees of freedom in the direction of the height and the transverse direction.
  • the cocking lever geometry obtained by the operation of a handle lever provides for a fixed position of the positioning pins in the axial direction (forward movement direction) and a bias of the spring contact pins for the electrical connection. This high position accuracy preserves the calibration.
  • the aforementioned embodiment of a secure mechanical and electrical connection between the removable frame head and the base element would also be particularly suitable for modified types of mobile mapping systems, in which the base element, which includes, among other things, a CPU motherboard, storage media and (rechargeable) batteries can, for example in the form of a backpack-carrying frame is formed, so that in connection with the aforementioned 3D-6DoF-SLAM method despite the relatively high weight of the frame head would still allow detection of rough buildings or other environments such as caves, which So far, only with the portable systems described above can be scanned, which are usually simple panorama cameras with lower image quality are used, which serve primarily only the generation of "Colored Point Clouds".
  • the modular nature of the device according to the invention allows the removal of the head from the base element.
  • the frame head not only on backpacks but also on other base elements, such. B. on autonomous vehicles to assemble and use with them.
  • the calibration of the scanner arranged on the frame head and / or cameras and / or other sensors is maintained to each other.
  • at least one wheel is mounted on the frame by means of a quick-release device, by means of which the wheel can be locked.
  • at least two of the wheels are mounted by means of quick-clamping devices and spaced apart from one another in the transverse direction to the forward movement direction.
  • the distance of these two wheels is changeable in the transverse direction.
  • the two wheels may be mountable to the base member transversely to the forward movement direction at an outer position and an inner position.
  • the distance of the two wheels in the transverse direction is greater when the two wheels are both mounted in the outer position. This distance, however, is smaller when both wheels are mounted in the inner position.
  • the wheels can be remounted from an outer to an inner position and vice versa very quickly and without interrupting a running scan.
  • a stand device can be mounted on the frame, by means of which the frame can be raised so that at least one wheel no longer touches the ground, and can be lowered such that the frame is freely movable on the wheels.
  • the stand device is coupled with at least the quick-release device of a wheel so that when you press the stand device to lower the frame automatically the quick-release device is closed and thereby the associated wheel is locked.
  • the quick-action clamping device is inevitably closed, so that the remounted wheel is locked.
  • a plug-in and clamping axis as is known, for example, from wheelchairs.
  • the evaluation device is formed, at least from data generated by detected reflection radiation, which has been detected by the second receivers, in real time the position of the device within the object space and / or the trajectory of the mobile device calculate and output by means of a graphical representation.
  • a graphic representation of the area of the object space scanned by the mobile device can be generated and output. This way you can Detect the operator based on the graph, which areas of the object space still need to be detected.
  • this has at least one camera mounted on the frame, which is designed to receive camera images of at least part of the object space.
  • several cameras are mounted on the frame head.
  • the evaluation device can take into account the images taken by the camera or the cameras when generating the various graphical representations in real time. In this way, a very realistic representation of the passable area of the object space or the area of the object space already scanned by the mobile device can be generated in real time.
  • the device according to the invention further comprises a display device coupled to the evaluation device for displaying the graphical representations generated by the evaluation device.
  • a display device coupled to the evaluation device for displaying the graphical representations generated by the evaluation device.
  • the mobile device advantageously comprises a timer, which is coupled to the evaluation device.
  • the evaluation device can detect the time of detection together with the second emission direction of the associated signal beam as well as the detected amplitude or intensity for each detected measured value of the second receiver.
  • a corresponding timer can also be provided for the individual scanners in order to also provide the detected reflection radiation of these individual scanners with a corresponding time stamp.
  • this device comprises a control device for autonomous movement of the mobile device.
  • the base member may be an autonomous vehicle on which the frame head is mounted with the multiple scanner.
  • the single scanner or multiple individual scanners are then integrated in particular in the autonomous vehicle.
  • Autonomous locomotion means that the driving task is performed partially or completely autonomously by the device.
  • the movements of the mobile device in the transverse and longitudinal direction and the speed are controlled autonomously.
  • the invention further relates to a method for detecting an object space by means of a mobile device.
  • the mobile device has a rack for moving the device in the object space.
  • At least one individual scanner mounted on the rack emits a first signal beam in a first emission direction
  • a first receiver detects first reflection radiation generated by reflection of the first signal beam on at least one object of the object space, and becomes the first emission direction of the first signal beam changed by means of a first scanning device for detecting the object space.
  • a multiple scanner mounted on the rack above the single scanner emits a plurality of second signal beams in second emission directions.
  • a second receiver detects second reflection radiations produced by reflection of the second signal beams on one or more objects of the object space.
  • the second emission directions of the second signal beams are changed by means of a second scanning device for detecting the object space.
  • a graphic representation of those regions of the object space is generated and output in real time, by means of which the mobile device can be moved and / or moved.
  • Data generated at least from the first reflected radiation detected by the first receiver is output to a memory device for post-processing.
  • the inventive method is in particular designed to detect an object space by means of the mobile device according to the invention.
  • the method thus has the same advantages as the mobile device of the invention.
  • the first emission direction of the first signal beam is rotated about a first rotation axis, which is perpendicular to the first emission direction, so that a plane is scanned in succession.
  • the second emission directions of the second signal beams are rotated about an axis.
  • the second signal beams are emitted in particular fan-shaped.
  • the emission of the second emission directions does not have to take place simultaneously; Rather, it can also be emitted one after the other so that within a time interval signal beams, which may comprise signal pulses, are emitted fan-shaped into a plane. This emission fan can then be rotated about a second axis of rotation.
  • At least one second individual scanner emits a third signal beam in a third emission direction
  • a third receiver detects a third reflection radiation, which is detected by reflection of the third signal beam at a third Object of the object space is generated, and the third emission direction of the third signal beam is changed by means of a third scanning device for detecting the object space.
  • the third emission direction of the third signal beam can be rotated about a third axis of rotation, which is perpendicular to the third emission direction, so that a second plane is scanned.
  • At least a third individual scanner emits a fourth signal beam in a fourth emission direction
  • a fourth receiver detects a fourth reflection radiation, which is generated by reflection of the fourth signal beam on an object of the object space, and the fourth emission direction of the fourth signal beam becomes Detecting the object space changed.
  • the fourth emission direction of the fourth signal beam can be rotated about a fourth axis of rotation, which is perpendicular to the fourth emission direction, so that a third plane is scanned.
  • the second individual scanner and the third individual scanner are symmetrically arranged and aligned relative to a center plane of the mobile device.
  • the mobile device Upon detection of the object space, the mobile device is moved in object space. Meanwhile, the object space is scanned by means of the single scanner or the several individual scanners and the multiple scanner.
  • FIG. 1 shows a perspective view of the mobile device according to FIG.
  • FIG. 2 shows an exploded view of the embodiment of the mobile
  • Figure 3 shows the data structure of the embodiment of the mobile
  • FIG. 4 illustrates the alignment of the second single scanner
  • FIG. 6 further illustrates the orientation of the second single scanner
  • FIG. 7 further illustrates the orientation of the second single scanner
  • FIG. 8 illustrates the emission range of the first single scanner
  • FIG. 9 illustrates the emission directions of the scanner of the exemplary embodiment the mobile device
  • FIG. 10 shows the frame head in a state separated from the base element.
  • FIG. 11 shows an intermediate state when the frame head is placed on the frame
  • FIG. 12 shows the frame head in a state placed on the base element
  • FIG. 13 shows the handles in a first state
  • FIG. 14 shows the handles in a second state
  • FIG. 15 shows the upright device and the quick-action clamping device in an opened state with disassembled wheel
  • FIG. 16 shows the upright device and the quick-action clamping device with an attached wheel
  • Figure 17 shows the stand device in an intermediate state during lowering of the mobile device
  • FIG. 18 shows the stand device in a fully lowered state
  • the mobile device 1 comprises a frame 2.
  • the frame comprises a lower base element 3 and a frame head 4.
  • an adjusting mechanism 5 is integrated, with which adjustment columns 6 in a column guide 7 can be moved up and down.
  • the vertical adjustment path of the adjustment columns 6 in the column guide 7 is detected by a sensor 8.
  • the adjustment columns 6 are connected at their upper ends to a receiving plate 37, by means of which the frame head 4 can be fastened to the base element 3.
  • the receiving plate 37 allows not only a mechanical, but also a data-technical connection between the frame head 4 and the base member. 3
  • outer wheels 9 are detachably mounted and two center wheels 10.
  • the outer and middle wheels 9, 10 define Aufsetzmat on which the frame 2 can stand freely on a horizontal plane. In this way, a vertical direction is distinguished. It is the direction perpendicular to the plane defined by the attachment points of the wheels 9 and 10 of the mobile device 1. In this document, the vertical direction refers to "below” and "above”.
  • the wheels 9 and 10 define a forward movement direction A in which the mobile device 1 is rolled on a plane. With respect to a vertical plane aligned in the forward movement direction A, the outer wheels 9 are arranged symmetrically. This vertical plane defines a median plane of the mobile device 1 in the advancing direction A.
  • energy storage 1 1 are arranged in the lower part of the base member 3 . Furthermore, further devices of the mobile device 1 can be arranged inside the base element 3, if they do not have to be adjusted in height. If these further devices are arranged in the lower part of the base element 3, this gives the mobile device 1 increased stability, since the center of gravity is displaced downwards.
  • the mobile device 1 can be rolled by an operator by means of handles 12 on a ground. Due to the arrangement of the wheels 9 and 10, although a forward movement direction A is excellent. However, the mobile device 1 can also be rotated about a vertical axis to drive curves on a ground. According to another embodiment, the mobile device 1 comprises a control device for autonomous locomotion. The mobile device is then an autonomous vehicle.
  • a first individual scanner 13 namely a single-level laser scanner, is arranged.
  • the function and orientation of this first single scanner will be explained later in detail.
  • a second and a third individual scanners 14, 15 are arranged, which can each be designed as a single-level laser scanner.
  • the second and third individual scanners 14, 15 are arranged symmetrically with respect to the vertical center plane of the mobile device 1.
  • the individual scanners 13, 14 and 15 are laser scanners for optical distance measurement (LIDAR, Light Detection and Ranging).
  • LIDAR Light Detection and Ranging
  • a one-level laser scanner from Hokuyo is used.
  • a multiple scanner 16 is arranged on the frame head 4.
  • a multi-scanner 16 a multi-level laser scanner from Velodyne, type VLP-16, is used. The function and orientation of the multiple scanner 16 will be explained later in detail.
  • a first camera 17 is housed, which is aligned in the forward movement direction A. Above and on the sides of the frame head 4 more cameras 18 are arranged.
  • a screen 19 is further attached to the base member 3 so that an operator pushing the mobile apparatus 1 in the forward movement direction A can perceive the display on the screen 19.
  • the first individual scanner 13 which is fastened to the bottom of the base element 3, comprises a first emission unit 20.
  • This is a laser which emits 21 first laser pulses in a first emission direction.
  • the first signal beam 21 can for Example to hit an object 22 of the object space to be detected.
  • the pulses of the first signal beam 21 are reflected at the object 22, so that a first reflection radiation 23 results.
  • a first receiver 24 is integrated, which detects the backscattered or reflected portion of the first reflection radiation 23. From the transit time of a signal pulse, the distance of the surface of the object 22 can be determined at which the signal pulse was scattered or reflected.
  • the received intensity of the detected reflection radiation can be measured and set in proportion to the emitted intensity.
  • the first individual scanner 13 furthermore has a first scanning device 25.
  • the first scanning device 25 may rotate the laser of the first emission unit together with the first receiver 24 about a first axis of rotation which is perpendicular to the first emission direction.
  • laser and / or receiver 24 can not be rotated by itself, but instead only the signal beams 21 and the reflection radiation 23 are deflected by means of rotatable mirrors. In this way, the first signal beam 21 sweeps over a first plane within a time interval which is perpendicular to the first axis of rotation.
  • the multiple scanner 16 includes a plurality of emission units 31. These emission units 31 are composed of a plurality of lasers, which are integrated in one component, and thus have a fixed alignment with one another. The lasers of the second emission units 31 generate a plurality of second signal beams 32 in second emission directions. The second signal beams 32 are aligned to span an emission fan 42 that defines a plane. Details on the geometry and orientation of this emission fan 42 will be explained later.
  • the second signal beams 32 may, for. B. encounter an object 33. As with the object 22, the second signal beams 32 will be scattered on a surface of the object 33. In this way, second reflection radiation 34 is generated. The backscattered or retroreflected portion of these second reflection radiation 34 is detected by a second receiver 35, which is integrated into the second emission units 31.
  • the second emission units 31 comprise 16 lasers, which emit signal pulses in succession.
  • the individual lasers of the second emission units 31 sequentially emit signal pulses.
  • the time interval between these signal pulses results from the transit time of a signal pulse to an object 33, which is arranged at the maximum range of the multiple scanner 16, is reflected there and passes back to the second receiver 35.
  • the signal pulse of the next laser is emitted.
  • the light can travel 690 m, so that even with a maximum range of 100 m there is a sufficient time interval between successive signal pulses.
  • a signal pulse is for example 6 ns long.
  • the multiple scanner 16 comprises a second scanning device 36.
  • This second scanning device changes the second emission directions of the second signal beams 32.
  • the second emission directions of the second signal beams 32 are rotated about a second axis of rotation.
  • This second axis of rotation lies in the plane formed by the emission fan 42 of the second signal beams 32.
  • the second axis of rotation is perpendicular to a central axis of the emission fan 42 of the second signal beams 32.
  • this central axis can in particular be an axis of symmetry of the emission fan 42 of the second signal beams 32.
  • the rotational body of a fan is detected in this way.
  • the first scanning device 25 and the second scanning device 36 are coupled to a control unit 26.
  • the control unit 26 is in turn connected to a timer 27.
  • the control unit 26 controls, on the one hand, the emission of the first emission unit 20 and of the second emission units 31.
  • the control unit 26 controls the first scanning device 25 and the second scanning device 36.
  • the control unit 26 thus controls the timing and alignment of the signal beams 21 and 32.
  • the control unit 26 transmits data to an evaluation device 28.
  • the time, the orientation and the intensity of each emitted signal pulse are transmitted to the evaluation device 28.
  • the evaluation device 28 detects by means of a coupling with the sensor 8 how the height, ie the vertical relative position of the frame head 4 to the base element 3, was at the respective time stamps.
  • the first individual scanner 13 and the multiple scanner 16 are connected to the evaluation device 28.
  • the reflection radiations detected by the first 24 and second receivers 35 are transmitted as signals to the evaluation device 28. This sets these signals in relation to the data transmitted by the control unit 26 to the emitted signal pulses.
  • the evaluation device 28 can calculate the direction and the distance of an object 22, 33 in the object space.
  • further features of the surfaces of the objects 22 and 33 can be calculated if necessary.
  • a three-dimensional point cloud is generated in real time, which reproduces the detected object space.
  • at least the reflection radiations 34 detected by the second receiver 35 are used in the real-time calculation.
  • the reflection beams 23 detected by the first receiver 24 can be taken into account.
  • the cameras 17 and 18 can also be coupled to the evaluation device 28 and to the control unit 26.
  • the control unit 26 may control the triggering of the cameras 17 and 18.
  • the data relating to the images taken by the cameras 17 and 18 are transmitted to the evaluation device 28, which may possibly also use this data in the real-time processing and the generation of the three-dimensional point cloud.
  • the evaluation device 28 calculates in real time a graphic representation of those regions of the object space through which the mobile device 1 can be moved and / or moved. This graph is output from the screen 19. It is continually updated as the object space is acquired.
  • the first receiver 24 is coupled to a data interface 29 via the evaluation device 28. All other devices of the mobile device 1, by which data can be detected, are also coupled to this data interface. These include the second receiver 35, the control unit 26 and the sensor 8.
  • the data transmitted to the data interface 29 are stored on a memory device 30. Alternatively, the data can also be transmitted via a wireless connection to an external data memory.
  • the data stored by the memory device 30 and the external data memory are then used for post-processing. In this post-processing a more precise point cloud of the detected object space is generated. The computational effort in the post-processing is so great that it can not be performed in real time by the evaluation device 28 through.
  • this additionally comprises the second 14 and third individual scanners 15, which are mounted above the first individual scanner 13 on the frame head 4.
  • the second 14 and the third single scanner 15 may be of the same type as the first single scanner 13. They differ from the first single scanner 13 only in terms of their arrangement in the mobile device 1 and their orientation.
  • the individual scanners 14 and 15 can be controlled in the same way by the control unit 26.
  • the reflected radiation detected by them can in the same way to the evaluation device 28, and further to the data interface 29, are transmitted.
  • the position of the second single scanner 14, i. H. of the forward direction of movement A right, upper single scanner explained. 4 shows a view of the mobile device 1 from the front, perpendicular to the center plane B of the mobile device 1.
  • the lateral distance 38 of the second single scanner 14 from the center plane B is 142 mm.
  • the height of the second individual scanner 14 with respect to a horizontal plane C on which the wheels 9, 10 of the mobile device 1 stand is in a range between about 1300 mm and about 1900 mm.
  • the height of the second individual scanner 14 can be adjusted by means of the adjusting mechanism 5.
  • the arrangement and orientation of the third single scanner 15, d. H. of the left, upper single scanner, is mirror-symmetrical with respect to the center plane B to the arrangement and orientation of the second single scanner 14th
  • Fig. 5 is a plan view of the mobile device 1 is shown. Furthermore, the second plane 39 defined by the second signal beams 32 of the second individual scanner 14 is shown. It encloses with the center plane B an angle a of 35 °.
  • Fig. 6 is a view from the direction X of Fig. 5 is shown. From this view of FIG. 6, the angle of attack ⁇ of the second individual scanner 14 results to the vertical. This angle ß is 18 °.
  • FIG. 7 shows a view from the direction Y of FIG. 6, ie a view against a normal of the second plane 39. From this view, the alignment of a so-called second blind spot s 2 of the area of the second individual scanner 14 is obtained second plane 39.
  • the individual scanners 13 to 15 used in the present embodiment namely do not capture the full angular range of 360 ° of a plane, but only an angular range of 270 °. This results in the scanned second level 39, a second dead angle s2 of 90 °.
  • the angle g formed between a leg 61 of the second blind spot s2 and the vertical is 7.5 °.
  • this angle g may be in a range of 5 ° to 10 °.
  • the angle g is outside the second dead angle s2. Due to the symmetrical arrangement of the third individual scanner 15 to the second individual scanner 14, the third dead angle of the third individual scanner 15 is aligned symmetrically accordingly. This means that the two legs of the blind spots of the second and third individual scanners 14, 15 intersect at the center plane B above the mobile device 1. This intersection is shown in FIG. 4. It lies for example at the height of 2308 mm.
  • FIG. 8 the orientation of the first blind spot sl in a view from the direction Z (see FIG. 9) is shown parallel to the first rotation axis of the first single scanner 13 for this first individual scanner 13.
  • the first dead angle sl is here aligned symmetrically to the center plane B. It extends rearwardly with respect to the forward movement direction A, so that the area of the first plane 40 of the first single scanner 13 in the forward movement direction A is completely detected.
  • Fig. 9 shows a side view of the mobile device 1.
  • the vertical distance 41 of the first single scanner 13 from the horizontal plane C, d. H. the height of the first single scanner 13, in the embodiment shown here is 513 mm.
  • the first plane 40 defined by the first signal beams 21 of the first single scanner 13 is tilted forward relative to the forward movement direction A by the angle Q relative to the vertical.
  • the angle Q is in a range of 10 ° to 20 °. He is in particular 15 °.
  • the forward facing first camera 17 is optionally provided. It may be a stereo camera having an opening angle d of 110 °, whereby this opening angle d is slightly tilted downwards relative to the horizontal.
  • the second signal beams 32 produce an emission fan 42, as discussed above.
  • This emission fan 42 is symmetrical about a central axis 43.
  • the center axis 43 is perpendicular on the second rotation axis 44 of the multiple scanner 16.
  • the center axis 43 is inclined downwards by the angle k with respect to a horizontal plane D which passes through the multiple scanner 16, more precisely through the origin of the emission fan 42.
  • the second rotation axis 44 is inclined by the same angle k with respect to a vertical plane forward in the direction of the forward movement direction A.
  • the opening angle l of the emission fan 42 is approximately 30 °, so that a smaller area above the horizontal plane D and a larger area below the horizontal plane D are detected by the emission fan 42 in the forward movement direction A. Contrary to the forward movement direction A, the situation is reversed. Below the horizontal plane D, a smaller area is detected, above the horizontal plane D, however, a larger area.
  • the frame head 4 has a cross member 45 on which the multiple scanner 16, the second 14 and third individual scanners 15, and the cameras 17 and 18 are mounted so that they have a fixed geometric arrangement to each other. Even with a change in the vertical position of the frame head 4, this geometric arrangement is maintained, so that the mobile device 1 after a height adjustment of the frame head 4 no longer needs to be calibrated.
  • the frame head 4 has support pins 46. Corresponding to these support pins 46, the receiving plate 37 guides 47, in particular plastic guides. When placing the frame head 4 on the receiving plate 37, the support pins 46 are inserted into the guides 47. In this way it is achieved that after placement of the frame head 4, a sufficiently accurate pre-positioning of the frame head 4 is achieved relative to the receiving plate 37 for the mechanical and electrical coupling.
  • a plug connection 48 is provided on the receiving plate 37 and the underside of the cross member 45 of the frame head 4.
  • the pre-positioning comprises a sufficiently precise alignment for the mechanical coupling between at least one positioning pin in the frame head 4 and associated positioning jacks in the receiving plate 37 for the subsequent coupling operation.
  • boards for the electrical coupling are sufficiently pre-positioned so that a secure connection between spring contact pins on the board in frame head 4 and the associated contact surfaces on the board of the receiving plate 37 is made possible.
  • Fig. 1 the state is shown, in which the frame head for the mechanical and electrical coupling is prepositioned.
  • the frame head 4 is placed in this case on the receiving plate 37.
  • a handle lever 49 is provided at the receiving plate 37.
  • the handle lever 49 is pivotable about a transverse axis.
  • the handle lever 49 is pivoted for the mechanical and electrical coupling of the frame head 4 to the base member 3 upwards and engages in the position shown in Fig. 12.
  • the positioning pins of the frame head 4 and the associated positioning in the receiving plate 37 are firmly aligned in the degrees of freedom Y and Z repeatable to each other.
  • a clamping lever geometry is actuated, which ensures that the positioning pins of the frame head 4 are also firmly positioned in the axial direction X.
  • the clamping lever geometry ensures that a bias of spring contact pins for the electrical connection at the connector 48 is made safe.
  • the frame head 4 and the directly or indirectly attached to the cross member 45 devices of the frame head 4 has a fixed geometric arrangement to each other. Now, if the vertical distance of the frame head 4 is changed by the base member 3 by means of the adjustment mechanism 5, a recalibration is not required.
  • Fig. 13 shows a first state of the handles 12, in which they are pivoted. In this state, the width of the central part of the base member 3 is smaller. The handles 12 can be brought into this condition to pass a constriction at mid-height. In addition, this state is advantageous when the mobile device 1 is to be disassembled and transported. At the same time, for example, the correspondingly padded handles 12 in this folded position, the surface of the screen 19 protect from damage.
  • the handles 12 can be brought into the pivoted state, they are connected via a pivot axis 50 with the base member 3.
  • a locking element 51 is pivotally mounted in the pivot axis 50.
  • the pivot axis 50 is located on one side of the locking member 51.
  • a handle member 52 is rigidly connected to the locking member 51.
  • the grip element 52 initially extends perpendicularly away from the end of the locking element 51, then runs in a bend, to then extend straight back over a particular section.
  • the bending of the gripping element 52 in conjunction with the orientation of the pivot axis 50 is designed such that in the pivoted state, as shown in FIG. 13, the gripping element 52 can be pivoted towards the base element 3, without the base element 3 or devices, which are attached to the base member 3, hinder the pivoting of the handle 12.
  • the locking member 51 is pivoted together with the handle member 52 about the pivot axis 50 in the direction of a stop surface of the base member 3.
  • the grip elements 52 move outwardly to the state shown in Fig. 14.
  • the locking element 51 bears against the abutment surface of the base element 3.
  • the base element 3 and the locking element 51 have a locking mechanism 53, via which the locking element 51 can be securely and firmly connected to the base element 3.
  • the handle 12 can not be pivoted to the operating position shown in Fig. 13.
  • an operator can thus move the mobile device 1 by means of the handles 12, in particular roll over the rollers 9 and 10 on a substrate.
  • the outer wheels 9 are each attached via a plug-in axis 56 to a longitudinal member 57 of the base member 3.
  • the longitudinal members 57 each have openings 58 into which the stub axles 56 can be inserted.
  • the stub axles 56 can each be clamped in the openings 58, so that the outer wheels 9 are held firmly on the longitudinal members 57.
  • a stand device 54 is arranged on the base element 3. As shown in Fig. 15, this stand device 54 can be pivoted downwards.
  • the stator device 54 has a length such that it is greater than the radius of the outer wheel 9.
  • the stand device 54 is further pivoted, for example by the mobile device 1 is moved further forward, while the lower end 59 of the stand device 54 touches the ground, the mobile device 1 is raised, so that the outer wheels 9 no longer touch the ground. In this way, the mobile device 1 is jacked up.
  • a coupling mechanism 60 is further arranged, which couples the stator device 54 with the quick-clamping device 55 for locking the outer wheel 9.
  • This coupling mechanism 60 causes pivoting of the stand device 54 at the same time a lever 61 of the quick-clamping device 55 is pivoted so that the quick-release device 55 opens, and the thru axle 56 of the outer wheel 9 releases.
  • the outer wheel 9 can now be disassembled, or if it was not attached to the side rail 57, it can be mounted in this state, as shown in Fig. 15.
  • the thru-axle 56 is now inserted into the opening 58 of the longitudinal member 57, as shown in Fig. 16.
  • the stand device 54 is pivoted back onto the longitudinal member 57.
  • the mobile device 1 is lowered so that it comes to rest again on the outer wheel 9.
  • the coupling mechanism 60 transmits the pivoting of the stand device 54 to the quick-action clamping device 55 so that it is automatically closed when the stand device 54 is pivoted.
  • the stand device 54 is completely folded. In this state, the quick-release device 55 is closed. It locks in this state, the outer wheel 9 fixed to the side member 57th
  • the mobile device 1 is first assembled and brought into the state shown in Fig. 1, in which the outer wheels 9 are arranged on the outside of the longitudinal member 57.
  • the mobile device 1 is then placed in the object space which is to be detected. It is in particular the interior of a building.
  • the three individual scanners 13 to 15, the multiple scanner 16 and the cameras 17 and 18 are put into operation together with the other electronic devices of the mobile device 1.
  • Controlled by the control unit 26 emit the emission of the individual scanner, d. H. the first emission device 20 of the first individual scanner and the corresponding emission units of the second and third individual scanner 14, 15 signal beams which comprise signal pulses.
  • the scanning devices rotate the emission directions of the signal beams about the respective axis of rotation of the individual scanner 13, 14, 15. In this way, the planes are detected, as explained with reference to FIGS. 4 to 9.
  • the receivers of the individual scanners 13, 14, 15 detect reflection radiations, which were generated by reflection of the signal pulses of the signal beams.
  • the signals detected by the receivers are transmitted to the evaluation device 28 together with the control signals of the control unit 26.
  • the multiple scanner 16 under the control of the control unit 26, emits a plurality of second signal beams 32 into an emission fan 42, as explained with reference to FIGS. 3 and 9.
  • the second emission units 31 are rotated about the second rotation axis 44 by means of the second scanning device 36.
  • the second reflection radiation 34 detected by the second receiver 35 is transmitted to the evaluation device 28 together with the control signals of the control unit 26.
  • graphical representations are now generated in real time, at least from the reflection radiation 34 detected by the second receiver 35, and displayed on the screen 19.
  • These graphical representations indicate, in particular, through which regions of the object space the mobile device 1 can be moved. Alternatively or additionally, it can be displayed through which regions of the object space the mobile device 1 has already been moved. In this way, the operator can very clearly determine whether the object space has already been completely captured.
  • the graphic representation in one color may include areas through which the mobile device 1 is to be moved and in another color include the areas through which the mobile device 1 has already been moved.
  • a background surface is colored on which the mobile device 1 can be driven.
  • control unit 26 controls the cameras 17 and 18 so that individual images are taken, which can be combined to form a panoramic image. These images can also be used by the evaluation device 28 in order to generate the graphical representation which is displayed on the screen 19. If real-time processing is still possible, the signals from the receivers of the three individual scanners 13 to 15 can additionally be taken into account for generating the graphical representation.
  • an operator drives the mobile device 1 on a ground through the object space to be detected. All detected signals and data are also transmitted via the data interface 29 to the memory device 30 or wirelessly to an external data memory. These data are then used in the post-processing to produce a very precise three-dimensional point cloud from the detected object space.
  • the mobile device 1 When the mobile device 1 has a bottleneck, e.g. B. a narrow door, must pass without interrupting the scanning operations, the outer wheels 9 are converted to an inner position, as explained above. Further, if necessary, the mobile device 1 may also be tilted or swung without interrupting the scans. Even height differences, for example, when ramping up ramps, can be overcome without interrupting the scans.
  • a bottleneck e.g. B. a narrow door

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un dispositif mobile (1) destiné à détecter un espace objet et un procédé correspondant. Le dispositif (1) comprend un châssis et au moins un scanner individuel (13) (scanner laser à un niveau) monté sur le châssis et un scanner multiple (16) monté sur le châssis au-dessus du scanner individuel (13). Celui-ci comprend une pluralité d'unités d'émission intégrées dans un composant, un récepteur destiné à détecter des rayonnements de réflexion et un moyen de balayage destiné à modifier les directions d'émission des faisceaux de signaux des unités d'émission. En outre, le dispositif (1) comporte un moyen d'évaluation conçu pour générer et délivrer en temps réel, au moins à partir des rayonnements de réflexion détectés par le récepteur, une représentation graphique des régions de l'espace objet qui ont été et/ou peuvent être traversées par le dispositif (1). Enfin, le dispositif (1) comporte une interface de données qui est conçue pour délivrer des données à un dispositif de mémorisation en vue d'un traitement ultérieur. Le premier niveau (40), défini par les faisceaux de signaux du scanner individuel (13) est incliné vers l'avant d'un angle de préférence de 15° par rapport à la verticale, par référence à la direction de déplacement vers l'avant. Une première caméra (17) orientée vers l'avant est éventuellement prévue. Les faisceaux de signaux du scanner multiple (16) génèrent un éventail d'émission (42). Cet éventail d'émission (42) est symétrique par rapport à un axe central (43) qui est perpendiculaire à l'axe de rotation (44) du scanner multiple (16) et qui est incliné vers le bas par rapport à un plan horizontal D. Le dispositif mobile (1) peut détecter et délivrer en temps réel même dans des bâtiments la position du dispositif (1) dans l'espace objet pendant le processus de détection avec le scanner multiple (16) et le moyen d'évaluation associé. L'espace objet peut être détecté de manière très précise avec un scanner individuel (13) de haute précision, un modèle tridimensionnel de l'espace objet détecté ne pouvant être généré que dans un traitement ultérieur. Des deuxième et troisième scanners individuels peuvent être disposés en tête de châssis.
EP19720395.3A 2018-04-06 2019-04-08 Dispositif mobile et procédé de détection d'un espace objet Pending EP3775993A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018108141.3A DE102018108141A1 (de) 2018-04-06 2018-04-06 Mobile Vorrichtung und Verfahren zum Erfassen eines Objektraums
PCT/EP2019/058843 WO2019193207A1 (fr) 2018-04-06 2019-04-08 Dispositif mobile et procédé de détection d'un espace objet

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EP3775993A1 true EP3775993A1 (fr) 2021-02-17

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EP (1) EP3775993A1 (fr)
DE (1) DE102018108141A1 (fr)
WO (1) WO2019193207A1 (fr)

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CN112414381A (zh) * 2020-11-12 2021-02-26 杭州易现先进科技有限公司 测绘平台、背带式测绘装置以及推车式测绘装置
EP4264325A1 (fr) * 2020-12-21 2023-10-25 Zoller & Fröhlich GmbH Plate-forme pour dispositif de balayage mobile et dispositif de balayage mobile
US20220281500A1 (en) * 2021-03-08 2022-09-08 Faro Technologies, Inc. Support device for metrology instruments

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DE102018108141A1 (de) 2019-10-10
US20210132195A1 (en) 2021-05-06

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