Three degree-of-freedom telescoping geometry scanner

• US 6,600,553 B1
• Filed: 10/21/1999
• Issued: 07/29/2003
• Est. Priority Date: 11/03/1998
• Status: Expired due to Fees

• Current Assignee: The United States of America As Represented By The Secretary of Commerce
• Original Assignee: National Institute of Science and Technology US Dept of Commerce
• Inventors: Stone, William C
• Primary Examiner(s): Buczinski, Stephen C.
• Application Number:
  US09/422,300
• Time in Patent Office: 1,377 Days
• Field of Search: 901/47, 172/4.5, 180/167, 180/169, 356/141.1, 356/5-1-, 356/4.01
• US Class Current: 356/4.01
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4812 transmitted and received beams following a coaxial path
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4817 relating to scanning

Abstract

The invention relates to a three-dimensional measuring device, comprising a rotating 360 degree sensor head, a laser scanner and an extendable mast system. The sensor head contains a 360 degree rotating multi-faceted mirror, which determines total path distance from the laser scanner to a particular target. Angular orientations on both the scanner and the faceted mirrors are calculated by a precision encoding system. The measured total path distance, mast system extension, scanner head rotation, mirror rotation angles, and mast deflection are all used to calculate the location of a target point in 3-D space relative to the scanner. The sensing device can be utilized in the construction and nuclear power areas. In the nuclear power area, the mast system can be extended into a contaminated area which the sensor remains outside the contaminated area, thereby avoiding contamination problems.

Claims

1. An apparatus for creating a 3d image of a site comprising:

a modular scanning head;

a telescoping mast attached at one end to the modular scanning head and said telescoping mast being hollow having a centerline x, and said modular scanning head having the ability to rotate 360 degrees about a centerline y;

a laser ranging system attached to the other end of said telescoping mast and said laser ranging system being positioned so that the scanning head is in communication with said laser ranging system along the centerline x of the mast, and said laser ranging system creating a data coordinate from the rotational position of said modular scanning head and the distance to an object in said site; and

a wireless data communications computer system receiving said data coordinates from said laser ranging system and having the ability to receive a position coordinate from a global positioning system, whereby said wireless data communications computer system creates a 3d image of said site.

2. The apparatus for creating a 3D image of a site as recited in claim 1 wherein said scanning head includes a mirror frame, a mirror attached to said mirror frame, and a scanning platform.

3. The apparatus for creating a 3D image of a site as recited in claim 2 wherein said scanning head further includes a first transport mechanism attached to said scanning platform and rotates said scanning platform around said centerline x.

4. The apparatus for creating a 3D image of a site as recited in claim 3 further comprising a second transport mechanism said second transport mechanism being connected to said mirror frame and having the ability to rotate said mirror frame 360°

about a centerline y.

5. The apparatus for creating a 3D image of a site as recited in claim 4 wherein said laser ranging system includes a laser light source, said laser light source emitting a laser light which reflects off said mirror and hits an object and said laser ranging system determines the range of said object creating a data signal and sending said data signal to said wireless data communications computer.

6. The apparatus for creating a 3D image of a site as recited in claim 5 whereby said wireless data communications computer receives said data signal from said laser ranging system and communicates with a global positioning system and determines the location of the object.

7. The method of creating a multiple position 3D scan of a site using a laser scanning device comprising the steps of:

providing a wireless communications device;

communicating with a global positioning system;

determining a first location of the laser scanning device;

taking a scan of the site at a first position;

referencing all obstructions and terrain;

generating a first set of signals for the obstructions and terrain and sending them to the wireless communications device;

storing said first set of signals;

moving said laser scanning device to a second position;

communicating with said global positioning system;

determining a second location of the laser scanning device;

taking a scan of the site at a second position;

referencing all obstructions and terrain;

generating a second set of signals for the obstructions and terrain and sending them to the wireless communications device;

retrieving said first set of signals for the obstructions and terrain; and

coordinating said first set of signal for obstructions and terrain with said second set of signals for the obstructions and terrain and create a real time 3D image of the site.

8. The method of creating a multiple position 3D scan of a site using a laser scanning device as recited in claim 7 wherein said laser scanning device comprises a scanning head;

a mast attached at one end to the scanning head and said mast being hollow having a centerline x;

a laser ranging system attached to the other end of said mast and said laser ranging system being positioned so that the scanning head is in communication with said laser ranging system along the centerline of the mast; and

a wireless data communications computer system in communication with said laser ranging system and having the ability to communicate with a global positioning system.

9. The method of creating a multiple position 3D scan of a site using a laser scanning device as recited in claim 8 wherein said scanning head includes a mirror frame, a mirror attached to said mirror frame, and a scanning platform.

10. The method of creating a multiple position 3D scan of a site using a laser scanning device as recited in claim 9 wherein said scanning head further includes a first transport mechanism attached to said scanning platform and rotates said scanning platform around said centerline x.

11. The method of creating a multiple position 3D scan of a site using a laser scanning device as recited in claim 10 further comprising a second transport mechanism said second transport mechanism being connected to said mirror frame and having the ability to rotate said mirror frame 360°

around a centerline y.

12. The method of creating a multiple position 3D scan of a site using a laser scanning device as recited in claim 11 wherein said step of taking a scan further includes a laser light source, said laser light source emitting a laser light which reflects off said mirror and hits an object, said laser ranging system determining the range of said object, creating a data signal and sending said data signal to said wireless data communications computer.

13. The method of creating a multiple position 3D scan of a site using a laser scanning device as recited in claim 12 whereby said step of generating a first set of data signals further comprises said wireless data communications computer receiving said data signal from said laser ranging system and determines the location of the obstructions and terrain.

14. The method of creating a multiple position 3D scan of a site using a laser scanning device as recited in claim 13 whereby said step of generating a second set of data signals further comprises said wireless data communications computer receiving said data signal from said laser ranging system and determining the location of the obstructions and terrain.

15. An apparatus for creating a 3D image of a hot cell comprising:

a scanning head, said scanning head further including a scanning platform and a mirror frame being attached to a scanning platform, a first transport mechanism attached to said scanning platform and rotating said platform, and a second transport mechanism connected to said mirror frame having the ability to rotate said frame 360 degrees about a centerline y;

a telescoping mast attached at one end to the scanning head and said mast being hollow having a centerline x;

a laser ranging system attached to the other end of said mast and said laser ranging system so that the scanning head is in communication with said laser ranging system along the centerline x of said mast, and said laser ranging system creating a data coordinate from the rotational position of said scanning head and the distance to an object in said site; and

a wireless data communications computer system receiving said data coordinates from said laser ranging system and having the ability to receive a position coordinate from a global positioning system, whereby said wireless data communications computer system creates a 3d image of said hot cell.

16. The apparatus for creating a 3D image of a hot cell as recited in claim 15 whereby said mirror frame includes multiple mirrors attached to said mirror frame.