Granted Patent B2

US 12,332,382 · App. 17/045,259 · Granted Jun 17, 2025

Inventors: Mandolin Maidt (Munich, DE); Andreas Goebel (Munich, DE); Stefan Romberg (Munich, DE); Georg Schroth (Munich, DE); Michael Jaschke (Munich, DE); Prashant Doshi (Munich, DE); Sarah Godoj (Munich, DE); Hernando Samuel Pinzon Holguin (Munich, DE); Matthias Wagner (Munich, DE); Humberto Alvarez-Heredia (Munich, DE); Neeti Tyagi (Munich, DE); Paul Zeller (Munich, DE); Christian Werner (Munich, DE)

Assignee: NavVis GmbH

G01S7/4817G01S7/4808G01S7/4813G01S17/89

Abstract

Claims (59)

1. A mobile apparatus for capturing an object space, having a frame,

at least one single scanner mounted on the frame, comprising:

a first emission unit for generating a first signal beam in a first emission direction,

a first receiver for detecting a first reflected ray 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 signal beam,

a multiple scanner mounted on the frame above the at least one single scanner, comprising:

a plurality of second emission units integrated in one component for generating a plurality of second signal beams in second emission directions,

a second receiver for detecting second reflected rays generated by reflections of the second signal beams on one or more objects in the object space, and

a second scanning device for changing the second emission directions of the second signal beams,

an evaluation device, which is coupled for data exchange at least to the second receiver and which is configured to generate and output in real time, at least from the second reflected rays detected by the second receiver, a graphical representation of a trajectory of the mobile apparatus, wherein in the graphical representation a region in which the mobile apparatus has been moved is indicated with a first color and a region in which the mobile apparatus can be moved is indicated with a second color, and

a data interface, which is coupled for data exchange at least to the first receiver and which is configured to output data that has been generated, at least from the first reflected ray detected by the first receiver, to a memory device for post-processing.

2. The mobile apparatus according to claim 1 , wherein the second emission directions are oriented in a fan shape such that an emission fan having a center axis is formed.

3. The mobile apparatus according to claim 1 , wherein the mobile apparatus further comprises at least one second single scanner having a third emission unit for generating a third signal beam in a third emission direction, a third receiver for detecting a third reflected ray generated by reflection of the third signal beam on an object in the object space, and a third scanning device for changing the third emission direction of the third signal beam.

4. The mobile apparatus according to claim 3 , wherein the third scanning device is configured to rotate the third emission direction of the third signal beam about a third axis of rotation perpendicular to the third emission direction such that a second plane is scanned.

5. The mobile apparatus according to claim 4 , wherein the mobile apparatus further comprises at least one third single scanner comprising a fourth emission unit for generating a fourth signal beam in a fourth emission direction, a fourth receiver for detecting a fourth reflected ray generated by reflection of the fourth signal beam on an object of the object space, and a fourth scanning device for changing the fourth emission direction of the fourth signal beam.

6. The mobile apparatus according to claim 5 , wherein the fourth scanning device is configured to rotate the fourth emission direction of the fourth signal beam about a fourth axis of rotation perpendicular to the fourth emission direction such that a third plane is scanned.

7. The mobile apparatus according to claim 6 , wherein the second single scanner and the third single scanner are arranged and oriented symmetrically with respect to a center plane of the mobile apparatus.

8. The mobile apparatus according to claim 7 ,

wherein the second and third planes are scanned in an angular range smaller than 360° such that a second blind angle is formed in the second plane and a third blind angle is formed in the third plane, and

wherein when viewed against a normal of the second plane, a first leg of the second blind angle encloses a third angle with a vertical which is in a range of 5° to 10° and which is outside the second blind angle.

9. The mobile apparatus according to claim 6 , wherein a plurality of wheels is mounted on the frame, the plurality of wheels configured such that the frame is mobile and the mobile apparatus can be rolled over a ground surface;

wherein at least one of the frame and the plurality of wheels define a forward movement direction for capturing the object space;

wherein a second axis of rotation of the multiple scanner is tilted forward in a direction of forward movement; and

wherein at least one of the second and third planes is oriented backwards with respect to the direction of forward movement, such that at least one of the third and fourth emission directions of at least one of the third and fourth signal beams of at least one of the second and third single scanners is oriented obliquely downwards in the forward movement direction at least temporarily.

10. The mobile apparatus according to claim 1 , wherein the mobile apparatus further comprises:

at least one second single scanner having a third emission unit for generating a third signal beam in a third emission direction, a third receiver for detecting a third reflected ray generated by reflection of the third signal beam on an object in the object space, and

at least one third single scanner having a fourth emission unit for generating a fourth signal beam in a fourth emission direction, a fourth receiver for detecting a fourth reflected ray generated by reflection of the fourth signal beam on an object of the object space,

wherein the second single scanner and the third single scanner are arranged and oriented symmetrically with respect to a center plane of the mobile apparatus.

11. The mobile apparatus according to claim 1 , wherein the frame has a base element and a frame head, a height of the frame head being variable via an adjustment mechanism.

12. The mobile apparatus according to claim 11 , wherein a plurality of wheels is mounted on the base element of the frame, the plurality of wheels configured such that the frame is mobile and the mobile apparatus can be rolled over a ground surface.

13. The mobile apparatus according to claim 1 , wherein a plurality of wheels is mounted on the frame, the plurality of wheels configured such that the frame is mobile and the mobile apparatus can be rolled over a ground surface;

wherein at least one of the frame and the plurality of wheels define a forward movement direction for capturing the object space; and

wherein a second axis of rotation of the multiple scanner is tilted forward in a direction of forward movement.

14. The mobile apparatus according to claim 13 , wherein a first plane defined by the first signal beam of the at least one single scanner is oriented tilted forward in the direction of forward movement, such that the first emission direction of the first signal beam of the at least one single scanner is oriented obliquely upwards in the direction of forward movement at least temporarily.

15. The mobile apparatus according to claim 13 , wherein at least one stand apparatus is mounted on the frame, the stand apparatus configured to raise the frame such that at least one wheel of the plurality of wheels no longer touches the ground surface, and can be lowered such that the frame can move freely on the plurality of wheels.

16. The mobile apparatus according to claim 15 ,

wherein at least one wheel of the plurality of wheels is mounted on the frame via a quick-release device by which the at least one wheel of the plurality of wheels can be locked; and

wherein the stand apparatus is coupled to the quick-release device in such a way that when the stand apparatus is actuated to lower the stand apparatus, the quick-release device is automatically closed and the at least one wheel of the plurality of wheels is thereby locked.

17. The mobile apparatus according to claim 1 , wherein at least one wheel is mounted on the frame via a quick-release device by which the at least one wheel can be locked.

18. The mobile apparatus according to claim 1 , wherein the frame comprises a base element configured as a backpack carrying frame and a removeable frame head.

19. The mobile apparatus according to claim 1 , wherein a ground surface area over which the mobile apparatus can be moved is colored.

20. A method for capturing an object space using a mobile apparatus having a frame for moving the mobile apparatus in the object space, the method comprising:

emitting a plurality of signal beams in emission directions with a multiple scanner mounted on the frame,

detecting reflected rays generated by reflection of the plurality of signal beams on one or more objects of the object space, wherein the emission directions of the plurality of signal beams are changed by a scanning device configured for capturing the object space, and

generating a graphical representation of a trajectory of the mobile apparatus wherein in the graphical representation a region in which the mobile apparatus has been moved is indicated with a first color and a region in which the mobile apparatus can be moved is indicated with a second color,

wherein the graphical representation is output in real time at least from the reflected rays detected by the receiver.

21. The method according to claim 20 , wherein at least one first single scanner emits a second signal beam in a second emission direction, a second receiver detects a second reflected ray which is generated by reflection of the second signal beam on an object of the object space, and the second emission direction of the second signal beam is changed by a second scanning device configured for capturing the object space.

22. The method according to claim 21 , wherein:

at least a second single scanner emits a third signal beam in a third emission direction, a third receiver detects a third reflected ray generated by reflection of the third signal beam at an object of the object space, and the third emission direction of the third signal beam is changed to capture the object space; and

wherein the first single scanner and the second single scanner are arranged and oriented symmetrically with respect to a center plane of the mobile apparatus.

23. The method according to claim 20 , wherein a ground surface area over which the mobile apparatus can be moved is colored.

24. A mobile apparatus for capturing an object space, the mobile apparatus comprising,

a frame,

at least one multiple scanner mounted on the frame, the at least one multiple scanner having,

a plurality of emission units integrated in one component for generating a plurality of signal beams in emission directions,

a receiver for detecting reflected rays generated by reflections of the plurality of signal beams on one or more objects in the object space, and

a scanning device for changing the emission direction of the plurality of signal beams,

an evaluation device, which is coupled for data exchange at least to the receiver and which is configured to generate and output in real time, at least from the reflected rays detected by the receiver, a graphical representation of a trajectory of the mobile apparatus wherein in the graphical representation a region in which the mobile apparatus has been moved is indicated with a first color and a region in which the mobile apparatus can be moved is indicated with a second color, and

a data interface, which is coupled for data exchange at least to the receiver and which is configured to output data that has been generated, at least from the reflected ray detected by the receiver, to a memory device for post-processing.

Assignments (2)

Priority Claims (1)

Continuity (1)

References Cited (21)