Telemetric spacial data recorder

• US 5,956,661 A
• Filed: 11/17/1997
• Issued: 09/21/1999
• Est. Priority Date: 10/23/1996
• Status: Expired due to Term

• Current Assignee: Lasercad, Inc.
• Original Assignee: Lasercad, Inc.
• Inventors: Lefebvre, Guy, Hudon, Romeo
• Primary Examiner(s): SHAH, KAMINI S
• Application Number:
  US08/971,548
• Time in Patent Office: 673 Days
• Field of Search: 702/150, 702/155-159, 356/372, 356/375, 356/376, 356/383, 356/385, 356/373, 33/503, 33/700, 33/706, 33/753, 364/474.34-474.37
• US Class Current: 702/150
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105

Abstract

A telemetric spacial data recorder for the elaboration of a floor plan is described herein. The telemetric spacial data recorder includes a base module, a remote module, a hand held module and a data acquisition device. The distances between (a) the base module and the remote module, (b) the remote module and the hand held module and (c) the hand held module and a target point of a physical object are measured by electronic distance measuring devices. Similarly, the angle relations between, (i) the base module and the remote module, (ii) the remote module and the hand held module and (iii) the hand held module and the target point of a physical object are measured by electronic angle measuring devices. The measurement devices are linked to the data acquisition device which makes a geometrical construction to determine the relative spacial position of the target point of the physical surface with respect to the spacial position of the base module. According to another embodiment of the present invention there is provided a telemetric spacial data recorder including a remote module, a displaceable module and a data acquisition device. Again, distances and angles are measured and supplied to the data acquisition device that calculates the relative spacial position of a target point with respect to the remote module.

Claims

1. A telemetric spacial data recorder for devising a floor plan comprising:

a first stationary module defining a spacial reference point;

a second displaceable module;

first means for measuring a distance separating said second module from said first stationary module;

first means for measuring an angular spacial relation between said second module and said first stationary module;

said first angular spacial relation measuring means including a rotative detecting element mounted to said first stationary module for detecting said second module;

said rotative detecting element including a laser source configured to emit a generally fan-shaped laser beam;

said first angular spacial relation measuring means also including means for measuring an angular position of said rotative detecting element;

a third movable module;

second means for measuring a distance separating said third module from said second module;

second means for measuring an angular spacial relation between said third module and said second module;

third means for measuring a distance separating said third module from a physical surface spacial point;

third means for measuring an angular spacial relation between said physical surface spacial point and said third movable module; and

data acquisition unit including (a) means for collecting distance data from said first, second and third distance measuring means, (b) means for collecting angular relation data from said first, second and third angular spacial relation measuring means, and (c) means for calculating a relative spacial position of said physical surface spacial point with respect to said spacial reference point from said distance data and said angular relation data.

2. A telemetric spacial data recorder as defined in claim 1, wherein said first measuring means include an electronic distance measurement device.

3. A telemetric spacial data recorder as defined in claim 2, wherein said electronic distance measurement device includes a laser rangefinder mounted to one of said first stationary module and said second module;

whereby said laser rangefinder measures the distance between said first stationary module and said second module and supplies the distance data to said data acquisition means.

4. A telemetric spacial data recorder as defined in claim 1, wherein said laser source of said rotative detecting element is mounted to an electric motor.

5. A telemetric spacial data recorder as defined in claim 1, wherein said second module includes a laser beam reflecting surface.

6. A telemetric spacial data recorder as defined in claim 5, wherein said first angular spacial relation measuring means further include a reflected laser beam sensor.

7. A telemetric spacial data recorder as defined in claim 1, wherein said angular position measuring means includes a rotary encoder connected to said rotative detecting element.

8. A telemetric spacial data recorder as defined in claim 7, wherein said electronic distance measurement device includes a laser rangefinder mounted to one of said second module and said third module;

whereby said laser rangefinder measures the distance between said second module and said third module and supplies the distance data to said data acquisition means.

9. A telemetric spacial data recorder as defined in claim 1, wherein said second distance measuring means include an electronic distance measurement device.

10. A telemetric spacial data recorder as defined in claim 1, wherein said second angular spacial relation measuring means include:

a rotative detecting assembly mounted to said second module for detecting a portion of said third module;

means for measuring an angular position of said rotative detecting assembly;

said angular position measuring means supplying angular data to said data acquisition means.

11. A telemetric spacial data recorder as defined in claim 10, wherein said detected portion of said third module is substantially coned-shaped.

12. A telemetric spacial data recorder as defined in claim 10, wherein said rotative detecting assembly includes:

a laser rangefinder fixedly mounted to said second module;

said laser rangefinder emitting a laser beam;

a laser beam reflecting mechanism rotatably mounted to said second module for modifying a trajectory of said laser beam;

whereby, while said laser rangefinder is fixedly mounted to said second module, said trajectory of said laser beam emitted by said laser rangefinder may be modified by rotating said laser beam reflecting mechanism.

13. A telemetric spacial data recorder as defined in claim 12, wherein said laser beam reflecting mechanism includes:

an electric motor fixedly mounted to said second module;

said electric motor having a rotatable longitudinal shaft;

laser beam reflecting means pivotally mounted to said rotatable shaft;

means for pivoting said reflecting means about an axis that is substantially perpendicular to said longitudinal shaft;

means for measuring a pivotement angle of said reflecting means about said axis.

14. A telemetric spacial data recorder as defined in claim 12, wherein said angular position measuring means includes a rotary encoder connected to said laser beam reflecting mechanism.

15. A telemetric spacial data recorder as defined in claim 1, wherein said third distance measuring means include an electronic distance measurement device.

16. A telemetric spacial data recorder as defined in claim 15, wherein said electronic distance measurement device includes a laser rangefinder mounted to said third module;

whereby said laser rangefinder measures the distance between said third module and said physical surface spacial point, and supplies the distance data to said data acquisition means.

17. A telemetric spacial data recorder as defined in claim 1, wherein said third module includes a first fixed portion and a second portion pivotally mounted to said fixed portion through a pivot pin;

said third module also including a rotary encoder connected to said pivot pin for measuring an angle between said fixed portion and said pivoting portion;

said rotary encoder supplying angle data to said data acquisition means.

18. A telemetric spacial data recorder as defined in claim 17, wherein said pivoting portion includes:

a laser source assembly rotatively mounted to said pivoting portion;

said laser source assembly emitting a laser beam;

means for measuring an angular position of said laser source assembly;

said angular position measuring means supplying angular data to said data acquisition means;

laser beam sensing means mounted to said second module;

said sensing means supplying sensing data to said data acquisition means.

19. A telemetric spacial data recorder as defined in claim 18, wherein said laser source assembly includes:

an electric motor fixedly mounted to said third module, said electric motor having a rotatable shaft; and

a laser source fixedly mounted to said rotatable shaft;

said laser source emitting a fan-shaped laser beam.

20. A telemetric spacial data recorder as defined in claim 19, wherein said angular position measuring means includes a rotary encoder connected to said rotatable shaft.

21. A telemetric spacial data recorder as defined in claim 1, wherein said first angular spacial relation measuring means include means for measuring a relative angular position of said second module with respect to said first module.

22. A telemetric spacial data recorder as defined in claim 1, wherein said second angular spacial relation measuring means include means for measuring a relative angular position of said third module with respect to said second module.

23. A telemetric spacial data recorder as defined in claim 1, wherein said third angular spacial relation measuring means include means for measuring a relative angular position of said physical surface spacial point with respect to said third module.

24. A telemetric spacial data recorder for devising a floor plan comprising:

a first displaceable module defining a spacial reference point;

a second movable module;

a distance measuring device mounted to one of said first and second modules;

said distance measuring device being configured to selectively measure (i) a first distance separating said second movable module from said first displaceable module and (ii) a second distance separating said second movable module from a physical surface spacial point;

an angular spacial relation measuring device configured to measure an angular spacial relation between said second module and said first module and between said physical surface spacial point and said second movable module; and

data acquisition means including (a) means for collecting distance data from said distance measuring device, (b) means for collecting angular relation data from said angular spacial relation measuring device, and (c) means for calculating a relative spacial position of said physical surface spacial point with respect to said spacial reference point from said distance data and said angular relation data.

25. A telemetric spacial data recorder as defined in claim 24, wherein said distance measuring device includes an electronic distance measuring device.

26. A telemetric spacial data recorder as defined in claim 25, wherein said electronic distance measuring device includes a laser rangefinder.

27. A telemetric spacial data recorder as defined in claim 24, wherein said distance measuring device is so mounted to said second module as to rotate about a generally vertical axis and to pivot about a generally horizontal axis;

said recorder further including means for measuring the pivotement of said distance measuring means;

said data acquisition means including means for collecting pivotement data from said pivotement measuring means.

28. A telemetric spacial data recorder as defined in claim 24, wherein said angular spacial relation measuring device includes:

a first angular relation measuring device provided with a cylindrical body mounted to said first module;

said first angular relation measuring device includes a first laser source emitting a generally horizontal first laser beam, means to rotate said first laser beam about a first axis, a rotation driving element rotating said first laser source about said first axis, a first rotary encoder encoding the angular position of the first laser source about said first axis, and a plurality of first laser beam sensors mounted to said cylindrical body at predetermined positions;

said first rotary encoder supplying angular position data to said data acquisition means; and

a second angular relation measuring device provided with a cylindrical body mounted to said second module;

said second angular relation measuring device includes a second laser source emitting a generally horizontal second laser beam, means to rotate said second laser beam about a second axis, a rotation driving element rotating said second laser source about said second axis, a second rotary encoder encoding the angular position of the second laser source about said second axis, and a plurality of second laser beam sensors mounted to said cylindrical body at predetermined positions;

said second rotary encoder supplying angular position data to said data acquisition means;

whereby (a) when one of said plurality of second laser beam sensors detects said first laser beam, the angular position indicated by said first rotary encoder is transferred to said data acquisition means since it occurs when the rotation of the first laser beam directs the first laser beam towards said one of said plurality of second laser beam sensors, and (b) when one of said plurality of first laser beam sensors detects said second laser beam, the angular position indicated by said second rotary encoder is transferred to said data acquisition means since it occurs when the rotation of the second laser beam directs the second laser beam towards said one of said plurality of first laser beam sensors.

29. A telemetric spacial data recorder as defined in claim 28, wherein said first and second laser beams are generally fan-shaped.

30. A telemetric spacial data recorder for devising a floor plan comprising:

a first displaceable module defining a spacial reference point;

a second movable module;

a first distance measuring device mounted to one of said first and second modules;

said first distance measuring device being configured to measure a first distance separating said second movable module from said first displaceable module;

a first angular spacial relation measuring device configured to measure an angular spacial relation between said second module and said first module;

said first angular spacial relation measuring device including a rotative detecting assembly mounted to said first module for detecting a portion of said second module;

said first angular spacial relation measuring device also including means for measuring an angular position of said rotative detecting assembly;

a second distance measuring device mounted to said second module;

said second distance measuring device being configured to measure a second distance separating said second movable module from a physical surface spacial point;

a second angular spacial relation measuring device configured to measure an angular spacial relation between said physical surface spacial point and said second movable module; and

data acquisition means including (a) means for collecting distance data from said first and second distance measuring devices, (b) means for collecting angular relation data from said first and second angular spacial relation measuring devices, and (c) means for calculating a relative spacial position of said physical surface spacial point with respect to said spacial reference point from said distance data and said angular relation data.

31. A telemetric spacial data recorder as defined in claim 30, wherein said detected portion of said second module is substantially coned-shaped.

32. A telemetric spacial data recorder as defined in claim 30, wherein said rotative detecting assembly includes:

a laser rangefinder fixedly mounted to said first module;

said laser rangefinder emitting a laser beam;

a laser beam reflecting mechanism rotatably mounted to said first module for modifying a trajectory of said laser beam;

whereby, while said laser rangefinder is fixedly mounted to said first module, said trajectory of said laser beam emitted by said laser rangefinder may be modified by rotating said laser beam reflecting mechanism.

33. A telemetric spacial data recorder as defined in claim 32, wherein said laser beam reflecting mechanism includes:

an electric motor fixedly mounted to said first module;

said electric motor having a rotatable longitudinal shaft;

laser beam reflecting means pivotally mounted to said rotatable shaft;

means for pivoting said reflecting means about an axis that is substantially perpendicular to said longitudinal shaft;

means for measuring a pivotement angle of said reflecting means about said axis.

34. A telemetric spacial data recorder as defined in claim 32, wherein said angular position measuring means includes a rotary encoder connected to said laser beam reflecting mechanism.

35. A telemetric spacial data recorder for devising a floor plan comprising:

a first displaceable module defining a spacial reference point;

a second movable module;

a first distance measuring device mounted to one of said first and second modules;

said first distance measuring device being configured to measure a first distance separating said second movable module from said first displaceable module;

a first angular spacial relation measuring device configured to measure an angular spacial relation between said second module and said first module;

a second distance measuring device mounted to said second module;

said second distance measuring device being configured to measure a second distance separating said second movable module from a physical surface spacial point;

a second angular spacial relation measuring device configured to measure an angular spacial relation between said physical surface spacial point and said second movable module;

said second angular spacial relation measuring device including a laser source assembly so mounted to one of said first and second module as to be rotatable about a generally vertical rotation axis;

said laser source assembly emitting a laser beam;

said second angular spacial relation measuring device also including an angular position measuring device configured to measure an angular position of said laser source assembly and laser beam sensing means mounted to the other of said first and second modules; and

data acquisition means including (a) means for collecting distance data from said first and second distance measuring devices, (b) means for collecting angular relation data from said first and second angular spacial relation measuring devices, and (c) means for calculating a relative spacial position of said physical surface spacial point with respect to said spacial reference point from said distance data and said angular relation data.

36. A telemetric spacial data recorder as defined in claim 35, wherein said laser source assembly includes:

an electric motor fixedly mounted to said second module, said electric motor having a rotatable shaft; and

a laser source fixedly mounted to said rotatable shaft;

said laser source emitting a generally fan-shaped laser beam.

37. A telemetric spacial data recorder as defined in claim 36, wherein said angular position measuring device includes a rotary encoder connected to said rotatable shaft.