Tethered 3D scanner

• US 9,959,608 B1
• Filed: 04/20/2016
• Issued: 05/01/2018
• 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 H., Christopulos, Nicholas U., Maurer, Jonathan D., Tofte, Nathan L., Jordan, II, Jackie O.
• Primary Examiner(s): Du, Haixia
• Application Number:
  US15/134,273
• Time in Patent Office: 741 Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• 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 a three-dimensional (3D) data collection system including one or more 3D scanners;

physically tethering via a tether the 3D data collection system to a device on the ground;

transmitting, by a laser projector of the one or more 3D scanners, a plurality of laser pulses directed toward a surface of a structure;

detecting, at a laser light sensor of the one or more 3D scanners, the plurality of laser pulses after the plurality of laser pulses have reflected off of the surface of the structure;

generating, by one or more processors, a 3D model of the surface of the structure based on the detected plurality of laser pulses;

automatically analyzing, by the one or more processors, the 3D model of the surface of the structure to identify one or more features of the surface of the structure;

generating, by the one or more processors, an estimate of a condition of the surface of the structure based on the identified one or more features; and

storing to memory the generated estimate of the condition of the surface.

2. The method of claim 1, wherein deploying the 3D data collection system comprises:

moving a vehicle to which the 3D data collection system is affixed to a position so that the laser projector can transmit the plurality of laser pulses directed toward the surface of the structure.

3. The method of claim 2, wherein moving the vehicle comprises moving the vehicle through the air.

4. The method of claim 1, further comprising providing power to the 3D data collection system via the tether.

5. The method of claim 1, further comprising transmitting to the 3D data collection system via the tether a control command, wherein the plurality of laser pulses are transmitted in response to the 3D data collection system receiving the control command.

6. The method of claim 1, further comprising:

transmitting from the 3D data collection system via the tether data representing the plurality of laser pulses detected at the laser light sensor; and

receiving at the device via the tether the data representing the plurality of laser pulses detected at the laser light sensor, wherein the device is a base station housing the one or more processors.

7. A system for inspecting a structure, the system comprising:

a three-dimensional (3D) data collection system including;

(i) a means for transmitting a plurality of laser pulses directed toward a surface of the structure; and

(ii) a means for detecting the plurality of laser pulses after the plurality of laser pulses have reflected off of the surface of the structure;

a means for physically tethering the 3D data collection system to a device on the ground;

a means for generating a 3D model of the surface of the structure based on the detected plurality of laser pulses;

a means for automatically analyzing the 3D model of the surface of the structure to identify one or more features of the surface of the structure;

a means for generating an estimate of a condition of the surface of the structure based on the identified one or more features; and

a means for storing the generated estimate of the condition of the surface.

8. The system of claim 7, wherein the 3D data collection system includes a vehicle;

wherein the system further includes a means for moving the vehicle to a position where the plurality of laser pulses are transmitted toward the surface of the structure.

9. The system of claim 8, wherein the means for moving the vehicle includes a means for moving the vehicle along a surface.

10. The system of claim 7, wherein the means for generating a 3D model of the surface of the structure based on the detected plurality of laser pulses is a base station;

wherein the system further includes a means for transmitting from the 3D data collection system to the base station data representing the detected plurality of laser pulses.

11. The system of claim 10, wherein the means for automatically analyzing the 3D model of the surface of the structure to identify one or more features of the surface of the structure is a server;

wherein the system further includes a means for transmitting the generated 3D model from the base station to the server.

12. A property inspection system comprising:

a three-dimensional (3D) data collection system including one or more 3D scanners, the one or more 3D scanners including;

(i) a laser projector for projecting a plurality of laser pulses directed toward a surface of a structure; and

(ii) a laser light sensor for detecting the plurality of laser pulses after the plurality of laser pulses have reflected off of the surface of the structure;

a tether, wherein a first end of the tether is physically connected to the 3D data collection system;

a device physically connected to a second end of the tether such that the device is connected to the 3D data collection system via the tether;

one or more processors; and

one or more memory devices communicatively connected to the one or more processors, the one or more memory devices including instructions that, when executed, cause the one or more processors to;

(i) generate a 3D model of the surface of the structure based on the detected plurality of laser pulses;

(ii) automatically analyze the 3D model of the surface of the structure to identify one or more features of the surface of the structure;

(iii) generate an estimate of a condition of the surface of the structure based on the identified one or more features; and

(iv) store to the one or more memory devices the generated estimate of the condition of the surface.

13. The property inspection system of claim 12, wherein the tether is configured to do one or more of the following:

deliver power to the 3D data collection system;

or

facilitate communication between the 3D data collection system and the one or more processors.

14. The property inspection system of claim 12, wherein the one or more processors and the one or more memory devices share a physical platform with the 3D data collection system.

15. The property inspection system of claim 12, wherein the device is a base station including a housing;

wherein the one or more processors and the one or more memory devices are located within the housing of the base station.

16. The property inspection system of claim 15, wherein the tether includes a communication channel;

wherein the 3D data collection system is configured to transmit via the tether data representing the detected plurality of laser pulses;

wherein the base station is configured to receive via the tether the data representing the detected plurality of laser pulses.

17. The property inspection system of claim 15, wherein the 3D data collection system includes an antenna, and wherein the 3D data collection system is configured to wirelessly transmit to the base station via the antenna data representing the received plurality of laser pulses.

18. The property inspection system of claim 17, wherein the one or more processors and the one or more memory devices are located within a server communicatively coupled to the 3D data collection system;

wherein the 3D data collection system is configured to wirelessly transmit data representing the detected plurality of laser pulses;

wherein the server is configured to receive the data representing the detected plurality of laser pulses.

19. The property inspection system of claim 12, wherein the device is an anchor including no circuitry.

20. The property inspection system of claim 12, wherein at least one of the one or more processors and at least one of the one or more memory devices are located within a server communicatively coupled to a base station;

wherein the base station is configured to receive from the 3D data collection system data representing the detected plurality of laser pulses;

wherein the server is configured to receive from the base station the generated 3D model.