EP4264325A1

EP4264325A1 - Platform for a mobile scanning assembly, and mobile scanning assembly

Info

Publication number: EP4264325A1
Application number: EP21844660.7A
Authority: EP
Inventors: Christoph Fröhlich; Christoph Held; Markus Mettenleiter
Original assignee: Zoller and Froehlich GmbH
Current assignee: Zoller and Froehlich GmbH
Priority date: 2020-12-21
Filing date: 2021-12-21
Publication date: 2023-10-25
Also published as: WO2022136479A1

Abstract

The invention relates to a platform for a mobile scanning assembly, which is configured with at least two receptacles for scanning devices.

Description

Mobile Scanning Array Platform and Mobile Scanning Array

description

The invention relates to a platform for a mobile scanning arrangement according to the preamble of patent claim 1 and to a mobile scanning arrangement implemented with such a platform.

The applicant's document EP 3 056 923 A1 discloses a scanning arrangement with at least one laser scanner that can scan objects located in the field. The scanning arrangement is designed with a memory for storing project-related data and an integrated computer and with a navigation unit for detecting a scanner position and/or a scanner position relative to a starting position. The scanning arrangement also has a satellite computer, for example a tablet, which can register the scan in the field in a project-specific coordinate system in parallel with a subsequent scanning process using the laser scanner.

The disadvantage of such a scanning arrangement is that it is only mobile to a limited extent. Strictly speaking, the scanning device is to be moved from one location to another, with the laser scanner usually being mounted on a tripod or the like.

Mobile scanning arrangements with and without SLAM (Simultaneous Localization And Mapping) technology are also known from the prior art. The SLAM technology, or a SLAM mode, often has the disadvantage of a relatively low pixel density, inhomogeneous coverage of the area, and a comparatively reduced 3D accuracy.

The publication EP 3 280 977 B1 shows a mobile scanning arrangement that can also be operated in a SLAM mode, in which a 3D Reference map is created and then in a following step based on the 3D reference map in a SLAM mode using a 3D scanner scanned the environment and at the same time a position determination is carried out so that the current location of the 3D scanner is known. The current scanner data is then recorded within the existing 3D reference map and can be displayed on a real-time user interface (e.g. on a tablet).

According to one exemplary embodiment, the 3D laser scanner is positioned on a cart that also carries a CPU for evaluating the data recorded by the scanner and the location data recorded during SLAM mode. A tablet is also assigned to this scanning arrangement, via which information processed by the CPU is displayed.

Furthermore, so-called MMS systems (Mobile Mapping System), which work in an MMS mode, are known from the prior art. The big disadvantage is that no SLAM can be calculated with this data, since the (essentially parallel) profiles do not have sufficient overlap - so it all depends on the INS (Inertial Measurement System) accuracy of the MMS system, mostly in combination with a GNSS receiver, which is therefore of very high quality and therefore expensive.

Also known are scanning arrangements in which a laser scanner is mounted on a carrier vehicle (SKID, FTS). This vehicle moves in the area while the laser scanner takes scans of the area.

A disadvantage of these known mobile scanning arrangements is that the laser scanner, as one of the main components of the scanning arrangement, can only be used specialized for one application. Another disadvantage of the existing mobile scanning arrangements is that the platforms used in each case, on which the laser scanners are mounted, are only optimized for one application.

In contrast, the invention is based on the object of creating a platform for a mobile scanning arrangement that enables flexible use. Of the The invention is also based on the object of providing such a flexible scanning arrangement.

With regard to the platform, this object is achieved by the features of patent claim 1 and with regard to the mobile scanning arrangement by the features of the independent patent claim 12 .

Advantageous developments of the invention are the subject matter of the dependent claims.

The platform according to the invention is designed with at least two mounts for selectively positioning a scanning device or for positioning at least two scanning devices, these mounts preferably being set at an angle to one another.

Such an arrangement of recordings makes it possible to position the scanning devices or different scanning devices variably depending on the respective measurement situation on the platform and thus align them in an optimal way with the measurement object. Two measurement runs can be carried out with a scanning device mounted at different positions. Alternatively, two scanning devices can also be installed at the same time, so that two scans can be recorded during one movement of the mobile scanning arrangement.

In this case, it is particularly preferred if the receptacles for the scanning devices are set at a predetermined angle to one another, so that optimal alignment is ensured. As a result, undercuts, i. H. Covered areas of a room can be detected

In an exemplary embodiment of particularly simple construction, the platform is designed with two receiving walls which are positioned in relation to one another and on each of which a receptacle is formed. Accordingly, these recordings are then positioned on compact recording walls, so that a reliable support of the respective scanning device is guaranteed. In a particularly compact embodiment, the platform is designed with a base which, together with the receiving walls, side walls and a rear wall, forms a receiving space for an electronics unit with an on-board PC for controlling the electronic components of a mobile scanning arrangement and/or for evaluating measurement signals .

The platform can be adapted particularly well to different conditions if the electronics unit is designed with a DC/DC converter for the batteries.

In one variant of the invention, holders for the batteries are formed on the side walls, into which the batteries can be inserted without tools and correspondingly also easily replaced. The discharged batteries can be charged via the DC/DC converter without removing them. These brackets are preferably designed in such a way that the batteries are held in a positive and non-positive manner.

The platform arrangement is particularly compact if two holders for a pair of rechargeable batteries are formed on the side walls and/or the rear wall.

In a particularly preferred exemplary embodiment of the invention, the mounts for positioning the scanning devices in the mount walls are designed to be essentially identical.

In this case, it is particularly preferred if the receptacles are formed by pocket-shaped recesses, in each of which a holder for a scanning device can be inserted.

Such a holder is preferably designed with a flange plate that fits exactly into the recesses and carries a retaining flange for the respective scanning device. This retaining flange is standardized so that different scanning devices, for example a 3D scanner, a 2D scanner, a camera module or other extensions can be attached.

The mobile scanning arrangement according to the invention is designed with such a platform, with at least one scanning device, in particular a laser scanner, being attached to a receptacle and having an energy and signal connection with the electronic unit.

The platform can be mounted on a mobile carrier unit, such as a cargo backpack, a SKID, an AGV, a hand truck, a car, a quad or a boat. Of course, the platform can also be conventionally mounted on a tripod or the like for recording a static scan.

In a preferred exemplary embodiment, a 3D laser scanner and/or a 2D laser scanner, a device for location detection and optionally at least one color camera are arranged on the mobile carrier unit, with these each having an energy and data connection with the batteries or the electronics unit .

Accordingly, the mobile scanning arrangement according to the invention has a mobile platform on which at least one scanning device for the 2D or 3D measurement of objects/areas is arranged. The platform is held in such a way that it can be moved along a predetermined path of movement along the area to be measured and has an electronics unit (processing unit (CPU)) which is in data communication with the scanning device. The mobile scanning arrangement also has a device for location detection. The computing unit makes it possible to evaluate the data determined by means of the scanning device, which is preferably operated in an MMS rotation mode, in particular an MMS-SLAM rotation mode, and the device for location detection and to determine a trajectory (movement path) of the scanning device, with the computing unit being designed in insufficient data quality of the trajectory or the resulting scan to determine at least one position for the additional implementation of a static scan and / or a corresponding information and / or a signal to perform a further mobile scan preferably output in a profile mode.

Such a mobile scanning arrangement can be used very flexibly, it being ensured that due to the different measuring principles (static mode and MMS mode) a high-precision detection of the object or the area to be measured, for example a production hall, is made possible.

In a preferred embodiment, the computing unit integrated into the platform is synchronized with at least one of the scanning devices, so that the scans and location data recorded in mobile and/or static mode can be synchronized with the scan data stored in the scanning device. In this context, it is particularly preferred if the computing unit is designed in such a way that it can process the scans and location data recorded in the mobile and/or in the static mode with the aim of registering in the field (on site). This registration can then take place via the processing unit or via an external computer assigned to the scanning device.

It is particularly preferred if the processing unit is designed in such a way that the processed data sets/scan data can be transmitted back to the evaluation unit of the scanning device - in other words, the data sets are synchronized between the platform-side processing unit and the at least one scanning device in both directions .

In one variant of the invention, said pre-registration in the field takes place via an external computer, for example a tablet (handheld), which is in data connection with the scanning device, or via the computing unit.

Further processing in a central computer or the like is made easier if the processing unit has an interface for an external memory, for example an SSD or a USB stick, on which the project data, i.e. the data resulting from the synchronization of the processing unit and the internal computer of the scanning device , can be saved. The project data can also be stored centrally on an external computer via an interface. The device for location detection can be an IMU-/INS- and/or GNSS-based system or a system that uses localization techniques such as radar, Bluetooth, ultrasonic, RFID etc.

A method for controlling a mobile scanning arrangement, in particular a mobile scanning arrangement with the above features, accordingly requires a scanning device that is positioned on a mobile platform and that is implemented with a computing unit that is synchronized with the scanning device. Such a mobile scanning arrangement is preferably controlled in such a way that, in a first step, a mobile data set assigned to the object/area to be measured is generated via the scanning device, which is preferably operated in an MMS rotation mode, in particular an MMS-SLAM rotation mode. This mobile data set recorded by the scanning device is then evaluated by the computing unit and a trajectory is also calculated. This is the basis of the evaluation, because this is the only way to locate the profiles in 3D.

In a further step, the trajectory or the mobile data set (scans) is analyzed and, if necessary, a signal is output to carry out a static scan from a location determined by the computing unit or another mobile scan, preferably in a profile mode of the scanning device.

The static scan or the further mobile scan and the mobile data set from the first measurement are then evaluated to determine a corrected mobile data set and a corrected trajectory, which are possibly synchronized with the scanning device.

A method of this type enables high-precision detection of an object/area to be measured with minimal outlay in terms of device and process technology.

The inventive method is particularly effective when based on the corrected data set in the field a pre-registration or a correction Registration is carried out by means of the computing unit or an external computer with a data connection to the scanning device. As mentioned above, this external computer can be, for example, a tablet assigned to the scanning device.

The further processing of the trajectory and the data sets is particularly easy if this data is stored on an external memory, which then serves as a backup to the internal memory.

The method described above can be used particularly effectively in a scanning arrangement with a 3D laser scanner, via which a first mobile data set is generated in an MMS rotation mode, preferably a SLAM rotation mode, and possibly the static scan. It is preferred if at least a second mobile data set is generated via the 3D laser scanner operated in a profile mode along the same movement path (possibly in the opposite direction) or via another 2D laser scanner held on the platform. This double acquisition of mobile data sets optimizes the trajectory and the resulting SD point cloud, whereby all available data and loop closures from other passes, control points and also the static scans mentioned can be taken into account via the CPU.

The recording of the static scan is particularly precise if the scanning device is removed from the platform and placed in an optimal measuring position. The 3D laser scanner or the scanning device can then be mounted on a tripod or the like.

Further innovative aspects of the invention are addressed below.

The platform, on which all components can be precisely mounted, can be designed differently depending on the application. The platform may contain multiple, preferably adjustable, devices to accommodate one or more scanner at different angles.

The laser scanner, which can be releasably attached to the platform in a defined orientation (preferably vertical or tilted backwards), allowing it to be removed at any time and set up on a tripod in the traditional manner, is designed to also record static scans. The mobile and flexible applicability of such an embodiment of a scanning arrangement is particularly advantageous. The scanner can be operated both on the platform and independently as a so-called stand-alone device at fixed locations. The platform is also designed in such a way that it can be mounted on a SKID/push trolley or a carrying frame or other mobile support device.

The scanning arrangement preferably has an integrated or separate camera unit, consisting of a number of cameras that take pictures in the visible and/or infrared and/or multispectral range. This camera unit is preferably designed as a 360° panorama camera system, as a result of which the entire environment can advantageously be recorded in a data set, also referred to as a panorama. In principle, a camera or camera arrangement can also be used which records color images parallel to the scan profiles, the scanner and the camera arrangement then being operated in a profile mode, so to speak. Such a concept is used, for example, in the "Z+F MapCam®" camera system.

In a particularly preferred embodiment, the platform of the scanning arrangement has an electronic unit, the essential electronic components required for generating supply and control signals, as well as the computing unit and a navigation system (INS (Inertial Navigation System) & optionally GNSS (Global Navigation Satellite System)) includes. The electronic unit can also be used to establish a preferably wireless connection from the computer to a handheld device, eg smartphone, tablet or the like, via which the operator can control and/or monitor the entire system. The transformations relative to the INS (Lever Arms) of scanner and camera are preferably determined by calibration, so that the data of all components, synchronized via a common "PPS" pulse, can be transformed into a uniform coordinate system.

The platform and/or the electronic unit is preferably designed to accommodate a base board. This base board is used e.g. the connection and connection of different components of the scanning arrangement.

As explained, a computing unit is mounted on or in the platform and/or is part of the electronics unit. Since this is directly or indirectly connected to the platform, it is also referred to as an onboard PC and can be used directly in the field. This can control the individual components and/or generate a preview live, which is displayed to a user on a satellite computer, for example a handheld, tablet or similar. The computing unit could also be part of a separate camera unit.

Depending on the design, it can be advantageous for rechargeable batteries to be provided for the power supply of the electrical components. The rechargeable batteries are particularly preferably attached to or in the platform in such a way that they can be easily reached and thus exchanged in a short time. This exchange can take place during a scanning process, so that it does not have to be interrupted. In the case of a measurement in the field, the mileage of the scanning arrangement can be significantly extended by replacing the batteries. Furthermore, the rechargeable batteries can be integrated in or on the platform in such a way that they also supply the laser scanner with energy, so that the rechargeable batteries of the laser scanner are not necessarily held on the laser scanner itself. This reduces the weight of the laser scanner and the rotating mass, which is beneficial for the quality of the images.

In an advantageous embodiment, a DC/DC converter is provided for the scanning arrangement, which is also held on or in the platform, in particular as part of the electronics unit. Advantageously, different battery types can be used. The voltages can be between 6V and 48V amount and the DC/DC converter adapts this to the operating voltage of the scanning arrangement or the individual components.

In a preferred development, the laser scanner is connected to the platform via an adapter with a recording device attached to the platform. In this way, an exact and sufficiently reproducible alignment is advantageously ensured in a simple manner.

In a particularly preferred exemplary embodiment of the mobile scanning arrangement according to the invention, an inertial sensor is provided on the platform, which is aligned in such a way that its orientation to the laser scanner is fixed and known.

In an alternative exemplary embodiment, the onboard PC and a large part of the other components of the electronic unit are integrated in an interior of the platform, so that external data carriers can be connected via interfaces. In this way, the entire platform can advantageously be converted from one portable device to another without having to dismantle and reassemble individual parts of the electronics unit.

For example, a load backpack, such as a so-called Kraxe, is used as a portable carrier device. The platform can be mounted on the carrier device, for example the Kraxe, in just a few simple steps. Advantageously, such backpacks are ergonomically optimized so that a user can bear the load of the scanning arrangement over a longer period of time without any problems.

In a further preferred exemplary embodiment, the carrier device is a production platform. In particular, this can be a so-called SKID or an AGV (driverless transport system), which is used, for example, in larger production lines, for example in the automotive industry. The platform can be quickly assembled on a SKID conveyor or the AGV without interfering with the production process and can scan and record the entire production hall in one pass. A SKID is preferably used to To record the interior of the production hall, while using an AGV preferably walking / travel paths and outdoor facilities are recorded.

In an alternative preferred embodiment, the carrier device is an object that can move in different ways. This can, for example, drive, fly (drone), or swim.

An exemplary embodiment of the method has the following steps:

In a first step, the target object is recorded in one pass in a SLAM rotation mode. This is a typical operating mode of SLAM systems already available on the market. Advantageously, large areas can be detected very quickly from a continuous movement.

In a second optional step, the scene is recorded in an MMS profile mode. This mode is primarily used in classic, mostly vehicle-based, MMS systems. The advantage is that large areas can be scanned quickly, but the accuracy and data density is much greater and also more homogeneous than when using a SLAM rotation mode.

In a third, optional step, individual scans are recorded at stationary points where a very high resolution is required. These individual scans are carried out in a classic laser scanner mode, in which many individual positions are recorded. Advantageously, the resolution and 3D accuracy in this mode are very good.

Each step is shown in more detail below.

According to the first step, a very precise SLAM-based trajectory of the movement of the scan is generated after the measurement has been completed, whereby a favorable INS can already be sufficient for a position estimation. If possible, at least one loop closure (return to the starting point or to individual objects during recording) in order to compensate for slow drifts in the trajectory.

In the second step, for example, the same route from the first step is walked or traversed again, although scanning is carried out in profile mode. The (approximately parallel) profiles are aligned using the SLAM algorithm based on the data already generated from the first pass, which greatly increases the data density and homogeneity of the 3D data, with approximately the same accuracy. Other sensors can be used to support trajectory determination, such as cameras / GPS etc..

In an optional third step, individual scans can be recorded in the classic laser scanner mode, i.e. a spherical 3D scan at a fixed position, at a few, particularly critical points, either in order to determine specific reference objects with great precision or to identify specific objects with a particularly high resolution to measure or to support the trajectory at difficult points of the SLAM pass. The individual points of view are at least roughly known to the system, either via the SLAM algorithm or the internal sensors of the scanning arrangement or the laser scanner, so that these scans can advantageously be seamlessly registered with the existing data set.

Advantageously, when using the method according to the invention, a high-resolution, high-precision 3D point cloud of a large area is obtained in a short time, with accuracy and resolution approximately corresponding to that of the classic laser scanner mode - and this without the use of expensive INS systems. Likewise, the use of further laser scanners can advantageously be dispensed with.

In a preferred embodiment, the individual recordings, also called 3D scans, are registered in the field. As soon as the scans from the laser scanner mode have been registered to the data set recorded in SLAM mode, they can serve as a reference due to their high level of accuracy in order to align the profiles of the SLAM data set even more precisely, which is preferably done automatically. Also, multiple independent but overlapping SLAM records could be mutually exclusive serve as a reference. In the case of recorded reference objects, the trajectory calculated in the SLAM can be drawn to so-called "tie points" and thus improved with high precision. Of course, tie points can also be generated in other ways, for example by means of target marks recorded by the camera system or with the help of the laser scanner in static use. This can also be simple geometries such as planes, lines, spheres, cylinders or the like.

The estimation of the trajectory for the SLAM data set can also be improved by including differential GNSS data.

In a preferred exemplary embodiment of the method according to the invention, the camera unit can advantageously be used to further improve the trajectory via corresponding videometry evaluation, for example estimation of the movement by tracking features in successive images, or video SLAM.

The second step can be saved if the scanning arrangement used is equipped with an additional profile scanner, which records additional approximately parallel profiles during the first pass and whose data are aligned with the data from the first scanner using the SLAM process.

Embodiments of the invention are explained with reference to drawings.

Figure 1 shows an embodiment of a mobile scanning arrangement according to the invention in a perspective view,

Figures 2a and b show a laser scanner in two different operating modes, Figures 3a to 3e show different arrangements of a mobile

scanning arrangement with regard to the positioning of the components on a platform;

FIGS. 4a to d show application examples of a mobile scanning arrangement according to the invention;

FIGS. 5a, 5b three-dimensional views of a platform of the scanning arrangement according to the invention;

FIG. 5c shows a sectional representation of the platform according to FIGS. 5a and 5b; FIG. 6 shows a variant of a platform according to FIGS. 5a, 5b;

FIG. 7 shows a basic representation of essential components of a scanning arrangement according to the invention;

FIG. 8 shows an exemplary embodiment of a mobile scanning arrangement with a load backpack;

FIG. 9 shows an exemplary embodiment of a mobile scanning arrangement with two scanners and a camera system;

FIG. 10 shows a variant of the exemplary embodiment according to FIG. 9; wherein the mobile scanning assembly is mounted on a hand truck and

FIG. 11 shows a scanning arrangement with a tripod on an optional carriage.

FIG. 1 shows an exemplary embodiment of a mobile scanning arrangement 1 not according to the invention. This has a 3D laser scanner 2, which in this exemplary embodiment is attached to a tripod 4 or some other support bracket. Furthermore, the scanning arrangement 1 has a camera unit 6 which is formed at a distance from the laser scanner 2 . The camera unit 6 is arranged in such a way that it has a largely unobstructed view of the scene. The camera unit 6 is also spaced apart from a platform 8 carrying the laser scanner 2—it is also conceivable for the camera to be integrated in the platform or in the scanner in order to record images that are as parallax-free as possible in profile mode. The laser scanner 2 is connected to the platform 8 via the tripod 4 or another suitable device and a mount described in more detail below, with an inclined (approx. 45° inclination) or vertical position being preferred. An inexact alignment of the laser scanner 2 on the platform 8 can, if necessary, be compensated for by an electronic compensator of the laser scanner 2.

An inertial sensor, not shown in the figure, should be positioned under the laser scanner 2 in a predetermined relative position, preferably approximately in the middle.

The platform 8 is designed with an electronics unit that is designed with an onboard PC and a DC/DC converter. The back of the onboard PC has threads, for example, which are designed in the manner of a VESA mount, for example. So the onboard PC, which may have rubber feet is designed to be screwed to the platform or secured against slipping and vibrations with a different type of bracket within the technical unit.

At least one battery 10 is held on an upper side of the platform 8 . A plurality of rechargeable batteries 10 are preferably held on the platform 8 in such a way that they can be easily exchanged in order to enable a longer scanning time in the field. The batteries are preferably connected in such a way that at least one battery can be replaced without interrupting the scan.

In the present exemplary embodiment, the camera unit 6 is attached to a cargo backpack 12 at an angle. A profile on which the camera unit 6 is mounted is fixed approximately in the middle of the angle. The bracket is, for example, screwed to a frame of the cargo backpack 12 on both sides, or fastened in a detachable manner in some other way. It is particularly advantageous if the camera unit 6 is fastened in such a way that it is rigid with respect to the frame of the cargo backpack 12 . A calibration of the scanning arrangement 1 is made much easier in this way. Cables of the camera unit 6 are routed along a side of the cargo backpack 12 facing away from a user to the onboard PC.

The mobile scanning arrangement 1 has a total of three operating modes, with the third operating mode only being explained in more detail in a later figure.

Two operating modes (MMS rotation mode, profile mode) of the laser scanner of a mobile scanning arrangement 1 according to the invention are shown schematically in FIG.

In the MMS or SLAM rotation mode, the laser scanner 2 is located on the moving platform 8 according to the invention and rotates (a few times per second) about its vertical axis X, while a rotor 11 ensures rapid vertical deflection of the scanning laser beam 14 . According to the depiction in FIG. 2a, a helix is created (due to the horizontal movement of the platform). vertical profiles twisted around the vertical axis, which therefore have a large overlapping area. This overlap is essential for the SLAM algorithm, which can only use this (and the motion estimation of the INS) to calculate the exact trajectory and thus the transformation of all recorded data.

The second operating mode (profile mode) is shown in FIG. 2b. Accordingly, only the rotor 11 rotates for the vertical beam deflection. The laser scanner 2 does not rotate about its vertical axis X, but keeps it at a defined angle, preferably approximately perpendicular to the direction of movement of the platform 8. The profiles of the laser beams 14 recorded in this way are therefore approximately parallel to one another. Due to the parallel arrangement of the recorded profiles, such a measurement alone cannot be used for the evaluation using a SLAM algorithm, since this requires overlapping profiles. This only applies to capturing profiles using laser scanners - if cameras are used, SLAM can in principle also be carried out. However, such concepts only have a relatively low measurement accuracy

The illustrations in FIG. 3 show different possibilities for positioning the scanning arrangement according to the invention.

According to FIG. 3A, the mobile scanning arrangement is mounted, for example, on a backpack or a backpack, the platform 8, as explained in more detail below, being designed as a housing on which the respective laser scanner 2 can be mounted in a variable position. In the illustrated embodiment, the platform 8 has an inclined surface 13 which, in the illustrated embodiment, is set at an angle of approximately 45° to the vertical (of course, other angles are also possible). The laser scanner 2 is then mounted on this inclined surface 13 via a suitable adapter, so that it can be rotated about its vertical axis X, for example in an operating mode according to FIG. 2A. The inclined position ensures that the person carrying the scanning arrangement is not expected to collide with the laser scanner 2 while walking over the area to be measured. Such an arrangement can also be used, for example, when mounting the scanning arrangement on a push cart, in which case the platform 8 in Horizontal direction is arranged so that the vertical axis X of the laser scanner 2 is oriented in the sliding direction upwards. When using a push cart, however, it could also be advantageous if the vertical axis X of the laser scanner is set at an angle, preferably at 45°, in the direction of travel.

However, as indicated in FIG. 3B, the laser scanner 2 can also be mounted on one of the large surfaces 15 which adjoins the aforementioned inclined surface 13 . With such a concept, the platform 8 is accordingly preferably arranged horizontally. Such a platform arrangement is advantageous, for example, when mounting the scanning arrangement on a push cart, a SKID, an AGV or the like.

The measurement speed and the flexibility of the arrangement can be improved by covering both the large surface 15 and the inclined surface 13 with a laser scanner 2 according to FIG. 3E. Accordingly, the platform 8 is then designed with receptacles for the laser scanner 2 on the large surface 15 designed as a receptacle wall and the inclined surface 13 . In this case, for example, one of the laser scanners 2 can be operated in the SLAM rotation mode, while the other laser scanner 2 works in the profile mode described above. The evaluation of both scans to determine the mobile data set and the trajectory is then carried out again via the onboard PC described in more detail below.

Also in this embodiment, the platform 8 is arranged in the horizontal direction.

In the exemplary embodiment according to FIG Narrow side 17 of the platform 8 is fixed. Accordingly, the Z+F IMAGER® is used for the rotation mode and the Z+F Profiler® 2' for the profile mode. Both measurements can in turn be carried out simultaneously. In principle, it is also possible to fill both positions with a Z+F IMAGER® 2 or a Z+F Profiler® 2'. When using two scanners, the SLAM algorithm can be used because the profiles overlap due to the inclination.

Finally, FIG. 3E shows a relative positioning in which the Z+F Profiler® 2' is arranged on the narrow side 17 in the vertical direction, so that the profile in the horizontal direction is correspondingly recorded. Of course, other arrangements are also possible.

FIG. 4a shows a mobile scanning arrangement 1 with a laser scanner 2 which is held on the inclined surface 13 of the platform 8 at an angle of approximately 45°. This is held on the frame of a backpack 12 for cargo. This frame has a detachable handheld 16 (tablet) in a lower, angled area. Also shown is the detachable camera unit 6 which is provided at an upper end of the cargo backpack 12 . The platform 8 has lateral battery compartments 18, indicated by dashed lines, into which batteries can be inserted, which supply the mobile scanning arrangement 1 with energy. This is explained in more detail below.

FIG. 4b shows an underside of the platform 8 with which it can be mounted on a transport device. For this purpose, threaded holes 20 are introduced in the corner areas of the platform, can hold the platform to the intended transport device via the relatively small screws. A slightly larger threaded hole 22 is provided centrally or in the center of gravity on the underside of the platform 8, via which a central screw connection to the transport device can be achieved.

FIG. 4c shows an upper side of the platform 8, the inclined surface 13 being indicated in an area shown here at the top and indicated by a dashed line, which is set at an angle of about 45° to the large surface 15 of the platform 8, for example. Both in the sloping surface 13 and on the large surface 15 of the platform 8, receptacles 24 are provided for receiving laser scanners 2 to serve. The receptacles 24 can, for example, be designed as a bayonet catch or have an external thread, or have mounting bores and/or also have threaded bolts, press pins, which are used for the fixed positioning of the laser scanner or scanners 2, 2'.

FIG. 4d shows a mobile scanning arrangement 1 with the laser scanner 2, the camera unit 6 and the platform 8, which has two receptacles 24, on a tripod 26. This arrangement is used, for example, to apply the third operating mode, which is described below.

In the third operating mode, the laser scanner 2 is preferably dismantled and takes a conventional panoramic scan from a fixed position, typically a tripod 26 . If the platform 8 is stationary, the scanner can also remain mounted on the platform 8 in order to record a conventional 360° scan.

In the exemplary embodiment illustrated in FIG. 4d, the scanner 2 is mounted on the stand 26 with the platform 8 . In principle, the scanner 2 can also be detached from the platform 8 and then positioned on a tripod 26 or the like. In this case, however, it must be ensured that the static scans are synchronized with the platform 8 onboard PC. In the concept according to the invention, this is carried out automatically by the platform 8 when the scanner 2 is connected to the platform 8.

Figures 5a, 5b show specific versions of the platform 8. As already explained above, this is mounted with a bottom wall 28, which in turn is attached to the respective mobile support structure, for example the load backpack 12, the SKID, an AGV or a pushcart, using screws or the like , is mounted.

As explained, the platform 8 has a housing with a receiving wall that forms the large area 15 and runs parallel to the bottom wall 28 . In this mounting wall there is a mount 24 for a support bracket of a laser scanner 2 (Z+F IMAGER®, Z+F Profiler®). In the illustrated embodiment, the receptacle 24 is pocket-shaped, with fastening threads 32 for a flange plate 34 being provided on a base 30 . This carries a retaining flange 35 designed according to the mechanical interface of the laser scanner 2 . This retaining flange 35 can be designed with dowel pins or the like, so that an exact, non-rotatable assembly of the laser scanner 2 is ensured.

In the representation according to FIG. 5a, to the right, the large surface 15 is adjoined by the sloping inclined surface 13, on which a receptacle 24 is also formed, in which, according to the representation in FIGS. 5a and 5b, a flange plate 34 with a retaining flange 35 for the Laser scanner 2 is used.

Up to four batteries 10a, 10b, 10c, 10d are positioned on the side walls of the platform housing, these being individually interchangeable and connected in such a way that the power supply is guaranteed during operation of the laser scanner or 2 and the platform components. In the exemplary embodiment shown, the four rechargeable batteries 10a, 10b, 10c, 10d are positioned in the area of the side walls 46, 48 of the housing adjoining the large area 15.

In the illustrated embodiment, the batteries 10a, 10b or 10c, 10d enclosing brackets 50, 52 are formed on the two side walls 46, 48 of the platform 8, in which the respective battery pair (10b, 10a; 10d, 10c) are inserted with a precise fit can, the contact then being made via corresponding contacts in the area of the side walls 46, 48, which also contribute to fixing the position of the batteries 10a, 10b, 10c, 10d in the holders 50, 52. The geometry of the holders 50, 52 corresponds to the outer contour of the battery pairs 10a, 10b; 10c, 10d and designed in such a way that a continuous transition between the actual housing area and the battery holder is ensured.

A housing area 36 forming the inclined surface 13 is also laterally inclined relative to a housing area 38 forming the large area 15 , so that the inclined surface 13 runs out to the viewer in a narrower manner than the large area 15 . Accordingly, the housing area 36 tapers both in Vertical direction and in the horizontal direction towards the viewer (view according to Figure 5b). The housing areas 36, 38 accommodate the above-described onboard PC, which is designed to be very powerful, so that it can carry out the above-described data processing directly at high speed. The housing also contains the communication interface, via which the data processed by the onboard PC is synchronized with the data sets stored in the laser scanner(s) 2 . Furthermore, another communication interface can be present in the housing, via which a data connection with an external computer (tablet, handheld) 16 takes place. In principle, however, it can also be sufficient if this communication takes place via the respective scanning device (for example the laser scanner 2). Parts of the onboard PC and the communication modules are provided with reference number 40 in FIG. 5b.

FIG. 5c shows a section along the line A-A in FIG. 5b, with the two rechargeable batteries 10b, 10c being removed from the holders 50, 52. These are designed with retaining walls 53a, 53b enclosing the pair of batteries, between which a partition 58, 60 extends between the two adjacent batteries 10a, 10b; 10c, 10d is arranged and thus keeps them at a distance from one another. This will be returned to below in connection with FIG.

As explained, the bottom wall 28, the receiving wall designed with the large surface 15, the receiving wall designed with the inclined surface 13 and the side walls 46, 48 form a receiving space 55 for the onboard PC 40 visible in section Microcontroller board and the INS system 59 and a board for the power supply 61 arranged. In this case, they are fixed in position in corresponding holders of the receiving space 55 . The representation according to FIG. 5c also shows the compartment 56 for an external memory. The sectional plane runs through the large-area-side receptacle 24, into which the flange plate 34 is inserted with the retaining flange 35 attached thereto. As explained, the receptacle 24 is pocket-shaped, with the flange plate 34 resting on the floor 30 and being fixed in position by means of fastening screws and/or dowel pins. The retaining flange 35 has a Profile that makes it possible to set up different scanning devices that are usually operated standalone. In other words, according to the concept according to the invention, the platform 8, designed with standard connections, so to speak, can be provided with different scanning devices, cameras, or the like. Battery cells 63 of rechargeable batteries 10a, 10b, 10c, 10d can also be seen in the representation according to FIG. 5c.

FIG. 6 shows a variant of the exemplary embodiment according to FIGS. 5a, 5b in a view from a rear side. A rear wall 54 can be seen in this illustration, which is rounded off and merges into the large area 15, on which the receptacle 24 with the flange plate 34 and the retaining flange 35, which is directed upwards as shown in FIGS. 5a, 5b, is formed. A corresponding receptacle 24 is made on the inclined surface 13, which is not visible in FIG. 6 and faces away from the viewer.

For better handling of the platform 8, a compartment 56 can be provided on the back in this exemplary embodiment, in which an external memory can be inserted. This compartment 56 is then closed after the memory has been inserted. In principle, a handle or a handle recess can also be provided in this area, which simplifies the handling of the platform 8 with a laser scanner that may be arranged on it. In the exemplary embodiment illustrated in FIG. 6, one can also clearly see the two above-described holders 50, 52 for the batteries 10a, 10b, 10c, 10d, with only the batteries 10c, 10d being visible in FIG. No batteries are inserted into the holder 50 located at the rear. It can be seen in this representation that the two holders 50, 52 are each designed with the partition 58, 60, which prevent direct contact between the two adjacent batteries 10c, 10d. The outer circumference of the rechargeable batteries 10a, 10b, 10c, 10d is stepped back somewhat along a circumferential contour 62, with the stepped-back part immersing itself in a receptacle 64 of the respective holder 50 surrounded by the holder walls 53a, 53b and fitting there precisely, in particular with a form fit and also with a force fit. for example, held by a latch or the like. In the inserted state, an end face 66 of the partition wall 58 ends with the large area 68 of the respective battery 10d visible in FIG Functional position are secured. The sectional view also shows the contacts 65a, 65b for supplying power to the components.

Accordingly, in the assembled state, the platform 8 ideally forms a structural unit with almost no protrusions, so that damage during the mobile measurement is almost impossible, with the design being adapted to that of the laser scanner. The platform 8 also forms a kind of mechanical buffer between the carrier unit, for example the tripod or the holding frame of the backpack and the laser scanner, so that the latter is protected from damage.

In FIG. 7, the essential assemblies of the mobile scanning arrangement according to the invention are shown again schematically. As explained above, this has a laser scanner 2, for example at least one Z+F IMAGER®, which can be mounted on the platform 8 according to the invention as shown in FIGS. 5a, 5b. This laser scanner 2 communicates via a radio link, for example W-LAN, with the external computer, for example the handheld 16, via which pre-registration in the field can be carried out—this is indicated in FIG. 6 at the top left. Real-time preview scans of the SLAM data captured by the mobile scanning arrangement 1 can also be shown on this handheld. The handheld 16 can also be connected directly to the platform 8 to z. B. to control and monitor the SLAM recording.

As explained above, the laser scanner 2 has a data connection, for example via a LAN, with the platform 8, via which the location data and the 3D point cloud recorded by the laser scanner 2 are evaluated. Depending on the design, this laser scanner 2 can be operated in MMS/SLAM rotation mode and in profile mode in order to generate a highly precise trajectory. As explained, the platform 8 can be designed with an external interface for connecting an SSD 42 or a USB stick, via which the data recorded by the onboard PC 40 can be read out and transmitted to a central computer 44 . Of course, this transmission can also be contactless. As already explained at the beginning, the onboard PC 40 can synchronize with the connected laser scanners 2, 2' due to its powerful CPU and store all stationary or mobile data of a project locally on the platform 8. The scans can also be registered with each other and with the SLAM data. In principle, it is also possible to process the data (data filter, person identification and masking (data protection), target identification, coloring, data export, etc.) via the onboard PC 40 . Of course, this processing can also take place downstream, for example in the office.

The stationary data is then copied to external storage 42 along with the SLAM data. If, for example, this is removed and plugged into the central computer 44, the entire project, for example stationary scans and SLAM data, can be evaluated together without additional data having to be downloaded from the laser scanners 2.

Furthermore, preview scans of the SLAM data in the field can be synchronized with the laser scanner 2 and integrated into the project. As a result, the previous field workflow can continue to be used, as is described, for example, in the above-described prior art according to the applicant's EP 3 056 923 A1.

The laser scanner 2 can then send all the data of a project (stationary scans and SLAM data) to the handheld 16, on which the registration can then be made or corrected. The handheld 16 synchronizes the changes back to the laser scanner 2 and this in turn to the platform 8 and the external memory 42 connected to it.

FIG. 8 shows a concept corresponding to FIG. 1, in which the mobile scanning arrangement 1 (similar to that in FIG. 3A) is mounted on a backpack 12 for goods. The platform 8 is fastened with its bottom wall 28 to a supporting frame 70 of the Kraxen-shaped load backpack 12 in such a way that the inclined surface 13 points diagonally upwards (view in FIG. 8). A laser scanner 2 is then attached to the receptacle 24 of the inclined surface 13, which in the exemplary embodiment shown is a 3D Laser scanner (Z + F IMAGER®) is running. The vertical axis X of the laser scanner 2 is thus adjusted to the vertical in accordance with the position of the inclined surface 13 . The representation according to FIG. 8 also shows two rechargeable batteries 10c, 10d, which can be removed laterally from the platform 8 or inserted into it without any hindrance.

FIG. 9 shows a variant of a mobile scanning arrangement 1, which can be mounted, for example, on a SKID or an AGV. The scanning arrangement 1 is designed with a support structure 70 that can be fixed on this portable carrier device (transport means). This has a base plate 72 on which a support column 74 is arranged with a support bracket 76 on which the platform 8 described above is mounted. This assembly takes place in such a way that the large surface 15 with the receptacle 24 points upwards, to which in this exemplary embodiment a 3D laser scanner 2 (Z+F IMAGER®) from the applicant is fixed in position. Furthermore, another laser scanner 2' is held on the base plate 72 via a base 78, which is designed as a 2D laser scanner in the illustrated embodiment and thus allows a profile measurement. The applicant's Z+F PROFILER® type laser scanner is particularly suitable for this purpose. The bearing surface of the base 78 and thus the angle of attack of a rotor 80 of the 2D laser scanner 2 can be adjusted via a pivoting device 81 . Furthermore, a bridge 82 is connected to the base 78, which bridges the 2D laser scanner 2' and on which a color camera arrangement, for example of the Z+F MapCam® type, is arranged. With such a camera arrangement, the corresponding color information can be mapped to the measurement data recorded by the 2D laser scanner 2' in one step. The cameras 86 (only one provided with a reference number in FIG. 9) have high-resolution sensors and are arranged in such a way that the common field of view covers the entire measurement range of the 2D scanner 2' without parallax. The high frame rate of the cameras enables the creation of seamless and sharp color images at speeds of up to 90 km/h. Such a camera system supplies very realistic and parallax-free color information.

The cameras 86 are oriented along the profile to be recorded on the circumference but also in the direction of travel of the mobile carrier device, so that the entire environment can actually be recorded via the color cameras. In the illustration according to FIG. 10, the scanning arrangement 1 is mounted on a hand truck 88 (SCADDY®), which is pulled or pushed by hand through the area to be measured. The basic structure of the scanning arrangement 1 according to FIG. 10 corresponds to that in FIG. 9, with no camera arrangement 84 being mounted on the bridge 82 . In this exemplary embodiment, an external PC 92 is mounted on a PC holder 90 and is connected wirelessly or via a connecting cable to the on-board PC 40 of the platform, so that the data evaluation via the external PC 92 is supported. However, the scanners 2, 2' are essentially controlled via the on-board PC 40 of the platform 8. Such a concept also makes it possible to control components, for example one of the laser scanners, separately via the PC 92.

Finally, FIG. 11 shows a mobile scanning arrangement 1, via which preferably static scans can be recorded. This scanning arrangement 1 has a 3D laser scanner 2 which is fastened to a tripod holder 94 of a tripod 26 via the platform 8 according to the invention. In the exemplary embodiment shown, this is designed with a carriage 96 so that it can be adjusted to the desired scanning positions relatively easily. In the exemplary embodiment according to Figure 11, the platform 8 is arranged in such a way that the large surface 15 with the receptacle 24 is oriented upwards (view according to Figure 11), so that the X-axis of the 3D laser scanner is in the vertical direction (perpendicular to the contact surface of the tripod 26) runs. In principle, a trolley, a dolly or the like can also be used instead of the chassis 96 shown—such chassis arrangements are available with most surveyors or can be retrofitted inexpensively, so that flexible use of the mobile scanning arrangement 1 is ensured at a low price.

As shown above, due to its construction, the variable platform 8 makes it possible to mount different types of laser scanners 2, 2' on a wide variety of carrier devices, depending on the environment/measurement object to be measured, and thus to ensure an optimal scanning position.

As explained above, the mobile data set can be obtained by combining two 3D laser scanner or two 2D laser scanners placed at an angle to each other or a combination of a 3D laser scanner with a 2D laser scanner.

A platform for a mobile scanning arrangement is disclosed, which is designed with at least two receptacles for scanning devices.

Reference List

1 mobile scanning arrangement

2 laser scanners

4 tripod

6 camera system

8 platform

10 battery

11 rotors

12 cargo backpack

13 inclined surface

14 laser beams

15 large area

16 handheld

17 narrow side

18 battery compartment

20 threaded hole

22 threaded hole

24 recording

26 tripod

28 bottom wall

30 floor

32 mounting threads

34 flange plate

35 retaining flange

36 housing area

38 housing area

40 onboard PC, communication module

42 SSD

44 mainframe

46 side wall

48 side wall

50 bracket 52 bracket

53 mounting wall

54 rear wall

55 recording room

56 tray

58 partition

59 microcontroller board (INS)

60 partition

61 Power supply board

62 perimeter contour

63 battery cell

64 recording

66 face

68 large area

70 support structure

72 base plate

74 support column

76 carrying console

78 base

80 rotors

81 swivel device

82 bridge

84 Camera arrangement

86 camera

88 handcart

90 PC mount

92 External PC

94 tripod mount

96 chassis

Claims

Expectations

1 . Platform for a mobile scanning arrangement (1), with at least two mounts (24) for the optional and detachable positioning of a scanning device or for positioning at least two identical or different scanning devices, which can also be operated independently, the mounts (24) in one, optionally adjustable, angles are employed to each other.

2. Platform according to Patent Claim 1, with a plurality of batteries (10) which are connected in such a way that individual batteries (10) can be exchanged or charged without interrupting the scanning process.

3. Platform according to one of the preceding claims, wherein this is designed with two mutually employed receiving walls, on each of which a receptacle (24) is formed.

4. Platform according to claim 3, with a base wall (28) which, with the receiving walls, side walls (46, 48) and a rear wall (54), has a receiving space for an electronic unit with an onboard PC (40) for controlling components of the mobile Scanning arrangement (1) and / or forms for evaluating measurement signals.

5. Platform according to claim 4, wherein the electronics unit also has a DC / DC converter for the battery (10).

6. Platform according to patent claim 2 or one of the claims relating to patent claim 2, wherein holders (50, 52) for the batteries (10) are formed on the side walls (46, 48).

7. Platform according to one of the preceding claims, wherein the holders (50, 52) hold the batteries (10) positively and non-positively.

8. Platform according to Patent Claim 6 or 7, wherein on the side walls (46, 48) and/or the rear wall (54) a holder for two batteries (10a, 10b; 10c, 10d) is formed.

9. Platform according to one of the preceding claims, wherein the receptacles (24) for the scanning devices are of identical design.

10. Platform according to one of the preceding claims, wherein the receptacles (24) are each pocket-shaped recesses in the receiving walls, in each of which a holder (50, 52) is used for a scanning device.

11 . Platform according to Patent Claim 10, wherein the holder (50, 52) is designed with a flange plate (34) which is inserted with a precise fit into the recess and which carries a retaining flange (35) for the scanning device, which is designed, preferably by means of dowel pins, for the non-rotating installation of the scanning device .

12. Mobile scanning device with a platform (8) according to one of the preceding claims, wherein at least one scanning device is attached to a receptacle (24) and is connected to the electronics unit for energy and signals.

13. Scanning arrangement according to claim 12, wherein the platform (8) is mounted on a mobile carrier unit, such as a load backpack (12), a SKID, an AGV or a hand truck (88).

14. Scanning arrangement according to claim 13, wherein a 3D laser scanner (2) and/or a 2D laser scanner (2'), a device for location detection and optionally a color camera arrangement (84) are held on the mobile carrier unit.