System and Method for Measuring by Laser Sweeps

• US 20160282107A1
• Filed: 10/30/2014
• Published: 09/29/2016
• Est. Priority Date: 11/01/2013
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch Tool Corporation (Robert Bosch GmbH)
• Original Assignee: Mattias Roland, Robert Bosch GmbH
• Inventors: Roan, Philip, Dammertz, Ralph, Schmidt, Hauke, Roland, Matthias, Pitzer, Benjamin, Flaig, Alexander
• Granted Patent: US 10,060,730 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01B 11/026 by measuring distance between sensor and object G01B11/0608 takes precedence
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• 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 7/4808 Evaluating distance, position or velocity data

Abstract

A method of performing geometrical measurements of remote objects includes performing a laser sweep of a measurement object with a handheld sensor device including a distance measurement unit and an inertial measurement unit. The method includes activating the distance measurement unit to perform a plurality of distance measurements during the laser sweep, and activating the inertial measurement unit to perform an inertial measurement in association with each of the distance measurements. A processor is used to process the distance measurements with reference to the associated inertial measurements to determine a geometric characteristic of the measurement object.

Claims

1. A method of performing geometrical measurements of remote objects, the method comprising:

performing a laser sweep of a measurement object with a handheld sensor device, the handheld sensor device including a distance measurement unit and an inertial measurement unit, the distance measurement unit being configured to measure a distance to a point on the object in a measurement direction, the measurement direction being defined by an orientation of the handheld sensor device;

activating the distance measurement unit to perform a plurality of distance measurements during the laser sweep;

activating the inertial measurement unit to perform an inertial measurement in association with each of the distance measurements; and

using a processor to process the distance measurements with reference to the associated inertial measurements to determine a geometric characteristic of the measurement object.

2. The method of claim 1, wherein the distance measurement unit comprises a laser range finder.

3. The method of claim 2, wherein the inertial measurements include position and orientation data pertaining to the handheld measuring device.

4. The method of claim 3, wherein the distance measurement unit and the inertial measurement unit are activated at a frequency of at least 30 Hz.

5. The method of claim 3, wherein the processor is configured to take user characteristics into consideration in determining the geometric characteristic of the measurement object, the user characteristics comprising at least one of a forearm length and a distance between a wrist of the user and the laser range finder.

6. The method of claim 4, further comprising:

using the processor to generate a 3D point collection for the measurement object from the distance measurements and the associated inertial measurements.

7. The method of claim 3, wherein using the processor to determine a geometric characteristic of the measurement object further comprises:

using the processor to process the distance measurements with reference to the associated inertial measurements to determine a dimension of a surface of the measurement object.

8. The method of claim 3, wherein using the processor to determine a geometric characteristic of the measurement object further comprises:

using the processor to process the distance measurements with reference to the associated inertial measurements to indirectly determine an angle between two surfaces of the measurement object.

9. The method of claim 1, wherein activating the distance measuring unit further comprises:

activating the distance measuring unit via a user interface of the handheld measuring device.

10. The method of claim 9, wherein the user interface comprises a touch screen interface.

11. The method of claim 9, further comprising:

wirelessly transmitting at least one of the distance measurements, the inertial measurements, and the geometric characteristic to a remote device.

12. The method of claim 11, wherein the remote device comprises a smart device.

13. The method of claim 3, wherein the handheld sensing device further comprises an image capturing device, and the method further comprises:

activating the image capturing device to capture a panoramic image during the laser sweep; and

using the processor to associate distance measurements with points in the panoramic image.

14. A handheld sensing device comprising:

a portable housing defining a measurement direction;

a distance measurement unit supported by the housing and configured to measure a distance to a remote point in the measurement direction;

an inertial measurement unit supported by the housing and configured to perform an inertial measurement in association with each distance measurement; and

a processor configured to process the distance measurements with reference to the associated inertial measurements to determine a geometric characteristic of a measurement object.

15. The handheld sensing device of claim 14, wherein the distance measurement unit comprises a laser range finder.

16. The handheld sensing device of claim 15, wherein the inertial measurement unit comprises at least one of an accelerometer, a gyroscope, and a compass.

17. The handheld sensing device of claim 16, wherein the processor is configured to generate a 3D point collection for the measurement object from the distance measurements and the associated inertial measurements.

18. The handheld sensing device of claim 16, wherein the processor is configured to process the distance measurements with reference to the associated inertial measurements to determine a dimension of a surface of the measurement object.

19. The handheld sensing device of claim 16, wherein the processor is configured to process the distance measurements with reference to the associated inertial measurements to indirectly determine an angle between two surfaces of the measurement object.

20. The handheld sensing device of claim 16, further comprising an image capturing device configured to capture a panoramic image of the measurement object, and

wherein the processor is configured to associate distance measurements with points in the panoramic image.