System and method for generation of a room model

• US 9,747,392 B2
• Filed: 03/14/2014
• Issued: 08/29/2017
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Pitzer, Benjamin, Roland, Matthias
• Primary Examiner(s): Natnael, Paulos M
• Assistant Examiner(s): Desir, Jean W
• Application Number:
  US14/210,715
• Publication Number:
  US 20140267717A1
• Time in Patent Office: 1,264 Days
• Field of Search: 348143, 348135, 348139, 348140, 348 61, 345660, 356 11, 356 8, 356 3
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01C 3/00 Measuring distances in line of sight; Optical rangefinders tapes, chains or wheels for measuring length G01B3/00; active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves, G01S17/48
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• 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 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/481 Constructional features, e.g. arrangements of optical elements
• 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: G06V 10/235 based on user input or interaction
• CPC Class Codes: G06V 30/422 Technical drawings; Geographical maps

Abstract

A method for generating a floor plan of a room uses a mobile electronic device and a range finder to produce approximate and modified floor plans. The method includes receiving a plurality of strokes corresponding to walls in a room with a gesture input device, generating an approximate floor plan of the room based on the strokes, generating an approximate floor plan of the room with reference to the plurality of strokes, receiving an input gesture corresponding to one wall in the approximate floor plan of the room for measurement, receiving measurement data from a range finder corresponding to a dimension of the selected one wall, modifying the approximate floor plan with reference to the measurement data from the range finder, and generating with a display of the modified floor plan of the room.

Claims

1. A method for generating a floor plan of a room comprising:

receiving with a gesture input device in the mobile electronic device a plurality of strokes corresponding to walls in a room;

generating with a controller in the mobile electronic device an approximate floor plan of the room with reference to the plurality of strokes;

receiving with the gesture input device an input gesture that selects one wall in the approximate floor plan for measurement;

receiving with the controller measurement data from a range finder corresponding to a dimension of the selected one wall;

modifying with the controller the approximate floor plan with reference to the measurement data from the range finder, the modifying further comprising;

identifying with the controller an angle between a first stroke corresponding to a first wall in the room and a second stroke corresponding to a second wall in the room that contacts the first wall;

identifying with the controller a first difference between the identified angle and a first predetermined angle;

identifying with the controller a second difference between the identified angle and a second predetermined angle;

adjusting with the controller the identified angle to be the first predetermined angle in the modified floor plan in response to the first difference being smaller than the second difference; and

adjusting with the controller the identified angle to be the second predetermined angle in the modified floor plan in response to the second difference being smaller than the first difference; and

generating with a display in the mobile electronic device a graphical display of the modified floor plan of the room.

2. The method of claim 1 wherein the first predetermined angle is a ninety degree angle and the second predetermined angle is one of a forty-five degree or one hundred thirty-five degree angle.

3. The method of claim 1 further comprising:

identifying with the controller an angle between a first stroke corresponding to a first wall in the room and a second stroke corresponding to a second wall in the room that contacts the first wall;

identifying with the controller a difference between the angle and each of a plurality of predetermined angles including 45, 90, 135, 180, 225, 270, and 315 degree angles; and

adjusting with the controller the identified angle to one predetermined angle in the plurality of predetermined angles having a minimum identified difference to the angle.

4. The method of claim 1 further comprising:

identifying with the controller an intersection between a first stroke and a second stroke corresponding to a first wall and a second wall, respectively, in the approximate floor plan;

receiving with the controller angular measurement data from an inertial sensor in the mobile electronic device as the mobile electronic device is rotated through an angle of an intersection of the first wall and the second wall from a first position that is substantially parallel with the first wall to a second position that is substantially parallel with the second wall; and

modifying with the controller the approximate floor plan with an angle between the first wall and the second wall with reference to the angular measurement data.

5. The method of claim 1 further comprising:

generating with a camera in the mobile electronic device photographic data of the one wall;

processing with the controller the photographic data to identify a structural feature in the one wall; and

modifying with the controller the approximate floor plan of the room to include the identified structural feature in the one wall.

6. The method of claim 5, the processing of the photographic data to identify the structural feature further comprising:

identifying with the controller one of an entry, window, electrical outlet, ventilation outlet, and sprinkler in the photographic data.

7. The method of claim 1 further comprising:

receiving with the controller measurement data from the range finder corresponding to a height between a floor of the room and a ceiling of the room; and

generating with the controller a three dimensional model of the room from the modified floor plan and the measurement data corresponding to the height between the floor and the ceiling.

8. The method of claim 7 further comprising:

generating with a camera in the mobile electronic device photographic data of the one wall;

superimposing with the controller the photographic data of the one wall on a polygon corresponding to the one wall in the three dimensional model of the room; and

generating with a display in the mobile electronic device a graphical display of the three dimensional model of the room including the photographic data superimposed on the one wall.

9. The method of claim 1 further comprising:

receiving with the gesture input device in the mobile electronic device an input gesture identifying a location of a structural feature one of the plurality of walls represented in the modified floor plan; and

combining with the controller the modified floor plan with another modified floor plan corresponding to an adjacent room with the structural feature in the modified floor plan being aligned with a corresponding structural feature in a wall in the other modified floor plan.

10. A system for generating a model of a room comprising:

a range finder; and

a mobile electronic device operatively connected to the range finder, the mobile electronic device comprising;

a display device;

a gesture input device configured to receive input gestures from an operator; and

a controller operatively connected to the display device, the gesture input device, and the range finder, the controller being configured to;

receive with the gesture input device a plurality of strokes corresponding to walls in a room;

generate an approximate floor plan of the room from the plurality of strokes;

receive with the gesture input device an input gesture that selects one wall in the approximate floor plan of the room for measurement;

receive measurement data from the range finder corresponding to a dimension of the one wall;

modify the approximate floor plan of the room with reference to the measurement data from the range finder, the controller being further configured to;

identify an angle between a first stroke corresponding to a first wall in the room and a second stroke corresponding to a second wall in the room that contacts the first wall;

identify a first difference between the identified angle and a first predetermined angle;

identify a second difference between the identified angle and a second predetermined angle;

adjust the identified angle to be the first predetermined angle in the modified floor plan in response to the first difference being smaller than the second difference; and

adjust the identified angle to be the second predetermined angle in the modified floor plan in response to the second difference being smaller than the first difference; and

display the modified floor plan of the room with the display device.

11. The system of claim 10 wherein the first predetermined angle is a ninety degree angle and the second predetermined angle is one of a forty-five degree or one hundred thirty-five degree angle.

12. The system of claim 10, the mobile electronic device further comprising:

an inertial sensor; and

the controller being operatively connected to the inertial sensor and further configured to;

identify an intersection between a first stroke and a second stroke corresponding to a first wall and a second wall, respectively, in the approximate floor plan;

receive angular measurement data from the inertial sensor as the mobile electronic device is rotated through an angle of an intersection of the first wall and the second wall from a first position that is substantially parallel with the first wall to a second position that is substantially parallel with the second wall; and

modify the approximate floor plan with an angle between the first wall and the second wall corresponding to the angular measurement data.

13. The system of claim 10 further comprising:

a camera in the mobile electronic device; and

the controller being operatively connected to the camera and further configured to;

generate photographic data of the one wall with the camera;

process the photographic data to identify a structural feature in the one wall; and

adjust the modified floor plan of the room to include the identified structural feature in the one wall.

14. The system of claim 13, the controller being further configured to:

identify the structural feature as one of an entry, window, electrical outlet, ventilation outlet, and sprinkler in the photographic data.

15. The system of claim 10, the controller being further configured to:

receive measurement data from the range finder corresponding to a height between a floor of the room and a ceiling of the room; and

generate a three dimensional model of the room from the modified floor plan and the measurement data corresponding to the height between the floor and the ceiling.

16. The system of claim 15 further comprising:

a camera in the mobile electronic device; and

the controller being operatively connected to the camera and further configured to;

generate photographic data of the one wall with a camera in the mobile electronic device;

superimpose the photographic data of the one wall on a polygon corresponding to the one wall in the three dimensional model of the room; and

display the three dimensional model of the room including the photographic data superimposed on the one wall with the display device.

17. The system of claim 10, the controller being further configured to:

receive through the gesture input device an input gesture selecting a location of a structural feature of one of the plurality of walls represented in the modified floor plan; and

combine the modified floor plan with another modified floor plan corresponding to an adjacent room with the structural feature in the modified floor plan being aligned with a corresponding structural feature of a wall in the other modified floor plan.

18. The system of claim 10 wherein the range finder is integrated with the mobile electronic device.