Portable housings for generation of building maps

• US 8,773,946 B2
• Filed: 04/21/2011
• Issued: 07/08/2014
• Est. Priority Date: 12/30/2010
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Padmanabhan, Aravind, Huseth, Steve
• Primary Examiner(s): Sotomayor, John B
• Application Number:
  US13/092,045
• Publication Number:
  US 20120169530A1
• Time in Patent Office: 1,174 Days
• Field of Search: 342 52- 59, 342/146, 342179-180, 342/191, 367 7- 8, 367/88, 367 93- 94, 367 99-100, 367/117
• US Class Current: 367/7
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01S 13/89 for mapping or imaging
• CPC Class Codes: G01S 15/89 for mapping or imaging

Abstract

A system and method are presented for producing a model of the interior of a building. The model is capable of receiving and dynamically incorporating input from various sources including, for example, existing static map data, data such as annotations and updates provided by persons on the scene but outside the building, and real-time data from sensors located on mobile persons or assets that are dynamically moving inside the building. In some cases, the moving persons or assets inside the building may carry a unit that emits sound or electromagnetic pulses, which reflect off the immediate surroundings in a particular room or portion of the building, and sense the reflected pulses. The reflections from relatively close features may arrive at the sensor more quickly than those from relatively distant features, so that temporal analysis of the reflected pulse may provide information about features in the building as a function of their distance away from the unit. Pulses may be emitted and received at multiple locations in a room or portion of the building. The reflected pulses may be analyzed, using specific time shifts that correspond to round-trip travel times in particular directions, so that the actual locations of features may be identified. By walking from room-to-room throughout the interior of a building and performing such analysis, much or all of the interior of a building may be mapped.

Claims

1. A device for dynamically producing an interior map of a building, comprising:

a housing capable of being affixed to a user as the user walks through the building;

a beacon in the housing for emitting a series of sonic pulses proximate the housing, the emitted sonic pulses reflecting off features in the building proximate the housing to produce a series of reflected sonic pulses;

a locating device in the housing for determining a dynamic location of the housing at or about the time the series of sonic pulses is emitted;

a sensor in the housing for receiving the series of reflected sonic pulses, and for producing a received sonic pulse signal corresponding to at least selected emitted and received sonic pulses; and

a processor for correlating the received sonic pulse signal with the corresponding housing locations, and extracting location information therefrom for at least selected features in the building.

2. The device of claim 1, wherein the features in the building are generally stationary with respect to the building.

3. The device of claim 1, wherein a delay between an emitted sonic pulse and an appearance of a corresponding reflection in the received sonic pulse signal from a particular feature varies as the round-trip time of the sonic pulse between the housing and the particular feature.

4. The device of claim 1, wherein the received sonic pulse signal varies as an emitted sonic pulse convolved with a dynamic impulse response, the dynamic impulse response depending on the relative distances between the features in the building and the dynamic location of the housing.

5. The device of claim 1, wherein as the user walks along a non-linear path so that at least three dynamic locations do not fall on a line, the processor extracts two-dimensional location information for the features in the building.

6. The device of claim 5,

wherein the processor sums the sonic pulses, each sonic pulse in the sum having its own time shift, the time shifts corresponding to particular round-trip times of flight of the corresponding sonic pulses;

and

wherein a feature in a particular direction appears as a spike at a particular time in the sum of the sonic pulses.

7. The device of claim 1, wherein the beacon emits the series of sonic pulses with a regular periodicity.

8. The device of claim 1, wherein the locating device uses electromagnetic signals to generate a dynamic position of the housing, the electromagnetic signals including at least one of the Global Positioning System (GPS), cellular communication signals, television signals, or radio signals.

9. The device of claim 1,

wherein the locating device uses an inertial measurement unit that measures a dynamic acceleration of the housing and a dynamic rotation of the housing;

and

wherein the inertial measurement unit calculates a dynamic position of the housing based on the measured dynamic acceleration and the measured dynamic rotation.

10. The device of claim 1, further comprising a display, the display receiving a dynamic signal from the processor and producing a viewable representation of the features in the building from the point of view of the user.

11. The device of claim 1, wherein the display is wearable by the user.

12. A system for dynamically producing an interior map of a building, comprising:

a plurality of housings capable of being affixed to respective users as the users walk independently through different portions of the building;

a beacon in each housing for emitting a series of sonic pulses proximate the respective housing, the emitted sonic pulses reflecting off features in the building proximate the respective housing;

a locating device in each housing for determining a dynamic location of the respective housing;

a sensor in each housing for receiving a series of reflected sonic pulses and for producing a received pulse signal corresponding to at least selected emitted and received sonic pulses; and

a central processor for correlating the received pulse signals at each of the plurality of housings with corresponding housing locations for each of the plurality of housings, and for extracting location information therefrom for the features in the building.

13. The device of claim 12, further comprising a plurality of displays wearable by respective users, each display receiving a dynamic signal from the central processor and producing a viewable representation of the features in the building from the point of view of the respective user.

14. The device of claim 12, wherein the features in the building are current as parts of the building are being destroyed.

15. A method for dynamically producing an interior map of a building, comprising:

emitting a series of sonic pulses from a movable housing, each sonic pulse having a corresponding housing location at which the sonic pulse is emitted, each sonic pulse expanding outward from the housing and reflecting off features in the building;

sensing the series of reflected sonic pulses at the housing;

correlating the sensed series of reflected sonic pulses with the corresponding housing location; and

analyzing the sensed series of reflected sonic pulses with their corresponding housing locations to extract a location of one or more of the features in the building, including the steps of;

forming a plurality of weightings, each weighting corresponding to a different direction relative to a direction of movement of the housing;

for each direction, calculating a plurality of round-trip time delays corresponding to the series of weightings, the round-trip time delays calculated for the series of housing locations;

for each direction, applying the plurality of time delays to the sensed series of reflected sonic pulses to obtain distance information; and

from the distance information for each direction, extracting the locations of the features in the building.

16. The method of claim 15, where the housing locations and the feature locations are both two-dimensional.

17. A method for dynamically producing an interior map of a building, comprising:

emitting a series of sonic pulses from a movable housing, each sonic pulse having a corresponding housing location at which the sonic pulse is emitted, each sonic pulse expanding outward from the housing and reflecting off features in the building;

sensing the series of reflected sonic pulses at the housing;

correlating the sensed series of reflected sonic pulses with the corresponding housing locations;

analyzing the sensed series of reflected sonic pulses with their corresponding housing locations to extract a location of one or more of the features in the building; and

moving the housing to multiple rooms in the building and performing the emitting, sensing, correlating, analyzing steps in each of the multiple rooms.