APPARATUS AND METHOD FOR MAPPING AN AREA OF INTEREST

• US 20090105986A1
• Filed: 10/23/2007
• Published: 04/23/2009
• Est. Priority Date: 10/23/2007
• Status: Active Grant

• Current Assignee: Los Alamos National Security LLC (Government of the United States of America)
• Original Assignee: Los Alamos National Security LLC (Government of the United States of America)
• Inventors: STAAB, Torsten A., FELLER, Samuel, COHEN, Daniel L.
• Granted Patent: US 7,627,448 B2
• Time in Patent Office: Days
• US Class Current: 702/151
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105

Abstract

An apparatus and method are provided for mapping an area of interest using polar coordinates or Cartesian coordinates. The apparatus includes a range finder, an azimuth angle measuring device to provide a heading and an inclinometer to provide an angle of inclination of the range finder as it relates to primary reference points and points of interest. A computer is provided to receive signals from the range finder, inclinometer and azimuth angle measurer to record location data and calculate relative locations between one or more points of interest and one or more primary reference points. The method includes mapping of an area of interest to locate points of interest relative to one or more primary reference points and to store the information in the desired manner. The device may optionally also include an illuminator which can be utilized to paint the area of interest to indicate both points of interest and primary points of reference during and/or after data acquisition.

Claims

1. A method of mapping an area of interest, the method comprising:

identifying an area of interest;

placing a mapping apparatus adjacent the area of interest;

identifying at least one primary reference point in the area of interest;

projecting a wave onto a first said primary reference point;

sensing the wave reflected from the first primary reference;

determining a first location of the first primary reference point relative to a reference point on the mapping apparatus by at least one of range, azimuth angle and elevation angle;

projecting a wave onto a first point of interest;

sensing the wave reflected from the first point of interest;

determining a second location of the first point of interest relative to a reference point on the mapping apparatus by at least one of range, azimuth angle and elevation angle;

calculating a third location of the first point of interest relative to the first location of at least one said primary reference point; and

recording the third location.

2. The method of claim 1 wherein at least one of the first and second locations being in polar coordinates.

3. The method of claim 1 wherein at least one of the first and second locations being in Cartesian coordinates.

4. The method of claim 1 wherein the ranges being determined using a range finder and the azimuth and elevation angles each being measured by a respective angle measuring device, said range finder and angle measuring devices sending signals indicative of measured values to a digital data acquisition device.

5. The method of claim 4 wherein the wave including light.

6. The method of claim 5 wherein the light is projected from a light source fixed in position relative to the sensor.

7. The method of claim 5 wherein light is projected onto at least one of a point of interest and a primary reference point from a second light source randomly positioned relative to the sensor and the apparatus sights in on the location of the light on the at least one of a point of interest and a primary reference point.

8. The method of claim 5 determining the respective location of a plurality of primary reference points.

9. The method of claim 8 wherein the location of at least two primary reference points being determined.

10. The method of claim 9 wherein the location of the primary reference points being determined prior to determining the second location.

11. The method of claim 10 wherein at least some of the azimuth angles being determined with an angle encoder.

12. The method of claim 11 wherein the ranges being determined by a laser range finder operable to project a laser beam.

13. The method of claim 12 wherein a laser beam being projected onto at least one of the primary reference points and points on interest from a point fixed relative to the sensor.

14. The method of claim 12 wherein a laser beam being projected from a point movable relative to the sensor.

15. The method of claim 4 wherein the first and second locations being determined using at least:

two ranges and one absolute azimuth or elevation angle;

three ranges;

or one range and two absolute angles selected from azimuth and elevation angles.

16. An apparatus for locating a point of interest relative to at least one primary reference point, said apparatus including:

a range finder including a wave projector and wave sensor operable to selectively measure distance to a point of interest and a primary reference point and provide first signals indicative of distance to the point of interest and primary reference point;

at least one of an electronic azimuth angle measuring device operably associated with the range finder and operable to provide second signals indicative of azimuth angles for the range finder and an electronic inclinometer operably associated with the range finder and operable to provide third signals indicative of angles of inclination of the range finder; and

a digital data acquisition device operably associated with the range finder and the at least one of the azimuth angle measuring device and the inclinometer to receive the first signals and at least one of the second and third signals and calculate a three dimensional location of a point of interest and a primary reference point in an area of interest from an apparatus reference point and store the received signals.

17. The apparatus of claim 16 wherein the apparatus includes both the azimuth angle measuring device and the inclinometer and the digital data acquisition device including a digital computer operable to calculate a three dimensional location of a point of interest relative to a primary reference point.

18. The apparatus of claim 17 wherein the computer including a graphical user interface.

19. The apparatus of claim 17 wherein the azimuth measuring device including an angle encoder motor.

20. The apparatus of claim 19 wherein the azimuth measuring device further including an electronic compass.

21. The apparatus of claim 20 wherein the wave projector including a laser light projector.

22. The apparatus of claim 21 wherein the inclinometer including an angle encoder.

23. The apparatus of claim 22 including a digital camera directed generally in the direction of a beam from the wave projector.

24. The apparatus of claim 23 including a second wave projector operably connected to the computer and operable to selectively project a visible beam of light onto a point of interest and a primary reference point based on data stored in the computer.