Methods and systems for capturing the condition of a physical structure

• US 8,872,818 B2
• Filed: 03/15/2013
• Issued: 10/28/2014
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: State Farm Mutual Automobile Insurance Company (State Farm)
• Original Assignee: State Farm Mutual Automobile Insurance Company (State Farm)
• Inventors: Freeman, James M., Schmidgall, Roger D., Boyer, Patrick Harold, Christopulos, Nicholas U., Maurer, Jonathan D., Tofte, Nathan Lee, Jordan, Jackie O. II
• Primary Examiner(s): Tung, Kee M
• Assistant Examiner(s): Du, Haixia
• Application Number:
  US13/836,695
• Publication Number:
  US 20140267627A1
• Time in Patent Office: 592 Days
• US Class Current: 345/419
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 2101/32 for cartography or topography
• CPC Class Codes: G01N 21/64 Fluorescence; Phosphorescence
• CPC Class Codes: G01N 21/8851 Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges G01N21/8806 and G01N21/93 - G01N21/95692 take precedence; optical measurement of dimensions G01B11/00; optical scanning G02B26/10; image transformation G06T3/00; computerised image enhancement G06T5/00; image processing per se for flaw detection G06T7/0002
• CPC Class Codes: G01N 22/02 Investigating the presence of flaws
• CPC Class Codes: G01N 2201/06113 Coherent sources; lasers
• CPC Class Codes: G01N 2201/10 Scanning
• CPC Class Codes: G01S 13/89 for mapping or imaging
• CPC Class Codes: G01S 15/89 for mapping or imaging
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G06F 30/13 Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
• CPC Class Codes: G06Q 30/0278 Product appraisal
• CPC Class Codes: G06Q 30/0283 Price estimation or determination
• CPC Class Codes: G06Q 40/08 Insurance
• CPC Class Codes: G06Q 50/16 Real estate
• CPC Class Codes: G06Q 50/163 Real estate management
• CPC Class Codes: G06T 1/0007 Image acquisition
• CPC Class Codes: G06T 17/20 Finite element generation, e.g. wire-frame surface description, tesselation
• CPC Class Codes: G06T 2200/08 : involving all processing steps from image acquisition to 3D model generation
• CPC Class Codes: G06T 2207/10028 : Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/10032 : Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 7/0002 : Inspection of images, e.g. flaw detection
• CPC Class Codes: H04N 13/106 : Processing image signals for multi-view video sequence encoding H04N19/597
• CPC Class Codes: H04N 13/254 : in combination with electromagnetic radiation sources for illuminating objects
• CPC Class Codes: H04N 13/271 : wherein the generated image signals comprise depth maps or disparity maps
• CPC Class Codes: H04N 13/275 : from 3D object models, e.g. computer-generated stereoscopic image signals
• CPC Class Codes: H04N 7/185 : from a mobile camera, e.g. for remote control
• CPC Class Codes: H04R 23/008 : using optical signals for detecting or generating sound

Abstract

In a computer-implemented method and system for capturing the condition of a structure, the structure is scanned with a three-dimensional (3D) scanner. The 3D scanner generates 3D data. A point cloud or 3D model is constructed from the 3D data. The point cloud or 3D model is then analyzed to determine the condition of the structure.

Claims

1. A computer-implemented method of inspecting a structure, the method comprising:

deploying one or more three-dimensional (3D) scanners to scan a structure, wherein the one or more 3D scanners are communicatively connected to a memory and wherein the one or more 3D scanners are 3D contact scanners that detect 3D information via physical contact;

generating, at the one or more 3D scanners, a plurality of 3D data points, wherein each of the plurality of 3D data points corresponds to a point on the surface of the structure detected by the one or more 3D scanners via physical contact with at least part of the structure during the scan of the structure;

causing a processor to identify a plurality of coordinate sets associated with each of the plurality of 3D data points, the coordinate sets each relating to vertical, horizontal, and depth distance measurements;

storing a point cloud at the memory, wherein the point cloud comprises one or more of the generated plurality of 3D data points;

causing a processor to automatically analyze the point cloud to identify one or more features associated with the structure, wherein causing a processor to automatically analyze the point cloud to identify one or more features associated with the structure includes;

causing a processor communicatively connected to the memory to construct a 3D model from the point cloud,

storing the 3D model at the memory, and

causing a processor to analyze the 3D model to identify the one or more features;

causing a processor to generate an estimation of the condition of the structure based on the identified one or more features; and

storing the estimation at the memory.

2. The method of claim 1, further including causing the processor to calculate a financial cost estimate based on said estimation of the condition of the structure.

3. The method of claim 1, wherein the one or more 3D scanners are physically connected to a flying device.

4. The method of claim 1, wherein the one or more 3D scanners are physically connected to a wirelessly controlled device.

5. The method of claim 1, further including spraying a chemical on at least part of the structure and detecting the presence of the chemical, wherein the detection of the presence of the chemical is used in generating the plurality of 3D data points.

6. The method of claim 1, wherein the one or more 3D scanners include a 3D contact scanner that detects 3D information by depressing a pad on the surface of at least part of the structure.

7. The method of claim 1, wherein:

the one or more 3D scanners include a 3D contact scanner that is a rolling tactile sensing device, wherein the rolling tactile sensing device detects 3D information by implementing a roller across the surface of at least part of the structure.

8. The method of claim 1, wherein the one or more 3D scanners include a 3D contact scanner that operates by physically manipulating objects associated with the surface of at least part of the structure.

9. The method of claim 8, wherein physically manipulating objects includes mechanically pulling the objects.

10. The method of claim 8, further including detecting, using an audio sensing device, an audio wave resulting from said manipulating.

11. The method of claim 1, wherein generating an estimation includes:

retrieving a second model from the memory; and

comparing the 3D model to the second model.

12. A property inspection system for capturing the condition of a physical structure, the property inspection system comprising:

one or more 3D scanners for detecting one or more points on the surface of a structure and for generating 3D data points corresponding to the detected one or more points,

wherein the one or more 3D scanners include a tactile sensor for generating the 3D data points based on tactile feedback resulting from physical contact with at least part of the structure,

wherein one or more processors associates each of the 3D data points with a coordinate set, each coordinate set relating to vertical, horizontal, and depth distance measurements;

a first memory, communicatively connected to the one or more 3D scanners, for storing a 3D model of at least part of the structure, wherein the 3D model is generated by one or more processors and is based, at least in part, on a point cloud comprising one or more of the 3D data points generated at the one or more 3D scanners; and

a network interface, communicatively connected to a processor in communication with the first memory, for transmitting the 3D model to a data analysis system where one or more processors generate an estimation of the condition of the structure based on features of the structure identified in an automatic analysis of the 3D model, wherein the data analysis system saves the estimation to a second memory.

13. The property inspection system of claim 12, further including a rolling apparatus that is rolled across the surface of the structure to cause an imprint on the rolling apparatus, wherein the tactile sensor detects the imprint on the rolling apparatus for generating the 3D data points.

14. The property inspection system of claim 12 wherein at least one of the one or more 3D scanners is physically connected to a flying device.

15. The property inspection system of claim 12, wherein at least one of the one or more 3D scanners is physically connected to a wirelessly controlled device.

16. A property inspection system for capturing the condition of a physical structure, the property inspection system comprising:

one or more 3D scanners for detecting one or more points on the surface of a structure and for generating 3D data points corresponding to the detected one or more points, wherein one or more processors associates each of the 3D data points with a coordinate set, each coordinate set relating to vertical, horizontal, and depth distance measurements,

wherein at least one of the one or more 3D scanners includes a tactile sensor for generating the 3D data points based on tactile feedback resulting from physical contact with at least part of the structure;

a rolling apparatus that is rolled across the surface of the structure to cause an imprint on the rolling apparatus, wherein the tactile sensor detects the imprint on the rolling apparatus for generating the 3D data points;

one or more processors for generating a point cloud comprising one or more of the 3D data points generated at the one or more 3D scanners;

a first memory, communicatively connected to the one or more 3D scanners, for storing a 3D model of at least part of the structure, wherein the 3D model is generated by at least one of the one or more processors and is based, at least in part, on the generated point cloud; and

a network interface, communicatively connected to a processor in communication with the first memory, for transmitting the 3D model to a data analysis system where one or more processors generate an estimation of the condition of the structure based on features of the structure identified in an analysis.