Method and an apparatus for capturing three-dimensional data of an area of space

• US RE45,854 E1
• Filed: 11/21/2014
• Issued: 01/19/2016
• Est. Priority Date: 07/03/2006
• Status: Active Grant

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Gittinger, Juergen, Becker, Bernd-Dietmar, Becker, Reinhard
• Primary Examiner(s): WHITTINGTON, KENNETH
• Application Number:
  US14/549,851
• Time in Patent Office: 424 Days
• Field of Search: 382/103, 382/105, 382/154, 356/4.01, 356/614, 358/453, 358/475, 358/480
• US Class Current: 1/1
• CPC Class Codes: F41J 5/00 Target indicating systems; Target-hit or score detecting systems for shooting or hurling games A63F9/0204; devices for measuring projectile velocity using optical means G01P3/685
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01C 15/02 Means for marking measuring points
• CPC Class Codes: G01C 15/06 Surveyors' staffs; Movable markers
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/89 for mapping or imaging

Abstract

In a method for capturing three-dimensional data of an area of space, a plurality of measuring beams (Ls) are sent out to a plurality of measuring points. A detector (50) receives a plurality of reflected beams (Lr) which are reflected by the measuring points (34a). A plurality of distances to the measuring points (34a, 34b) are determined as a function of the reflected beams (Lr). According to one aspect of the invention, at least one object (30) which comprises a hidden channel (66) having a visible entry opening (72) is located in the area of space. A rod-shaped element (32) is inserted into the channel (66) in such a manner that a free end proximal portion (70) protrudes from the entry opening (72). A first distance to a first measuring point (34a) and a second distance to a second measuring point (34b) are determined. An orientation (74) of the hidden channel (66) is determined as a function of the first and the second distances.

Claims

1. A method for capturing three-dimensional data of an area of space, comprising:

providing a laser scanner comprising a transmitter and a receiver,

sending out a plurality of measuring beams (Ls) by means of the transmitter to a plurality of measuring points in the area of space,

receiving a plurality of reflected beams (Lr) which are reflected by the measuring points, and

determining a plurality of distances to the plurality of measuring points as a function of the reflected beams (Lr),

determining for each measuring point of the plurality of measuring points a gray scale value that depends on an intensity of respective ones of the plurality of reflected beams (Lr), and

recording a cloud of points, representative of the plurality of measuring points in the area of space, determined as a function of the plurality of distances and respective gray scale values,

wherein the area of space comprises at least one object which contains a hidden channel having a visible entry opening, a rod-shaped element being inserted into the channel in such a manner that a free end proximal portion of the rod-shaped element protrudes from the entry opening, a first distance the rod-shaped element comprising a defined geometric shape having a first three-dimensional coordinate and at least one second three-dimensional coordinate in the area of space, an ideal image of the geometric shape being matched to the cloud of points that represents measuring points of the geometric shape, the first three-dimensional coordinate to a first measuring point at the free end proximal portion and at least one second distance the at least one second three-dimensional coordinate to a second measuring point at the free end proximal portion being determined using the ideal image that is matched to the cloud of points that represent measuring points of the geometric shape, and an orientation of the hidden channel being determined as a function of a vector between the first and second distance three-dimensional coordinates.

2. The method according to claim 1, wherein the rod-shaped element has a rod-shaped distal area and a proximal area portion, the rod-shaped distal area portion being configured for insertion into the hidden channel and the proximal area portion having at least one enlarged body at which the first and second measuring points are arranged.

3. The method according to claim 2, wherein the distal area portion defines a longitudinal axis, and that the at least one body has a center point which is essentially located on the longitudinal axis.

4. The method according to claim 3, wherein a plurality of body distances to a plurality of measuring points at the at least one body are determined, and that the center point is determined as a function of the plurality of body distances.

5. The method according to claim 1, wherein each reflected beam (Lr) has a beam intensity, and the orientation is also determined as a function of the beam intensities.

6. The method according to claim 1 2, wherein the at least one body has an elongated shape, particularly a cylindrical shape.

7. The method according to claim 1, wherein the rod-shaped element comprises at least two bodies arranged at a relative distance (dss) from one another.

8. The method according to claim 7, wherein the at least two bodies are spheres.

9. The method according to claim 7, wherein the at least two bodies are cubes.

10. The method according to claim 1, wherein the hidden channel is a bullet channel, and an assumed position of a gunman within the area of space is determined as a function of the orientation.

11. The method according to claim 1 2, wherein the rod-shaped element comprises a marking in the distal area portion, which marking has more reflective and less reflective sections.

12. The method according to claim 1, wherein the rod-shaped element further comprises a rod-shaped distal area and a proximal area portion, the rod-shaped distal area portion being configured for insertion into the hidden channel and the proximal area portion comprising at least one enlarged body providing at least two measuring points which are different from one another.

13. An apparatus structured to capture three-dimensional data of an area of space, comprising:

a laser scanner having a transmitter and a receiver, the transmitter being configured for sending out a plurality of measuring beams (Ls) to a plurality of measuring points in the area of space, and the receiver being configured to receive a plurality of reflected beams (Lr) which are reflected by the measuring points and, to determine a plurality of distances to the plurality of measuring points as a function of the reflected beams (Lr), to determine for each measuring point of the plurality of measuring points a gray scale value that depends on an intensity of respective ones of the plurality of reflected beams (Lr), and to record a cloud of points, representative of the plurality of measuring points in the area of space, determined as a function of the plurality of distances and respective gray scale values, and

a rod-shaped element comprising a defined geometric shape,

wherein the receiver is also arranged configured for determining an orientation of a hidden channel at an object in the area of space, wherein a the rod-shaped element has a free end proximal portion which protrudes from an entry opening of the hidden channel,

wherein the receiver is configured for;

matching an ideal image of the geometric shape to the cloud of points that represent measuring points of the geometric shape, the geometric shape having a first three-dimensional coordinate and at least one second three-dimensional coordinate in the area of space;

determining a first distancethe first three-dimensional coordinate to a first measuring point at the free endproximal portion and at least one second distancethe at least one second three-dimensional coordinate to a second measuring point at the free endproximal portion using the ideal image that is matched to the cloud of points that represent measuring points of the geometric shape; and

, determining the orientation of the hidden channel as a function of a vector between the first and second three-dimensional coordinates.

14. The apparatus according to claim 13, wherein the rod-shaped element further comprises a rod-shaped distal area and a proximal area portion, the rod-shaped distal area portion being configured for insertion into the hidden channel and the proximal area portion comprising at least one enlarged body providing at least two measuring points which are different from one another.