Device and method for the detection of interiors / exteriors and of architectural partials

Abstract

Device for the detection of interiors / exteriors and of architectural partials, adapted to be positioned inside environments for the creation of virtual models of the environments, comprising means for detecting the distance of a predetermined point with respect to the positioning point of the device and means for detecting the rotation of the device with respect to at least one vertical rotation axis (A). The distance detecting means comprise a first element (6) for generating a light source with a frequency in the visible field and a second element (7) for generating a light source with a higher frequency than the first element (6).

Description

[0001] Device and method for the detection of interiors / exteriors and of architectural partials

[0002] The object of the present invention is a device for the detection of interiors / exteriors and of architectural partials, adapted to be positioned inside environments for the creation of virtual models of the environments, comprising means for detecting the distance of a predetermined point with respect to the positioning point of the device and means for detecting the rotation of the device with respect to at least one vertical rotation axis.

[0003] Currently, an interior survey has several steps: a preliminary step of choosing the instruments such as meter, metric wheel, distance gauge, etc., a step of designing the survey with the drafting of sketches, representing plans and elevations, a detection step where the instrument is used to measure and transcribe the lengths taken into account and finally the graphic return step in which the necessary documents are drawn up in digital format.

[0004] In order to make a survey in an interior, it is necessary to have an instrument to measure distances. There are various types of these but generally either a metric wheel or a modern distance gauge is used. In addition, it is also necessary to have sheets and pencils, a support on which to write and a camera for details and as an aide-memoire.

[0005] A first detection is then made of how the plan of the environment may be and a layout is sketched on the sheet, after which the measurements of the various rooms are taken and reported on the previously made layout.

[0006] The measurement step is particularly critical as often the rooms do not have regular shapes and above all they are furnished and the furniture, especially the wall furniture, hinders the correct reading by the laser distance meter.

[0007] It is evident that the detection of an environment is difficult and that current techniques entail long working times and require more than one person to carry out such detection. There are reliable instruments known to the state of the art, such as theodolites, telescope levels and total stations, however these instruments are exclusively for external surveys, especially due to their size, which make it difficult to manoeuvre and transport them.

[0008] In addition, these devices have high costs, not suitable for the costs that are required for detections of interiors.

[0009] The devices and systems known to the state of the art • consist of complex instruments to be used and that need postprocessing using software and hardware that require significant processing times and costs. Finally, paid software is generally required in order to use these instruments, and to process the data collected.

[0010] A possible solution is described within document WO2O15044226, the content of which is to be considered an integral part of this patent application.

[0011] The device described within the above-mentioned document solves the described disadvantages related to the state of the art. However it has a limited detection accuracy and does not make it possible to obtain a precise and continuous scan of the environment to be reconstructed, without requiring excessive computational effort and through the use of simple construction and assembly technologies.

[0012] There is therefore a need not met by the devices known to the state of the art to solve the disadvantages set out above.

[0013] The present invention achieves the above objects by realizing a device as described above, wherein the distance detecting means comprise a first element for generating a light source with a frequency in the visible field and a second element for generating a light source with a higher frequency than the first element.

[0014] The distance assessment is based on the times of flight of the light sources emitted by the two generation elements up to reaching the reflecting surface and the return back to the two generation elements.

[0015] Therefore, in accordance with the configuration of the device that is the object of the present invention, the detection of the distance in the device that is the object of the present invention uses two inputs, a light source in the visible field, slower and more precise, and a light source with higher frequencies, faster and less precise.

[0016] The user has the option of enhancing the data from a single detection by adding additional information from a new position and of enhancing the final result where possible with further detail. By doing so, a single detection containing several points will be enhanced with additional points up to a number of times decided by the user and within the constraint of the computational capabilities of the host device.

[0017] In addition, the presence of an emission source in the visible light range allows the user to provide feedback based on the movement of the device as it detects the environment.

[0018] It is specified that the device that is the object of the present invention can consist of a single body, comprising all the described components, in such a way that a user is responsible for the rotation of the entire body.

[0019] Preferably, however, the device that is the object of the present invention has at least one support base, on which a rotatable body is mounted.

[0020] According to a possible embodiment, the rotatable body contains the components necessary for the detection.

[0021] The user can always manually rotate the device, but keeping the support base fixed to the ground, so as to obtain more precise detections.

[0022] According to a preferred embodiment, however, the device that is the object of the present invention provides an upper modular unit mounted so as to be rotatable with respect to a lower modular unit around the vertical rotation axis.

[0023] Further, the distance detecting means are positioned in the upper modular unit.

[0024] As will be evident from the illustration of some embodiments, the presence of at least two modular units gives greater stability to the device that is the object of the present invention, by inserting the heavier components in the lower modular unit, so that both manual and remote- controlled rotation can be provided, similarly as described in document W0201 5044226.

[0025] According to a further embodiment, the upper modular unit is mounted tilted or tiltable with respect to the lower modular unit.

[0026] Therefore, it is possible to provide that the upper modular unit is stably fixed in a tilted condition.

[0027] Alternatively, the upper modular unit may be tiltable through specific means, illustrated below, in such a way that the upper modular unit passes from a condition stacked on the lower modular unit to a tilted condition with respect to the lower modular unit.

[0028] As will be apparent from the illustration of some embodiments, the lower modular unit and the upper modular unit each have a development plane, respectively a lower development plane and a higher development plane.

[0029] In stacked condition, the lower modular unit and the upper modular unit have the corresponding lower development plane and upper development plane arranged on planes parallel to the horizontal plane on which the device that is the object of the present invention is placed.

[0030] In tilted condition, the upper modular unit has the upper development plane arranged on an inclined plane, preferably on a perpendicular plane, with respect to the lower development plane of the lower modular unit and with respect to the horizontal plane on which the device that is the object of the present invention is placed.

[0031] The tilting enables the device that is the object of the present invention to carry out even three-dimensional detections, since the upper modular unit, in a tilted condition, will be able to rotate according to an axis perpendicular to the vertical axis, so as to carry out one or more detections along one or more section planes of the environment to be reconstructed.

[0032] In order to obtain the best compromise for achieving a rotation of the upper modular unit both in the non-tilted condition and in the tilted condition, respectively according to a vertical rotation axis and a rotation axis perpendicular to the vertical axis, it is possible to realize the device that is the object of the present invention according to different specific configurations.

[0033] In accordance with a first configuration, the upper modular unit consists of an upper portion and of a lower portion.

[0034] Further, the upper portion of the upper modular unit is mounted rotatable with respect to the lower portion, while the lower portion of the upper modular unit is connected to the lower modular unit through a hinge configured to allow tilting of the upper modular unit with respect to the lower modular unit.

[0035] As will be illustrated below, the tilting of the upper modular unit makes it possible to obtain a section of the environment to be reconstructed without any components of the device that is the object of the present invention, such as for example support stands, or the like, generating impediments to the generation of light sources.

[0036] According to a second possible configuration, also lower modular, it consists of an upper portion and of a lower portion, in such a way that the upper portion is mounted rotatable with respect to the lower portion and in such a way that the lower portion of the upper modular unit is connected to the lower portion of the lower modular unit.

[0037] According to a possible embodiment, the device that is the object of the present invention provides at least one servomotor to allow the rotation of the upper modular unit with respect to the lower modular unit and / or the rotation of the upper portion with respect to the lower portion of the upper modular unit.

[0038] Alternatively or in combination, the servomotor makes it possible to obtain the rotation of the upper portion with respect to the lower portion of the lower modular unit.

[0039] According to an improvement, the servomotor can also be integrated with encoders, in order to make increasingly accurate detection and to know any errors or malfunctions.

[0040] Advantageously, the servomotor is positioned eccentrically with respect to the vertical rotation axis. The decentralised positioning with respect to the vertical rotation axis has important repercussions on the accuracy of the device's detections even using cheaper servomotors.

[0041] In particular, with the same number of steps, a servomotor positioned in a decentralised manner makes it possible to obtain a greater number of steps, and therefore a greater detection accuracy, compared to a motor positioned centrally with respect to the vertical rotation axis.

[0042] Different configurations can be used to obtain the eccentric positioning of the motor, according to any of the methodologies known to the state of the art.

[0043] Preferably, however, such eccentric positioning is obtained thanks to the presence of a support plate.

[0044] According to the constructive variant of the device that is the object of the present invention, the support plate can be positioned between the upper portion and the lower portion of the upper modular unit and / or between the lower portion and the upper portion of the lower modular unit.

[0045] Said support plate is configured to allow rotation between the upper portion and the lower portion of the upper modular unit and / or between the upper portion and the lower portion of the lower modular unit and is connected to the servomotor, there being a servomotor for each upper portion.

[0046] In view of the advantageous aspects of the device just described, the present invention also has as its object a method for detection and reconstruction of interior environments through the use of a device for the detection of interiors and architectural partials, which device comprises means for detecting the distance of the device itself with respect to a reflecting surface and means for detecting the rotation of the device.

[0047] In particular, the method that is the object of the present invention provides the following steps: a) positioning of the device at a first point, b) detection of the distance between the first point and a detection point placed on a reflecting surface placed in front of the device, c) rotation of the device for a certain angle, d) iteration of steps b) and c), e) processing of the data detected and creation of a first virtual model of said environment.

[0048] Furthermore, the distance detecting step provides for carrying out a plurality of measurements obtained through the simultaneous emission of two light sources, of which a first light source with a frequency in the visible field and a second light source with a higher frequency.

[0049] A detection is therefore obtained which makes it possible to obtain a greater number of points aimed at defining a single detection of the distance with the reflecting surfaces placed in front of the device, in order to improve the accuracy of the detection itself.

[0050] The virtual model obtained in step e) can be displayed in any of the ways known to the state of the art.

[0051] Preferably, a display unit external to the device that is the object of the present invention is provided through which the user can not only view, but also control the movements of the device, in a manner similar to that described in document WO2O15044226.

[0052] Advantageously, the virtual model created by the method that is the object of the present invention provides for the use of one or more colours to identify the portions of the virtual model, based on the number of detections made for each part.

[0053] It follows that the user will be able to identify the areas of the environment to be reconstructed of which they have less information.

[0054] The user can thus decide to carry out several steps to enhance the information in their possession and obtain a more predictable reconstruction of the environment.

[0055] The repetition of the detections can be done either with the device positioned at the same point, or by moving the device.

[0056] When moving the device it is important to identify a reference so that the detections made based on the first point and on the point where the device has been moved, can be compared and stacked.

[0057] To achieve this aim, the method that is the object of the present invention, after step e), provides the following steps: f) with the device positioned at the first point, identification of an anchoring point on the reflecting surface placed in front of the device through the emission of the first light source, g) moving the detection device to a second point, h) detection of the distance between the second point and a detection point placed near the anchoring point, i) rotation of the device for a certain angle and detection of the distance between the second point and a further point placed on a reflecting surface placed in front of the device, j) iteration of step i), h) processing of the data detected and creation of a second virtual model of said environment.

[0058] Finally, according to an embodiment variant of the method that is the object of the present invention, a step of overlapping the first virtual model and the second virtual model is provided, based on the determination of the distance between the first and the second point and / or between the anchoring point and the detection point of step h).

[0059] As will be apparent from the following description, the method that is the object of the present invention allows the registration of two or more virtual models, i.e. planimetric elaborations relating to real environments acquired by means of digital detections performed with optical instrumentation having an anchoring point in common, preferably chosen by the user.

[0060] These and other features and advantages of the present invention will become clearer from the following disclosure of some exemplary embodiments illustrated in the accompanying drawings in which: figures 1a and 1 b illustrate two views of a possible embodiment of the device that is the object of the present invention; figures 2a to 2c illustrate three views of some possible configurations of the device that is the object of the present invention according to the embodiment of the previous figures; figures 3a to 3d illustrate four exploded views of the four portions constituting the device that is the object of the present invention according to the embodiment of the previous figures; figures 4a and 4b illustrate two views of a detail of the device that is the object of the present invention; figures 5a to 5d illustrate four views of the virtual models of reconstruction of the environment obtained with the method for reconstruction of environments that is the object of the present invention.

[0061] It is specified that the figures appended to this patent application illustrate only some possible embodiments of the device and the method that are the object of the present invention, to better understand the advantages and characteristics described.

[0062] Such embodiments are therefore to be understood as purely illustrative and not limiting to the inventive concept of the present invention, namely that of realizing a device and a method for the detection of interiors and of architectural partials that make it possible to obtain a precise and continuous scan of the environment to be reconstructed, without requiring excessive computational effort and through the use of simple construction and assembly technologies.

[0063] With particular reference to figures 1a to 2c, the device that is the object of the present invention consists of two modular units, an upper modular unit 100 and a lower modular unit 1 10.

[0064] Each modular unit 100, 1 10 has an upper portion and a lower portion, respectively the upper modular unit 100 has an upper portion 101 and a lower portion 102, while the lower modular unit 1 10 has an upper portion 1 1 1 and a lower portion 1 12.

[0065] The upper portions 101 and 1 1 1 are mounted so as to be rotatable about a vertical rotation axis A.

[0066] It follows that, starting from the configuration illustrated in figure 1a, the upper portion 101 can rotate with respect to the lower portion 102 around the rotation axis A, just as the upper portion 1 1 1 can rotate around the rotation axis A with respect to the lower portion 1 12. During the detections, as will be described below, the lower portion 1 12 of the lower modular unit 1 10, or the lower modular unit 1 10 itself, will serve as a rest and support base of the device, so as to provide the correct stability for the movement of the parts positioned above the lower portion 1 12 or the lower modular unit 1 10.

[0067] Further, the distance detecting part, i.e. the first element for generating a light source and the second element for generating a light source, are positioned in the upper portion 101 of the upper modular unit 100.

[0068] Preferably, as will be described below, the first element for generating a light source consists of a visible light laser 6, while the second element for generating a light source consists of a TOF-type laser 7 of frequencies greater than the visible field.

[0069] According to the variants illustrated in the figures, each lower portion 102, 1 12 and each upper portion 101 , 1 1 1 consist of parallelepipedshaped boxes with two square-shaped base surfaces and four side walls.

[0070] Regardless of the embodiment, preferably, the upper modular unit 100 and the lower modular unit 1 10 identify a development plane each, in particular a first development plane D and a second development plane E, illustrated with the outlined contours in figure 1a.

[0071] In the case of parallelepiped-shaped boxes, as in the case of the embodiment variants illustrated, the development planes D and E are parallel to the broader and wider faces, arranged horizontally with reference to figure 1a.

[0072] The parallelepiped-shaped boxes house therein the different components of the device that is the object of the present invention, as will be described later.

[0073] Further, the upper modular unit 100 is hinged to the lower modular unit 1 10 along one of the peripheral edges of the side walls, so that the upper modular unit 100 can overturn with respect to the lower modular unit 1 10.

[0074] It follows that the device that is the object of the present invention can have different configurations, as illustrated in Figures 2a to 2c. The upper modular unit can therefore switch from a non-tilted, or stacked, condition, illustrated in Figures 1 a and 1 b, to a tilted condition, illustrated in Figures 2a to 2c.

[0075] In stacked or non-tilted condition, the upper modular unit 100 has its own development plane D parallel to the development plane E of the lower modular unit 1 10, both development planes D and E being parallel to the horizontal plane on which the device rests.

[0076] In tilted condition, the development plane D is positioned on a plane that is incident, preferably perpendicular, with respect to the development plane E which remains parallel to the horizontal plane on which the device rests.

[0077] During the transition from the non-tilted or stacked condition to the tilted condition the base of the box constituting the lower portion 1 12, or the lower modular unit 1 10, may be inclined with respect to the base of the upper modular unit 100 by an angle comprised between 0° (figures 1a and 1 b) and 90° (figures 2a-2c).

[0078] As anticipated, the tilting of the upper modular unit 100 allows the reconstruction of environments in 3 dimensions.

[0079] The device that is the object of the present invention, in fact, starting from the configuration of figure 1a, can perform one or more 360° rotations of the upper portion 101 , or of the upper modular unit 100, so as to generate two-dimensional detections of an environment, to make interior plans.

[0080] In the tilted condition, on the other hand, one or more rotations of the upper portion 101 , or of the upper modular unit 100, around the axis B allows detections to be made of the sections of the environment to be reconstructed.

[0081] The device that is the object of the present invention also has two bubbles 1 , which allow the user to evaluate the correct positioning of the device that is the object of the present invention.

[0082] Figures 3a to 3d illustrate four exploded views of the different portions, so as to illustrate all the components inserted within each portion. In particular, figure 3a illustrates an exploded view of the upper portion 101 of the upper modular unit 100, figure 3b illustrates an exploded view of the lower portion 102 of the upper modular unit 100, figure 3c illustrates an exploded view of the upper portion 1 1 1 of the lower modular unit 1 10, while figure 3d illustrates an exploded view of the lower portion 1 12 of the lower modular unit 1 10.

[0083] In addition to the components that will be described below, a list of the numerical references reported in figures 3a to 3d is shown below, in order to illustrate all the constructive components of the device that is the object of the present invention.

[0084] 1 Bubble

[0085] 2 Opaline

[0086] 3 Bubble cap

[0087] 4 Laser shell (side walls)

[0088] 5 TOF laser bracket

[0089] 6 Visible light Laser

[0090] 7 TOF laser

[0091] 8 Upper electronic board (PCB)

[0092] 9 Control key (configurable based on the user's needs, so as to perform on / off functions, laser emission, camera operation, etc.)

[0093] 10 Control key (configurable based on the user's needs, so as to perform on / off functions, laser emission, camera operation, etc.)

[0094] 1 1 Servomotor

[0095] 12 Cap of support plates

[0096] 13 Support plate

[0097] 14 Toothed wheel cap

[0098] 15 Hinge shell

[0099] 16 Toothed wheel

[0100] 17 Encoder sensor support

[0101] 18 Encoder spacer

[0102] 19 Encoder

[0103] 20 Battery blocking plate

[0104] 21 Slip ring 22 Upper hinge cap

[0105] 23 Rest feet

[0106] 24 LCD Screen

[0107] 25 Lower hinge cap

[0108] 26 Solid shell

[0109] 27 Central electronic board (PCB)

[0110] 28 USB Shell

[0111] 29 Batteries

[0112] 30 Lower electronic board (PCB)

[0113] 31 Battery cap

[0114] 32 tripod screw (can be used to fix a tripod, particularly useful to avoid unwanted movements in the tilted condition of the device).

[0115] In detail and based on what has been described, the upper portion 101 of the upper modular unit has a double laser module:

[0116] - a TOF 7 laser used for automatic mode. This is an invisible time-of- flight laser that allows the acquisition of points during the rotation of the upper portion 101 ;

[0117] - a visible light laser 6 used in automatic and manual mode both as a pointer for the TOF laser and to acquire measurements with millimetre precision, as it is slower, but more precise than the TOF laser.

[0118] The cases of the device are designed for the alignment of the laser 6 and by means of the TOF bracket 5 specially designed for the TOF laser 7, it allows the assembly on the cases and the adjustment of the alignment between the two lasers 6 and 7.

[0119] The support plate 13 has been specially made and designed to perform various tasks.

[0120] It is preferably made of a self-lubricating material and represents the component that serves to hold the upper modular unit 100 and the lower modular unit 1 10 together (refer to figures 3a-3c).

[0121] In particular, according to the embodiment variant illustrated in the figures, there are two support plates 13, one in the upper modular unit 100 and one in the lower modular unit 1 10, so as to interact, respectively, with the portions 101 , 102 and with the portions 1 1 1 , 1 12. The support plate 13, moreover, also performs the function of a bearing allowing the rotation always between the upper modular unit 100 and the lower modular unit 1 10.

[0122] In addition, in the lower part there are feet 23 to reduce the friction surface to maximize performance with the toothed wheel 16. In addition, the support plate 13, positions and aligns the servomotor 1 1 , offset from the centre of the device to obtain a greater number of steps and to free in the middle the space for the passage of cables between the upper modular unit 100 and the lower modular unit 1 10, preferably through the axially positioned slip ring 21.

[0123] The support plate 13 positions and aligns the bracket supporting the encoder reading sensor 19.

[0124] Furthermore, the support plate 13 offsets the TOF laser 7 from the centre of the device, so as not to create a shadow cone in the scan underneath it.

[0125] As illustrated in Figures 3a to 3d, the device that is the object of the present invention has two toothed wheels 16, consisting of a specially designed steel plate.

[0126] Each toothed wheel 16 constitutes a gear for the servomotor 1 1 , improving the kinematics and increasing the number of steps that the servomotor 1 1 can take.

[0127] Furthermore, the toothed wheel 16 of the lower portion 102 of the upper modular unit 100 acts as a support for the modular unit itself, which rests, through the feet of the support plate 13 described above.

[0128] Similarly, the toothed wheel 16 present in the lower modular unit 1 10 also acts as a support between the lower portion 1 12 and the upper portion 1 1 1 of the lower modular unit 1 10.

[0129] With particular reference to figures 4a and 4b, a detail of the device that is the object of the present invention is illustrated to describe a possible embodiment of the eccentric fixing of the motor 1 1 . The support plate 13 is provided with three large holes 130, 131 , 132, around each of these main holes there are other smaller holes, used to fix various components through the use of screws. The hole 131 is specifically designed for centring, thus offsetting the motor 1 1 with respect to the central rotation axis, thus allowing the pinion 160 of the motor 1 1 to pass under the support plate 13, in such a way as to mesh with the toothed wheel 16.

[0130] As illustrated in figure 3b, the device that is the object of the present invention also provides a battery blocking plate 20 whose function is to block the movement of the batteries 29 and at the same time serves as housing, centring and block for the magnetic disk of the encoder 19 and for the slip ring 21 .

[0131] As described above, unlike the embodiment variant illustrated in the figures, the fixing between the upper modular unit 100 and the lower modular unit 1 10 can be realized in a single rigid piece that keeps the two modular units 100 and 1 10 perfectly at 90° with respect to each other and inside it a cable passage for current and data.

[0132] Alternatively, as illustrated in the embodiment variant of the figures, there is a hinge 200 that allows the anchoring and rotation with blocking at 90° of the upper modular unit 100 with respect to the lower modular unit 1 10. According to a first embodiment, the hinge 200 has sliding contacts for the passage of current and data between the two modular units 100 and 1 10.

[0133] Alternatively, a hollow hinge 200 with a cable passage for current and data may be provided between the two modular units 100 and 1 10.

[0134] In particular, the hinge 200 rotates and moves the upper modular unit 100 from the centre of the lower modular unit 1 10.

[0135] As described, according to the illustrated embodiment variant, the device that is the object of the present invention provides a combination of servomotors and encoders.

[0136] Advantageously, in fact, the servomotor makes it possible to move the device to a certain point, while the encoder makes it possible to read that point.

[0137] The device that is the object of the present invention has two encoders and two servomotors, as there are two rotations performed by the device. Thanks to the described features, the device that is the object of the present invention allows the reconstruction of environments, through the creation of virtual models of the environments in which the detection is performed.

[0138] Figures 5a to 5d illustrate some views of such virtual models, so as to describe the steps of the method for detection and reconstruction of interior environments that is the object of the present invention.

[0139] It is specified that the attached figures refer to a creation of two- dimensional virtual models, so as to reconstruct the plan of the environment in which the detection is carried out.

[0140] However, based on the described characteristics, it is evident that the device that is the object of the present invention can be used for three- dimensional detections and reconstructions, thanks to the tilting of the upper modular unit 100 with respect to the lower modular unit 1 10.

[0141] In this case, once the upper modular unit 100 has been tilted, the upper portion 101 of said unit rotates with respect to the lower portion 102, so as to detect different sections of the environment to be reconstructed, according to different rotation of the upper modular unit with respect to the lower modular unit.

[0142] Preferably, at the beginning of the detection, whether it is a detection for a two-dimensional or three-dimensional reconstruction, the upper modular unit 100 is placed in a tilted condition after which the scan begins: the upper modular unit 100 rotates with respect to the lower modular unit 1 10.

[0143] During the rotation of the upper modular unit 100, the upper portion 101 rotates around the axis B to detect sections of the environment, for three-dimensional reconstruction.

[0144] This operation is allowed thanks to the presence of two modular units 100 and 1 10 that have similar components for the movement, such as, for example, two motors, two encoders, two support plates, hard toothed wheels. To carry out this detection, the upper modular unit 100 will therefore be in a non-tilted condition and will rotate around the vertical rotation axis A.

[0145] Once the 2D reconstruction is obtained, it is possible to switch to the 3D reconstruction by bringing the upper modular unit 100 into a tilted condition and by rotating the upper portion 101 of the upper modular unit 100 around the rotation axis B.

[0146] The rotation of the upper portion 101 about the axis B may be carried out during the rotation of the upper modular unit 100 about the axis A, so as to enhance the details of the detection.

[0147] It follows from the above that the lower modular unit 1 10 and the upper modular unit 100 may be made up of one, two or more portions.

[0148] Preferably, the upper modular unit 100 consists of an upper portion

[0149] 101 , rotatable with respect to the lower portion 102.

[0150] In combination with such a configuration, the lower modular unit 1 10 may consist of a single block, connected to the upper modular unit 100.

[0151] Alternatively, as illustrated in the figures, the lower modular unit may consist of a lower portion and an upper portion, rotatable with respect to the lower portion.

[0152] In order to obtain the advantages described above and related to the reconstruction of architectural environments, it is possible to provide that the upper modular unit 100 is fixedly positioned in a tilted condition, i.e. with its own development plane D perpendicular to the development plane E.

[0153] In combination with such a variant, the upper modular unit 100 comprises an upper portion 101 rotatable with respect to the lower portion

[0154] 102.

[0155] The upper modular unit will in any case always be rotatable with respect to the lower modular unit 1 10.

[0156] In accordance with this configuration, it is possible to provide that the first 6 and the second 7 element for generating a light source are positioned aligned with each other along a line perpendicular to the development plane D of the upper modular unit 100, preferably in the upper portion 101 .

[0157] The creation of a reconstruction of environments in two dimensions will therefore now be described.

[0158] The creation of the virtual models of the environment involves carrying out a detection that provides for the rotation of the upper modular unit 100 by an angle equal to 360 degrees (complete rotation) and the parallel acquisition of the distance between the geometric centre of the device and the first reflecting surface placed in front of the device, in particular in front of the lasers 6 and 7.

[0159] Only one of the two lasers 6, 7 or both can be used independently.

[0160] The evaluation of the distance between the geometric centre of the device and the point in front of the reflecting surface can be defined based on the times of flight of the light emitted by the lasers 6, 7, up to reaching the reflecting surface and the return back to the laser receivers themselves.

[0161] Each detection thus consists of at least 1600 points geometrically described in polar coordinates; therefore, angle and distance, where the angle is the rotation made by the upper modular unit 100 until that moment in the context of the detection and the distance is the distance detected between the geometric centre and the first reflecting surface.

[0162] The complete detection (i.e. 360°) once acquired and stored in polar coordinates is converted into Cartesian coordinates, can be understood as a floor plan of the surrounding environment centred on the point where the device is positioned at the time of acquisition. The resulting floor plan could thus already be considered complete if the device has had the opportunity to correctly acquire an adequate number of points in the surrounding environment and there have been no obstacles that have obstructed the acquisition of portions of the environment.

[0163] The possible need of the user to enhance the detection can therefore now be performed through further steps of the method that is the object of the present invention.

[0164] According to a possible embodiment, in fact, it is possible to overlap and join the set of points acquired in two subsequent complete detections. The final result is a further detection, which can then be used as one of the two inputs for the generation of a virtual model of the environment with a new set of acquired points.

[0165] The first detection can then be carried out without any particular care in the positioning of the device. Likewise, the initial point from which to start the first detection is totally irrelevant for the purpose of the detection itself and the possible implementation of the virtual model.

[0166] At the end of the first detection, the user is then given the possibility to choose whether to complete the detection by saving the data, or enhance the detection with a second set.

[0167] The first detection at this time could be graphed as illustrated in figure 5a.

[0168] Assuming that enhancing this first detection is desired, the user does not move the device and proceeds with the process of capturing an anchoring point on the reflecting surface. This point, belonging to the first detection, is chosen by the user.

[0169] The choice takes place by rotating the upper modular unit 100 of the device. The rotation is therefore mechanical, guided and recorded. The user has thus the possibility to rotate the upper modular unit 100 until a point in the environment that meets certain requirements, described below, is identified.

[0170] It is specified that, at the time of starting the detections, the device, still in the original position, proceeds with switching on the laser 6 and then projects onto the surfaces in front of it a beam of light such as to allow the user to identify the pointing of the device.

[0171] The rotation of the upper modular unit of the instrument allows the rotation of the entire upper body and also of the acquisition component and therefore the movement of the pointing of the device.

[0172] In choosing the anchoring point, the user has to preferably take care of choosing this point on a surface that is possibly smooth and clearly visible both from the original position and from the future position from which the new and second detection will be made. This is in fact the moment when the user is asked to choose the position of the second detection. The user selects and captures an anchoring point, enhancing the first set of data. At this point the user has identified the anchoring point.

[0173] It is possible to provide a software application that supports the user in choosing the second positioning point where the device can be moved to carry out the second detection, through the graphical representation of the first detection.

[0174] In this representation, the captured points can be displayed with different colourings, such as green, yellow and red colouring, based on the quality of the data. The intent is to mark in red the portions of detection where the density of detail and quality are worse. The user will therefore be advised to carry out a new detection in order to be able to improve the portions with greater noise or error.

[0175] The second detection is required to be started around the anchoring point, taking care of minimizing the deviation in all directions as much as possible. To allow this step, the application keeps the laser 6 on, and allows the user to place the device in any other position in the environment as long as the identified anchoring point is visible and it is possible to point the device again around the anchoring point as accurately as possible.

[0176] Once the positioning and pointing have been completed, the user has the possibility to proceed with a second detection.

[0177] This step just described has allowed the definition of a new second positioning point of the device and the marking and connection of the anchoring point with which the first point of the new second detection will be indicated.

[0178] Upon completion of the second detection, there will thus be two sets of data for which the user will have indicated a common point, namely the anchoring point. This position in space is used as a centre or as a reference point for joining the two virtual models deriving from the detections.

[0179] The two sets of data (i.e. the two detections) stored at this point could be represented graphically as illustrated in figure 5b, in which, for illustrative simplicity, it is possible to identify the two sets of data as one of the two is surrounded by the dotted line C. At this point, starting from the two sets acquired, it is proceeded with the optimal translation and rotation of the first detection with the second one.

[0180] The first detection is then transferred to the second detection through a translation of the anchoring point on the second detection, which translation is then applied to all the points present in the first detection.

[0181] It is specified that the two sets of data are not rotated copies, but as can also be seen from the graphical representations of figures 5a-5d, they are portions of an environment. The detection in not surrounded by the dotted line C in figure 5b, matches by less than 40% with what is present in the detection surrounded by the dotted line C. In addition, many data are noisy and could represent portions of the environment that has varied over time between the two detections due to causes not dependent on the user: such as, for example, the movement of a tent because of the wind or a foreign person passing by during the detection or the like. Furthermore, all detections may be differently affected by intrinsic noise of the detection systems.

[0182] The next step involves mapping the set of data of the first detection in relation to the second detection and the prior elimination of anomalies; therefore, the points that the algorithm recognizes as detection errors by the analysis instruments.

[0183] For purely exemplary purposes, figure 5c shows a possible elimination of anomalies from the first detection, i.e. that not surrounded by the dotted line C in figure 5b.

[0184] A mapping of the distances of each point of the first detection with each point of the second detection is then performed. It is then proceeded with the average calculation of the overall distance of the system and this distance is configured as the optimal parameter identified so far.

[0185] At this point, it is possible to centre the two detections in a common point based on the anchoring point and a rotation is performed per step of the first detection around the point where the two detections were centred.

[0186] The single rotation step can be set by the application in relation to the computational capabilities of the host machine. This configuration, in fact, will be binding for the algorithm and will define the machine cycles to be performed before completion of the procedure described above.

[0187] For each rotation step, a new mapping of the distances of the first detection is then performed with each point of the second detection. The average of the total distances is then performed again and if a value lower than the previous optimal value is identified, it will be updated.

[0188] The procedure described above is repeated for each step until completion of the turn corner. At the end of this procedure, the first detection is reported in the original position and a rotation equal to the rotation identified at the time of identifying the optimal value and a simultaneous translation for each point of the first detection are carried out.

[0189] The described procedure will give as output a graphic representation like the one illustrated in figure 5d, where with the dotted line D the first detection is represented, translated and rotated on the second detection on the basis of the common point on which they were centred and described above.

[0190] While the invention is susceptible to various modifications and alternative constructions, some preferred embodiments have been shown in the drawings and disclosed in detail.

[0191] It should be understood, however, that there is no intention to limit the invention to the specific illustrated embodiment but, on the contrary, the aim is to cover all the modifications, alternative constructions and equivalents falling within the scope of the invention as defined in the claims.

[0192] The use of “for example”, “etc.”, “or” indicates non-exclusive alternatives without limitation, unless otherwise indicated.

[0193] The use of “includes” means “includes, but not limited to” unless otherwise indicated.

Claims

CLAIMS1. Device for the detection of interiors / exteriors and of architectural partials, adapted to be positioned inside environments for the creation of virtual models of the environments, comprising means for detecting the distance of a predetermined point with respect to the positioning point of the device and means for detecting the rotation of the device with respect to at least one vertical rotation axis (A), characterized in that the distance detecting means comprise a first element (6) for generating a light source with a frequency in the visible field and a second element (7) for generating a light source with a higher frequency than the first element (6).

2. Device according to Claim 1 , wherein there is an upper modular unit (100) mounted rotatable with respect to a lower modular unit (1 10) around said vertical rotation axis (A), the distance detecting means (6,7) being positioned in the upper modular unit (100).

3. Device according to Claim 2, wherein the upper modular unit (100) is mounted tilted or tiltable with respect to the lower modular unit (1 10).

4. Device according to one or more of the preceding claims, wherein at least the upper modular unit (100) consists of an upper portion (101) and of a lower portion (102), the upper portion (101 , 1 1 1) being mounted rotatable with respect to the lower portion (102, 1 12) and the lower portion (102) of the upper modular unit (100) being connected to the lower modular unit (1 10) by means of a hinge (200) configured to allow tilting of the upper modular unit (100) with respect to the lower modular unit (1 10).

5. Device according to Claim 4, wherein the lower modular unit (1 10) consists of an upper portion (1 1 1) and of a lower portion (1 12), the upper portion (1 1 1) being mounted to be rotatable with respect to the lower portion (1 12) and the lower portion (102) of the upper modular unit (100) being connected to the lower portion of the lower modular unit (1 10).

6. Device according to one or more of the preceding claims, wherein at least one servomotor (1 1) is present to allow the rotation of the upper modular unit (100) with respect to the lower modular unit (1 10) and / or therotation of the upper portion (101) with respect to the lower portion (102) of the upper modular unit (100) and / or the rotation of the upper portion (1 1 1) with respect to the lower portion (1 12) of the lower modular unit (1 10), which servomotor is positioned eccentrically with respect to the vertical rotation axis.

7. Device according to Claim 5, wherein between the upper portion (101) and the lower portion (102) of the upper modular unit (100) and / or between the upper portion (1 1 1) and the lower portion (1 12) of the lower modular unit (1 10) there is provided a support plate (13) configured to allow rotation between the upper portion and the lower portion and connected to the servomotor, there being a servomotor for each upper portion.

8. Method for detection and reconstruction of interior / exterior environments through the use of a device for the detection of interiors / exteriors and of architectural partials, which device comprises means for detecting the distance of the device itself with respect to a reflecting surface and means for detecting the rotation of the device, which method provides for the following steps: a) positioning of the device at a first point, b) detection of the distance between the first point and a detection point placed on a reflecting surface placed in front of the device, c) rotation of the device for a certain angle, d) iteration of steps b) and c), e) processing of the data detected and creation of a first virtual model of said environment, characterized in that the distance detecting step provides for carrying out a plurality of measurements obtained through the simultaneous emission of two light sources, of which a first light source with a frequency in the visible field and a second light source with a higher frequency.

9. Method according to Claim 8, wherein the virtual model created in step e) provides for the use of one or more colours to identify the portions of the virtual model, based on the number of detections made for each part.

10. Method according to Claim 8 or Claim 9, wherein, after step b, the following steps are provided: f) with the device positioned at the first point, identification of an anchoring point on the reflecting surface placed in front of the device through the emission of the first light source, g) moving the detection device to a second point, h) detection of the distance between the second point and a detection point placed near the anchoring point, i) rotation of the device for a certain angle and detection of the distance between the second point and a further point placed on a reflecting surface placed in front of the device, j) iteration of step i), k) processing of the data detected and creation of a second virtual model of said environment. 1 1. Method according to Claim 10, wherein a step of overlap of the first virtual model and of the second virtual model is provided, based on the determination of the distance between the first and the second point and / or between the anchoring point and the detection point of step h).