WO2019105009A1

WO2019105009A1 - Method and system for synchronized scanning of space

Info

Publication number: WO2019105009A1
Application number: PCT/CN2018/091583
Authority: WO
Inventors: Seng Fook LEE
Original assignee: Guangdong Kang Yun Technologies Limited
Priority date: 2017-12-03
Filing date: 2018-06-15
Publication date: 2019-06-06
Also published as: CN108364340A; CN208751479U

Abstract

A system and a method for synchronized scanning of a space are disclosed. The system includes a plurality of scanning devices. Each of the plurality of scanning devices includes a first, second and a third data capturing module. The data captured from the first and second data capturing module is utilized to generate a geometrical proximity data. The geometrical proximity data is utilized to define coverage area of the each of the plurality of scanning devices for synchronized scanning. Further, the data captured using the third data capturing module of each of the plurality of scanning devices, is stitched and combined in real time to generate a 3-dimensional view of the space being scanned.

Description

[Title established by the ISA under Rule 37.2] METHOD AND SYSTEM FOR SYNCHRONIZED SCANNING OF SPACE

FIELD OF INVENTION

The present invention relates to scanning of an environment, more particularly, the present invention relates to synchronizing scanning of an indoor environment and generating a complete information of an indoor environment in real time using multiple scanning devices.

Summary

According to an embodiment of the invention, there is provided a method for synchronized scanning of a space by a plurality of scanning devices. The method includes the steps of collecting, by each of the plurality of scanning devices, a surrounding environment information using a first data capturing module. Further, the method includes Collecting, by each of the plurality of scanning devices, movement data of the each of the plurality of scanning devices using a second data capturing module. The surrounding environment data and the movement data are combined together by a processor to generate a geometrical proximity data. Furthermore, the method includes generating, by each of the plurality of scanning devices, a point cloud data information wherein point cloud data is generated using a pictorial information of the surroundings and creating, a point cloud structure data, from data captured by a third data capturing module of the surrounding space around the scanning device. Further, the method includes determining coverage area of each of the plurality of scanning devices based on geometrical proximity data of each of the plurality of scanning devices of the plurality of scanning devices and stitching the point cloud data of each of the plurality of scanning devices in real-time to generate a 3-dimensional mapping image of the space.

According to another embodiment of the invention, there is provided system for synchronized scanning a space. The system includes a plurality of scanning devices, wherein each of the plurality of scanning devices further comprises a first data capturing module configured to capture surrounding environment information, a second data capturing module configured to capture movement data of a scanning device, and a third data capturing module configured to capture pictorial information of the surrounding environment. The system further includes a server, connected to each of the plurality of scanning devices configured to receive surrounding environment data, movement data and pictorial information from each of the plurality of scanning devices, combine surrounding data and the movement data to generate a geometrical proximity data, generate a point cloud data, from the pictorial information, determine coverage area of each of the plurality of scanning devices based on geometrical proximity data of each of the plurality of scanning devices, stitch point cloud data of each of the plurality of scanning devices in real-time, and generate a 3-dimensional mapping image of the space.

An object of the presently disclosed subject matter having been stated herein above, and which is achieved in whole or in part by the presently disclosed subject matter, other objects will become evident as the description proceeds when taken in connection with the accompanying drawings as best described herein below.

Brief Description of the Drawings

The foregoing summary, as well as the following detailed description of various embodiments, is better understood when read in conjunction with the appended drawings. For the purposes of illustration, there is shown in the drawings exemplary embodiments; however, the presently disclosed subject matter is not limited to the specific methods and instrumentalities disclosed. In the drawings:

FIG. 1 is a block diagram depicting a scanning device for scanning a space, in accordance with an embodiment of the invention;

FIG. 2 is a block diagram of an autonomous robot and its various internal components, in accordance with another embodiment of the invention;

FIG. 3A is a block diagram depicting a space to be scanned and synchronization, in accordance with an embodiment of the invention;

FIG. 3B is a block diagram depicting a space to be scanned and synchronization, in accordance with another embodiment of the invention;

FIG. 4 is a block diagram depicting a server and its internal components, in accordance with an embodiment of the invention; and

FIG. 5 is a flow chart depicting a synchronized scanning method, in accordance with an embodiment of the invention.

Detailed Description

The disclosure set forth above may encompass multiple distinct inventions with independent utility. Although each of these inventions has been disclosed in its preferred form(s), the specific embodiments thereof as disclosed and illustrated herein are not to be considered in a limiting sense, because numerous variations are possible. The subject matter of the inventions includes all novel and nonobvious combinations and subcombinations of the various elements, features, functions, and/or properties disclosed herein. The following claims particularly point out certain combinations and subcombinations regarded as novel and nonobvious. Inventions embodied in other combinations and subcombinations of features, functions, elements, and/or properties may be claimed in applications claiming priority from this or a related application. Such claims, whether directed to a different invention or to the same invention, and whether broader, narrower, equal, or different in scope to the original claims, also are regarded as included within the subject matter of the inventions of the present disclosure.

Now referring to FIG. 1, illustrating a scanning device 100 (autonomous robot used interchangeably) and its various parts, in accordance with another embodiment of the invention. The robot includes a main frame 110, and a plurality of legs 112. The main frame 110 supports the third data capturing module or the plurality of cameras 106A-N (cumulatively referred to as cameras 106). The main frame may be made up of any one or a combination of a wood, metal, alloy, plastic, rubber, or fiber. The legs 112 provides a reachable and scannable height to the robot 100. In an embodiment of the invention the plurality of cameras may include fish eye lenses in order to capture a spherical view of the corresponding region. The main frame 110, includes the first data capturing module 102, the second data capturing module 104, and the third data capturing module 106. In an aspect of the invention, each leg of the plurality of legs 112 of the robot 100 may include at least one second data capturing module 104. The placement may be strategic so as to closely map the movement behavior of the robot 100.

In another embodiment of the invention, the plurality of legs may include means for movement that is wheels that may help the robot 100 to be maneuvered or maneuver itself to any direction hassle freely.

In another embodiment of the invention, the supporting frame 110 may be of any shape and size. The shape depicted in figure is for illustration purposes and should not be considered as restrictive for the invention in any manner.

In another embodiment of the invention, the first data capturing module 102 may be mounted on the top of the robot 100.

Now referring to FIG. 2, a block diagram of a scanning device 100 and its internal components to for scanning a space, in accordance with an embodiment of the invention. The system 100 may be an autonomous robot 100, which will be interchangeably used in the following detailed description. The autonomous robot 100 may also be a manually controlled or autonomously or a combination of both. The autonomous robot 100 may also be controlled using a mobile application. The autonomous robot 100 includes a first data capturing module 202, a second data capturing module 204, a third data capturing module 206, and a processor 210.

According to an aspect of the invention, the first data capturing module 202 may be a stereo vision or a LiDAR. For carrying out the invention in best mode, LiDAR is more suited for its capabilities to identify and map objects very close to the robot 100. LiDAR may be placed on the top of the robot 100 in order to enable the robot 100 to scan the entire environment.

According to another aspect of the invention, the second data capturing module 204 may be odometers sensors that capture movement data of the autonomous robot 100. The odometer sensors are capable of identifying how far the robot has moved and at what distance is traversed by the robot 100. Also, the odometer sensors are capable enough to identify the accurate movement of the robot 100.

According to another aspect of the invention, the third data capturing module 206 may be a plurality of cameras. There may be at least 2 cameras to capture pictorial information of the environment surrounding the robot 100. The cameras may include first eye lenses that capture the data in a spherical manner. According to another aspect, there may be present 4 cameras configured towards each direction, to capture pictorial information in 360 degrees in an instant.

The processor 210, may be a standalone processor with various hardware internal processing components, or the internal components may also be software generated. The processing module 210 may be a collection of processors function in together to achieve the function equivalent to the standalone processor.

Now referring to FIG. 3A, a block diagram depicting an environment 300 wherein a space 302 is being scanned and synchronization of the scanned information, in accordance with an embodiment of the invention. The space 300 may be an indoor exhibition hall or space. The space 302 may include multiple areas to be scanned like areas 302A, 302B, 302C and 302D. Each of the multiple areas may be scanned using at least one of the plurality of scanning devices 100A, 100B, 100C, and 100D. Each of the scanning devices 100A, 100B, 100C, and 100D may be connected to a central server 304. The server 304 may receive information from each of the plurality of scanning devices 100A, 100B, 100C, and 100D. Details of the server and functioning will be explained later in conjunction with detailed description of FIG. 4.

Now referring to FIG. 3B, a block diagram depicting an environment 300 wherein the space 302 is being scanned and synchronization of the scanned information is being done using swarm intelligence algorithms, in accordance with another embodiment of the invention. In this embodiment, each of the scanning devices 100A, 100B, 100C, and 100D communicate with each other using swarm intelligence. This helps each of the scanning devices 100A, 100B, 100C, and 100D to be aware of each other’s work and area of work thus making synchronization of the data easy. The scanning devices 100A, 100B, 100C, and 100D may be connected to each other through wired or wireless networks. Wired networks may be through local area network connections. Whereas for wireless networks, the scanning devices 100A, 100B, 100C, and 100D may use wireless protocols like Wi-Fi, Bluetooth, ZigBee, Near field communication (NFC) etc. They may share data with each other about their specific placements, area scanned, next area for coverage etc. Swarm intelligence lets the scanning devices 100A, 100B, 100C, and 100D to interact with the surrounding environment and with each other to synchronize the scanning procedures. The interaction may be in a particular manner or may be completely random to allow scanning devices 100A, 100B, 100C, and 100D share with each other at random so that every scanned device is updated about area not covered or what has been covered and add in its own database to enable to build a complete 3-d image of the surrounding environment.

Now referring to FIG. 4, a block diagram of the server 304 and its internal components is illustrated, configured to receive data from each of the plurality of scanning devices 100A, 100B, 100C, and 100D, in accordance with an embodiment of the invention.

The server 304 includes a data acquisition module 3042, a geometrical proximity data generator 3044, a point cloud data generator 3046, a coverage area identifier 3048, and a composite image generator 3050.

The data acquisition module 3042 is configured to receive data from the plurality of data capturing modules 100A, 100B, 100C, and 100D. Each of the data received from the plurality of data capturing modules 100A, 100B, 100C, and 100D received may be also stored in a memory (not shown in the figure) segregated by data type. The data acquisition module 3042 formats the data received to a format readable by the processor 304 and its mother modules. The geometrical proximity data generator 3044 receives the data of the first data capturing module 102 and the second data capturing module 104. Both the data are combined to generate a geometrical proximity data. The geometrical proximity data defines internal mapping of the space and various distance details. Further, the point cloud data generator 3046, converts the pictorial data captured by the third data capturing module 204 into a point cloud data to identify various objects within the scanned space 302 efficiently. The coverage area identifier 3048, uses the generated geometrical proximity data to identify area scanned by the scanning device. The coverage area identified may be tagged as covered by a specific scanning device. This data may be then stored in the memory and other data may be compared to this data to identify overlapping areas etc.

Further, the composite image generator 3050 combines point cloud data generated from the data collected from the plurality of data capturing modules 100A, 100B, 100C, and 100D. The combined data provides a 3-dimensional image of the space 302. The 3-dimensional image may be then forwarded to a display 306 of a user device (not shown in the figure).

Now referring to FIG. 5, illustrating a flow chart diagram depicting a synchronized scanning method 500 for scanning the space 302 by the autonomous robot 100, in accordance with an embodiment of the invention. The method may include, but not limited, to the steps mentioned below.

The method 500 initiates at step 502 wherein surrounding environment information is mapped by the first data capturing module 102. Further, the method 500 (at step 504), captures movement data of the robot 100 performing the scanning function.

At step 506, surrounding environment data and the movement data are combined together to form a geometrical proximity data. Further, at step 508, pictorial information of the surrounding environment is also captured. At step 510, the pictorial information is used to generate a point cloud data.

At step 512, the coverage area of the space 302 being scanned is determined using the generated geometrical proximity data. At step 514, the point cloud data is stitched together. Further at step 516, the stitched point cloud data is used to generate a single 3-dimensional or 2-dimensional view is formed, in real-time, that may be transmitted to a display of the user device.

This process is repeated at regular intervals until the scanning is completed and there is no change in subsequent updated information for a certain number of data capture cycles. Also, the scanning may be stopped manually from the remote device as described above.

In an embodiment of the invention, the processor 210 may be configured to generate geometrical proximity data and the point cloud data and send it to the server 304 for further processing that is 3-dimensioanl view generation in real time.

Claims

A method for synchronized scanning of a space by a plurality of scanning devices, comprising;

Collecting, by each of the plurality of scanning devices, a surrounding environment information using a first data capturing module;

Collecting, by each of the plurality of scanning devices, movement data of the each of the plurality of scanning devices using a second data capturing module; and

Combining, by a processor, the surrounding environment data and the movement data to generate a geometrical proximity data;

Generating, by each of the plurality of scanning devices, a point cloud data information wherein point cloud data is generated using a pictorial information of the surroundings;

Determining, by a server, coverage area of each of the plurality of scanning devices based on geometrical proximity data of each of the plurality of scanning devices; and

Stitching, by the server, point cloud data of each of the plurality of scanning devices in real-time; and

Generating a 3-dimensional mapping image of the space.
The method of claim 1, wherein each of the plurality of scanning devices are autonomous robots.
The method of claim 2, wherein each of the autonomous robots receives manual or automatic instructions.
The method of claim 3, wherein the instructions are used to synchronize scanning of the space.
A system for synchronized scanning of a space comprising;

A plurality of scanning devices, wherein each of the plurality of scanning devices further comprises;

A first data capturing module configured to capture surrounding environment information;

A second data capturing module configured to capture movement data of a scanning device; and

A third data capturing module configured to capture pictorial information of the surrounding environment;

A server, connected to each of the plurality of scanning devices, configured to;

Receive surrounding environment data, movement data and pictorial information from each of the plurality of scanning devices;

Combine surrounding data and the movement data to generate a geometrical proximity data;

Generate a point cloud data, from the pictorial information;

Determine coverage area of each of the plurality of scanning devices based on geometrical proximity data of each of the plurality of scanning devices;

Stitch point cloud data of each of the plurality of scanning devices in real-time; and

Generate a 3-dimensional mapping image of the space
The system of claim 5, wherein the server further coordinates communication between each of the plurality of scanning devices.
The system of claim 6, wherein the communication is initiated manually or automatically.
The system of claim 5, wherein the first data capturing module is a LiDAR sensor.
The system of claim 5, wherein the second data capturing module is a plurality of odometer sensors.
The system of claim 5, wherein the third data capturing module is a camera or a RGB-D camera.