METHOD FOR VISUALIZING A PLAN IN REAL MEASURES AND FOR CONSTRUCTING AN OBJECT

Description

[0001] The invention relates to a method for visualizing a plan in real dimensions.

[0002] In the field of industrial construction, for example of building components or complex machines, structural elements are arranged according to construction plans in a predetermined sequence and joined together in a complex process. Particularly with precast concrete elements, but also, for example, in mechanical engineering and within production lines in the automotive or aircraft industries, some manufacturing steps are carried out manually by workers, while others are performed by machines. To ensure smooth production, high product quality, and high manufacturing precision, as well as to eliminate any defects in the finished products, it is essential that the correct structural elements are assembled in a precisely defined position and, in some cases, in a precisely defined sequence.

[0003] For example, in the field of precast concrete elements, structural reinforcement elements, such as metal bars, are arranged in a grid. In this process, it is essential that a specified grid spacing and a defined distance to the surface of the finished concrete element are maintained.

[0004] A major challenge in the construction of precast concrete elements is the integration of components such as conduits, which are cast into the concrete during the element's construction. This necessitates corresponding recesses or gaps in the reinforcement to accommodate these conduits and precast elements within the concrete. Traditionally, workers arrange the reinforcement elements of a concrete element manually according to a plan, taking such recesses into account during this step. However, this is extremely time-consuming and demands a high degree of attention, precision, and spatial awareness. If a recess is overlooked or the reinforcement elements are not positioned precisely, the reinforcement must be reworked after its completion and before being filled with concrete.In this process, the reinforcement elements are cut, which typically results in the reinforcement no longer possessing the necessary structural integrity. If this is not corrected, for example, by adding further reinforcement, it can lead to damage or cracks in the finished concrete element. In the worst-case scenario, the reinforcement at the weak point in the finished concrete element fails completely, and the concrete element cracks or shatters under load. This poses a significant safety risk and, moreover, necessitates the replacement of the concrete element on-site, which is associated with considerable additional costs and construction delays. Precise manufacturing and a high standard of quality assurance in the production of concrete elements are therefore essential.

[0005] In mechanical and plant engineering, or in the field of manufacturing in the automotive or aircraft industries, components that are manufactured or installed incorrectly or not in accordance with specifications can pose a significant safety risk and / or lead to costly consequential damage and delays.

[0006] US Patent 10,210,607 B1 discloses a method for projecting a plan for a truss onto a construction table. This involves the use of multiple pairs of projection units and cameras. In connection with Figure 3A It is described that calibration can be performed by projecting a geometric pattern. However, it is necessary for a user to manually measure the projected pattern, and this data is then correlated with the image recorded by the camera.

[0007] The invention is based on the objective of avoiding these disadvantages and problems of the prior art.

[0008] According to the invention, the problem is solved by providing a method for visualizing a plan in real dimensions, wherein in a calibration step, using a raster reflection method, a transmitted pattern is projected onto a projection surface by means of a projection unit, and a received pattern reflected from the projection surface is detected by at least two sensor units, and by means of a computer unit connected to the projection unit and the sensor units, a surface shape as well as a position of the projection surface in relation to a position of the projection unit and to a position of the sensor units is detected on the basis of a distortion of the received patterns compared to the transmitted pattern;and, by means of the computer unit, based on the surface shape and position of the projection surface in relation to the projection unit as recorded in the calibration step, a projection distortion is carried out on the plan, and the distorted plan is projected by the projection unit onto the projection surface in such a way that the projected plan on the projection surface corresponds to an undistorted, flat representation of the plan in real dimensions.

[0009] The inventive method projects an undistorted plan, for example a reinforcement plan or a construction plan in real dimensions, onto the projection surface. During the calibration step, the surface, and thus, for example, curvatures in and / or inclinations of the projection surface, are detected, enabling a corresponding projection correction to be performed when the plan is projected. Furthermore, positional data of the projection surface relative to the projection unit are recorded. This makes it possible to apply such a determined projection distortion to any plan, for example, the aforementioned reinforcement plan. This corrects any inclination or curvature in the projection surface and allows the plan to be projected onto the projection surface undistorted and in real dimensions.A worker no longer needs to refer to a separate plan for each work step, interpret it, and, for example, position a construction element according to their interpretation of the plan. The method according to the invention significantly simplifies this process by projecting the plan directly, without distortion, and true to scale in real dimensions. The worker then only needs to identify the respective construction element in the projected plan and position it directly at the location shown in the projected plan. This eliminates a whole range of potential sources of error during the construction process.

[0010] A further special feature of the method according to the invention is that no manual intermediate step for measuring the projection surface is required, as was the case, for example, in US 10,210,607 B1. According to the invention, the manual intermediate step for measuring the projection surface can be dispensed with because the projected pattern is simultaneously recorded by two spaced-apart sensor units, i.e., as a stereoscopic recording, so that a real dimension can be directly inferred from the different views in the images recorded by the sensor units – in combination with the previously known reference pattern.

[0011] According to the invention, the method further comprises the following steps, which are carried out before the aforementioned calibration step: Mounting the at least two sensor units and the projection unit on a carrier in a relative position to each other in a reference environment; pre-calibrating the two sensor units and the projection unit to each other, preferably by projecting a calibration pattern from the projection unit onto a calibration surface, wherein the computer unit determines the relative position of the two sensor units and the projection unit to each other based on images of the calibration pattern on the calibration surface captured by the sensor units; moving the carrier with the two sensor units and the projection unit mounted on it from the reference environment to a location where the aforementioned calibration step and the projection of the distorted plan are carried out.

[0012] These steps offer the distinct advantage that the system's intrinsic parameters—that is, determining the mutual distances of the components, as well as compensating for lens aberrations of the sensor units and / or the projection unit—can be performed in a preliminary step. This allows the intrinsic parameters of the system, consisting of the carrier, the two sensor units, and the projection unit, to be pre-calibrated in a reference environment, such as the system's manufacturing site. The system can then be transported to the actual installation location where the plan is to be projected in real dimensions. This is achieved through the aforementioned calibration step and the subsequent projection of the distorted plan. This second, subsequent calibration step thus calibrates the system's extrinsic parameters with respect to the environment in which the projection is to take place.The surface shape of the projection surface, as well as the position of the projection surface in relation to the position of the projection unit and the position of the sensor units, can be recorded.

[0013] The pre-calibration of the two sensor units and the projection unit relative to each other can be carried out in particular by the projection unit projecting a known pattern onto a calibration surface which is arranged at a known distance from the system consisting of the carrier, the two sensor units and the projection unit.

[0014] In the latter embodiment, it is preferred that two of the aforementioned carriers, each with at least two sensor units and one projection unit, are pre-calibrated in the reference environment as previously described and then mounted at the installation site. There, the calibration step performed at the installation site is carried out for both systems on the respective carriers, each consisting of at least two sensor units and one projection unit. The sensor units each have a field of view large enough that a transmission pattern emitted by the projection unit of the other system lies at least partially within the field of view of the sensor units, allowing the relative distance between the two systems to be determined. This enables the coordination of several of these systems, thus facilitating a simple expansion with multiple projection units that were not previously pre-calibrated on a single carrier.This is achieved by having the sensor units detect the transmission pattern of a neighboring projection unit, thus allowing the relative distance between the systems to be determined. The computer unit can then take this relative distance into account when calculating projection distortion, enabling two projection units to project a plan together, so that the parts projected by the projection units, for example, connect seamlessly. This method can also be extended to more than two of the aforementioned systems.

[0015] In the latter embodiment, it is particularly preferred if one of the two systems is mobile, e.g., movable. This allows the working area to be quickly enlarged at any workstation as needed, for example, to produce oversized workpieces.

[0016] According to a preferred embodiment of the method according to the invention, the calibration step is repeated after a predetermined time interval, after a temperature change of the projection unit by more than a predetermined limit value detected by a temperature sensor, after user input at the computer unit, and / or after a vibration or movement detected by a position sensor, or after a change in the position of the projection unit and / or the sensor units. This achieves compensation for environmental influences and ensures that the projected plan always corresponds to an undistorted, flat representation of the plan in real dimensions.

[0017] According to an alternative embodiment of the method according to the invention, the calibration step is additionally performed for at least a second projection unit, wherein both projection units could, for example, be mounted on the same support, on different supports, or without a support at the place of use, wherein a second transmitted pattern is projected onto the projection surface by means of the at least one second projection unit, and a second received pattern reflected from the projection surface is detected by the sensor units, and by means of the computer unit connected to the at least one second projection unit and the sensor units, the surface shape and the position of the projection surface in relation to a position of the at least one second projection unit and to the position of the sensor units are detected by means of a distortion of the second received pattern compared to the second transmitted pattern.Furthermore, the computer unit uses the surface shape and position of the projection surface relative to the second projection unit, as determined during the calibration step, to perform a projection distortion on a second plan. The distorted second plan is then projected onto the projection surface by the second projection unit in such a way that the projected second plan on the projection surface corresponds to an undistorted, flat representation of the second plan in real dimensions. This achieves the advantage that one or more plans can be projected onto a larger area of ​​the projection surface. For example, the area that can be covered by the method according to the invention can be arbitrarily enlarged and extended by adding the second projected plan to the first.In this process, for example, multiple projection units project different parts of a complete plan onto at least partially overlapping, or even different, areas of the projection surface. The projected plans can also include different sub-plans such as installation plans, electrical plans, and / or reinforcement plans. Furthermore, this can increase the accuracy or resolution of the projected plans. This can also be achieved by reducing the distance of the projection unit(s) from the projection surface or by increasing the focal length of the projection unit. Both of these approaches also lead to an increase in the luminance and brightness of the projected plan(s).

[0018] According to the preferred embodiment of the method according to the invention, a position marker is included in the projected plan, and the method comprises detecting the position marker with an augmented reality-capable, wearable device such as a smartphone, augmented reality glasses, or a tablet computer. Based on the detected position marker and preferably the position of the sensor units and / or the projection unit, the augmented reality-capable, wearable device determines its position relative to the projected plan and supplements the projected plan with a two-dimensional or three-dimensional representation of a construction element in real dimensions. This allows additional information to be provided to a user that would be inadequately represented by projection alone.Furthermore, this makes it possible to output different additional information to different people, which may be relevant for different activities on the same object.

[0019] Additionally, during the calibration step, the sensor unit can also detect the position of a position marker attached to the projection surface using the computer unit. This position marker can then also be detected by the augmented reality-enabled portable device, which determines its position relative to the projected plan based on the detected position marker and preferably the position of the sensor units and / or the projection unit.

[0020] The method according to the invention is preferably extendable to a method for constructing an object, wherein this additionally includes the steps of arranging at least one construction element contained in the projected plan according to a position provided in the projected plan for this construction element on the projection surface; The process includes determining a deviation of the position and / or shape of the construction element arranged on the projection surface from the position and / or shape specified in the projected plan for that construction element by means of the sensor units; and correcting the position of the construction element arranged on the projection surface so that it corresponds to the position specified in the projected plan for that construction element and / or replacing the construction element arranged on the projection surface with a construction element whose shape corresponds to the specified shape.

[0021] This ensures that all construction elements are arranged according to plan.

[0022] Additionally, the inventive method can also detect a marking on the construction element arranged on the projection surface using the sensor units, and the construction element can be identified based on the detected marking. For example, the computer unit can determine a serial number, material, or type of the construction element based on the detected marking. The inventive method can include comparing the marking of the construction element arranged on the projection surface with a predefined marking for that construction element, and, if the detected marking deviates from the predefined marking, replacing the construction element with one bearing a marking that corresponds to the predefined marking. The marking on the construction element can, for example, be a color, a geometric shape such as a QR code, or something similar.

[0023] Preferably, an optical and / or acoustic signal is also output via the projection unit and / or a loudspeaker if the position and / or shape of the structural element on the projection surface deviates from and / or matches the position and / or shape specified for this structural element in the projected plan. This alerts workers to an incorrectly executed work step or an incorrectly positioned structural element, or informs them about a correctly executed work step.

[0024] According to the preferred embodiment, the method for constructing an object further comprises detecting a number of construction elements arranged on the projection surface using the sensor units; and comparing the detected number of construction elements with a number of construction elements provided in the projected plan. This ensures that no construction element is omitted. Preferably, an optical and / or acoustic signal is also output by means of the projection unit and / or the loudspeaker if the detected number of construction elements matches and / or differs from the intended number of construction elements.

[0025] In a further step, if the number, shape, and position of the structural elements arranged on the projection surface match the number, shape, and position specified in the projected plan, the calibration step can be performed again. This re-determines the surface shape of the projection surface, as well as its position relative to the position of the projection unit and the position of the sensor units, since the surface shape, in particular, has changed due to the arrangement of the structural elements. This ensures that the modified surface shape of the projection surface is taken into account in the projected plan, resulting in an undistorted, flat representation of the plan in real dimensions.The calibration step can also be repeated at any time, as already mentioned, for example after a predetermined period of time, after a change in the temperature of the projection unit by more than a predetermined limit value detected by a temperature sensor, after user input on the computer unit, and / or after a vibration, movement detected by a position sensor, or after a change in position of the projection unit and / or the sensor units.

[0026] According to an alternative embodiment of the inventive method, the computer unit continuously adjusts the projection distortion based on a known geometry of the individual construction elements arranged on the projection surface in order to always ensure an undistorted, flat representation of the plan in real dimensions.

[0027] If the number, shape, and position of the construction elements arranged on the projection surface correspond to the number, shape, and position provided in the projected plan, then, according to a preferred embodiment of the method according to the invention, a projection distortion is performed on a further plan by means of the computer unit based on the surface shape and position of the projection surface relative to the projection unit and the sensor units, as determined in the calibration step. The distorted further plan is then projected by the projection unit onto the projection surface in such a way that the projected further plan on the projection surface corresponds to an undistorted, planar representation of the further plan in real dimensions. The further plan can, for example, represent a plan of a subsequent work step or a further construction phase.

[0028] In addition, the preferred version includes the following steps: Detecting the position of persons and / or objects within, and preferably in the vicinity of, the projection surface using the sensor units, and outputting an optical and / or acoustic signal, using the projection unit and / or a loudspeaker, when a person approaches a predetermined area of ​​the projected plan closer than a predetermined distance. The inventive method provides for a warning system. By emitting an optical and / or acoustic signal, a warning is issued to all persons working on a workpiece to prevent anyone from entering a potentially hazardous area. Preferably, other devices, such as cranes, robot arms, and the like, can also be connected to the computer unit, with the computer unit transmitting a stop signal or a shutdown command to these devices in such a case. This contributes significantly to increasing workplace safety. Preferably, gestures performed by the detected persons or signals arranged on the projection surface, such as light points, as well as control markings, can also be detected by the sensor unit, with the computer unit being configured to interpret these as control signals.

[0029] Preferably, the deviation of the position and / or shape of the structural element arranged on the projection surface from the position and / or shape specified for this structural element in the projected plan is determined by means of the sensor units using a raster reflection method, with the projected plan being used as the transmitting grid. This allows the deviation to be determined without replacing the projected plan with a different transmitting pattern, which would potentially interrupt work on a workpiece.

[0030] Furthermore, it is preferred that during the execution of the process steps, particularly during the process step of arranging at least one construction element contained in the projected plan, the computer unit records the start time and / or the end time of each process step, with the recorded times being readable via an interface of the computer unit. In particular, this allows for the fully automatic recording of when the process was carried out and, specifically, when each construction element was arranged. Furthermore, the times at which the calibration was performed could be stored to subsequently validate that the process was carried out correctly. For example, the computer unit could maintain a list of when each activity started and ended.Such granular time tracking is particularly valuable for companies that implement the procedure, as evidence of the procedure carried out is always available and the working methods can be optimized.

[0031] According to the invention, the present problem is also solved by providing a computer program product which is designed to carry out the method according to the invention.

[0032] Advantageous embodiments of the method and computer program product according to the invention will be explained in more detail below with reference to the figures. Figure 1 Figure 1 shows an example of a device for implementing the inventive method for visualizing a plan in real dimensions in a schematic representation. Figure 2a to Figure 2c demonstrated the projection of a plan onto a projection surface using the method according to the invention. Figure 3a to Figure 3cshow the use of multiple projection units and sensor units in the method according to the invention. Figure 4a to Figure 4c demonstrated compensation for a change in the surface shape of the projection surface by a construction element in a plan projected using the inventive method.

[0033] The in Figure 1The illustrated device 1 for carrying out the method according to the invention comprises a projection unit 2 and a sensor unit 3. The device 1 also includes a computer unit 4 connected to the sensor unit 3 and the projection unit 2. In the method according to the invention for visualizing a plan in real dimensions, a transmission pattern is projected onto a projection surface 5 by means of the projection unit 2 in a calibration step using a raster reflection method. A received pattern reflected from the projection surface 5 is consequently detected by the sensor unit 3. The transmission pattern can, for example, represent a standardized grid of black and white lines. Various transmission patterns applicable within the framework of a raster reflection method are generally known to those skilled in the art. According to the invention, several sensor units 3 can also be provided. This is shown in the Figures 3a to 3cevident. The method according to the invention is carried out by means of at least two sensor units 3. The second, in Figure 1The sensor unit 3 (not shown) can, for example, be arranged on the opposite side of the projection unit 2. The two sensor units 3, in particular, capture the image of a common projection unit 2. The projection unit 2 can, for example, be a conventional digital light projector, and the sensor unit 3, or sensor units 3, can be in the form of a digital camera. Other forms of the sensor unit 3 and the projection unit 2 are generally known to those skilled in the art. By means of the computer unit 4, which is connected to the projection unit 2 and the sensor units 3, a surface shape and a position of the projection surface 5 in relation to a position of the projection unit 2 and to a position of the sensor unit 3 are then detected based on a distortion of the received pattern compared to the transmitted pattern. Figure 1The projection surface 5 is shown as a flat surface without any inclination. However, the projection surface 5 can generally have an undefined surface shape, for example with dents and grooves, and an inclination. The calibration step of the method according to the invention, however, enables the method to be applied even to complex surface shapes and inclinations of the projection surface 5. This is particularly advantageous when the method according to the invention is applied, for example, to a pre-manufactured machine part.

[0034] In a further step of the method according to the invention, a projection distortion is carried out on the plan by means of the computer unit 4, based on the surface shape and position of the projection surface 5 in relation to the projection unit 2, which were recorded in the calibration step, and the distorted plan is projected from the projection unit 2 onto the projection surface 5 in such a way that the, for example, in Figures 2a and 2cThe projected plan 13 on projection surface 5 corresponds to an undistorted, flat representation of the plan in real dimensions. This means that the dimensions shown in the projected plan 13 correspond essentially exactly to the real dimensions. In other words, for example, a straight line that is specified as being 1 meter long in the plan will also be represented as a flat, straight line with a length of 1 meter in the projected plan 13 on projection surface 5, regardless of whether the surface of projection surface 5 has a curvature along the line or not. Such curvature is captured in the calibration step and compensated for by the projection distortion. Figures 2a to 2c The projection of the plan is shown in detail, whereby Figure 2a a perspective view of the projection of the plan onto projection surface 5 is shown. Figure 2b represents a side view of Figure 2a dar. Figure 2cThe projection surface 5 shows the projected plan 13 in real dimensions in a top view.

[0035] The method according to the invention thus makes it possible to project a true-to-scale plan in real dimensions onto essentially any surface. This allows, for example, design work to be carried out directly on the projection surface 5 without the need to consult and interpret a separate plan. The projected plan 13 enables direct verification of each work step and reduces the risk of a design plan being misinterpreted by design personnel. Furthermore, aids and instructions can be projected onto the projection surface 5 using the projection unit 2. It is also possible to intervene in a process control system, for example in a semi-automated manufacturing process, and / or to reallocate resources.

[0036] Preferably, the method according to the invention comprises a pre-calibration step performed prior to the calibration step. In the pre-calibration step, the projection unit 2 and the at least two sensor units 3 are fixed in a relative position to each other, and a calibration pattern is projected from the projection unit 2 onto a calibration surface positioned at a predefined distance from the projection unit 2 and in a predefined position relative to the projection unit 2. The computer unit 4 then determines the relative position of the at least two sensor units 2 and the projection unit 3 to each other based on images of the calibration pattern on the calibration surface detected by the sensor units 3. The calibration pattern can, for example, also be a photograph, a grid, or the like.

[0037] The pre-calibration step allows for manual determination, for example by measuring the relative position of sensor units 3 and projection unit 2 beforehand, under controlled conditions. For this purpose, at least two sensor units 3 and the projection unit 2 are pre-mounted, for example, on a common mounting plate or frame. This is placed at the predefined distance to the calibration surface, and the pre-calibration step is carried out as described above. This enables pre-assembly and pre-calibration, thus eliminating the need to measure the relative positions of sensor units 3 and projection unit 2, for example, in an assembly hall.

[0038] Preferably, the calibration step is repeated after a predetermined time interval, after a temperature change of the projection unit 2 by more than a predetermined limit value, as detected by a temperature sensor, after user input at the computer unit 4, and / or after a vibration or movement of the projection unit 2 and / or the sensor unit 3 or sensor units 3, as detected by a position sensor. This ensures that the projected plan 13 is always true to scale and that the dimensions contained in the projected plan 13 correspond to the actual dimensions. The user input can also be sent to the computer unit 4, for example, via a Figure 1 visible network 6, to which the computer unit 4 can be connected, or transmitted via a remote control 7. The temperature sensor and the position sensor are in Figure 1Not apparent. The remote control 7 could, for example, be a smartphone, a tablet computer, or similar device. Monitoring the temperature of projection unit 2 is therefore advisable, as thermal stress on projection unit 2 can cause dimensional changes, for example, in the lens system of projection unit 2. This results in additional distortion of the projected plan 13. To compensate for such distortion, the calibration step can be repeated.

[0039] According to an alternative, in the Figures 3a and 3b In the apparent embodiment of the method according to the invention, the calibration step can additionally be performed for at least a second projection unit 2. Figure 3a and Figure 3bThe inventive method is illustrated with three projection units 2 and three sensor units 3. A second transmitted pattern is projected onto the projection surface 5 by means of at least one second projection unit 2, and a second received pattern reflected from the projection surface 5 is detected by the sensor unit 3 or sensor units 3. According to this embodiment, the computer unit 4 is also connected to the second projection unit 2. The computer unit 4 is preferably connected to all projection units 2 and sensor units 3 used in the inventive method.Using the computer unit 4, which is connected to at least one second projection unit 2 and the sensor unit 3, the surface shape and the position of the projection surface 5 in relation to the position of the at least one second projection unit 2 and the position of the sensor units 3 are determined based on a distortion of the second received pattern compared to the second transmitted pattern. Using the computer unit 4, a projection distortion is applied to a second plan based on the surface shape and position of the projection surface 5 in relation to the second projection unit 2, as determined in the calibration step. The distorted second plan is then projected from the second projection unit 2 onto the projection surface 5 in such a way that the projected second plan on the projection surface 5 corresponds to an undistorted, flat representation of the second plan in real dimensions. This makes it possible to project more than one plan simultaneously or alternatively.The second plan can also be an extension of the first plan, and the second and first plans can overlap, at least partially. Each plan is projected onto projection surface 5. This is shown in . Figure 2a This is evident. This makes it possible to extend the area of ​​the projection surface 5 used in the inventive method as desired. Figure 2b shows the through the in Figure 2aThe arrangement shown utilizes the area of ​​the projection surface 5. Several projection units 2 can thus project different parts of a complete plan onto at least partially overlapping, or even different, areas of the projection surface 5. The projected plans 13 can also include different sub-plans such as installation plans, electrical plans, and / or reinforcement plans. Furthermore, this can also increase the accuracy or resolution of the projected plans 13. This can also be achieved by reducing the distance of the projection unit 2 or projection units 2 from the projection surface 5, or by increasing the focal length of the projection unit 2 or projection units 2. Both of these approaches also lead to an increase in the luminance and brightness of the projected plan 13 or plans 13.

[0040] According to a preferred embodiment of the method according to the invention, a position marker 12 is included in the projected plan 13. An exemplary position marker 12 is shown in Figure 3cAs can be seen, in this embodiment, the method comprises detecting the position marker 12 with an augmented reality-capable, wearable device 8, such as a smartphone, augmented reality glasses, or a tablet computer. Based on the detected position marker 12 and preferably the position of the sensor unit 3 and / or the projection unit 2, the augmented reality-capable, wearable device 8 determines its position relative to the projected plan 13 and supplements the projected plan 13 with a two-dimensional or three-dimensional representation of a construction element 14 in real dimensions. This allows the method according to the invention to provide a specific worker or user with additional, and if necessary, spatial information that might not be relevant to other workers.Furthermore, this makes it possible to depict elements that may be obscured by other construction elements 14 in the projected plan 13. The placement of construction elements 14 on the projection plane 5 is described below in relation to . Figure 4a to Figure 4c explained.

[0041] Additionally, in the calibration step, the position of a device attached to the projection surface 5 can also be determined using the sensor unit 3 or sensor units 3. Figure 3cThe position marker 12, which is visible, is detected by the computer unit 4. For example, the position marker 12 can be affixed to or painted on the projection surface. This position marker 12 can subsequently also be detected by the augmented reality-capable, portable device 8, wherein the augmented reality-capable, portable device 8 determines its position relative to the projected plan 13 based on the detected position marker 12 and preferably the position of the sensor unit 3 and / or the projection unit 2.

[0042] Furthermore, a three-dimensional representation of a construction element 14 can be projected onto the projection surface 5 using the projection unit 2. This is achieved by means of perspective distortion, for example, of a 3D model of the construction element 14, using the computer unit 4, taking the projection distortion into account. The three-dimensional representation can also include at least two two-dimensional sectional views of the construction element 14, which are translationally shifted in the projection surface 5 and preferably overlap at least partially. The sectional views are arranged in the projection plane 5 according to the perspective distortion and the projection distortion.

[0043] The method according to the invention is preferably a method for constructing an object, wherein it additionally comprises arranging at least one construction element 14 contained in the projected plan 13 on the projection surface 5 according to a position provided for this construction element 14 in the projected plan 13. Subsequently, a deviation of a position and / or a shape of the construction element 14 arranged on the projection surface 5 from the position and / or a predetermined shape provided for this construction element 14 in the projected plan 13 is detected by means of the sensor unit 3 or sensor units 3. Thereupon, the position of the construction element 14 arranged on the projection surface 5 is corrected so that it corresponds to the position provided for this construction element 14 in the projected plan 13.Alternatively or additionally, the construction element 14 arranged on the projection surface 5 is replaced by a construction element 14 whose shape corresponds to the specified shape. This ensures that the correct construction elements 14 are arranged or installed in the correct position according to the projected plan 13. Due to the plan's flat representation in real dimensions, an incorrect arrangement or the use of an incorrect construction element 14 is immediately apparent to the personnel. For example, the use of a reinforcement element that is too long or too thick would be directly evident by comparison with the projected plan 13.

[0044] The method for constructing the object preferably also includes the output of an optical and / or acoustic signal by means of the projection unit 2 and / or a loudspeaker, which is located in Figure 1This occurs when the position and / or shape of the construction element 14 on the projection surface 5 deviates from and / or matches the position and / or shape specified for this construction element 14 in the projected plan 13. This offers the advantage of either generating a confirmation signal indicating that the correct construction element 14 has been arranged in the correct position, or generating a warning signal indicating a faulty or incorrect construction element 14, and / or an arrangement that does not conform to the plan. Additionally, the inventive method can also detect a marking on the construction element 14 arranged on the projection surface 5 using the sensor unit(s) 3, and the construction element 14 can be identified based on the detected marking.For example, the computer unit 4 can determine a serial number, material, or type of the construction element 14 based on the detected marking. The method according to the invention can include comparing the marking of the construction element 14 arranged on the projection surface 5 with a marking specified for this construction element 14, and, if the detected marking deviates from the specified marking, replacing the construction element 14 with a construction element 14 bearing a marking that corresponds to the specified marking. The marking on the construction element 14 can, for example, be a color, a geometric shape such as a QR code, or something similar.

[0045] According to the invention, the method preferably further comprises the steps of detecting a number of construction elements 14 arranged on the projection surface 5 using the sensor unit 3 or sensor units 3 and comparing the detected number of construction elements 14 with a number of construction elements 14 provided in the projected plan 13. This ensures that no construction element 14 is overlooked. Furthermore, it can be provided that an optical and / or acoustic signal is output by means of the projection unit 2 and / or the loudspeaker if the detected number of construction elements 14 matches and / or differs from the intended number of construction elements 14.

[0046] Furthermore, preferably, if the shape and position of the construction elements 14 arranged on the projection surface 5 correspond to the number, shape, and position specified in the projected plan 13, the calibration step is repeated. In this case, the calibration is performed using the construction elements 14 arranged on the previous projection surface 5. The surface shape of the projection surface 5 changes over time due to the arrangement of the construction elements 14 on the projection surface 5. This results in distortions in the projected plan 13, which cannot be compensated for by the projection distortion, as these could not be detected in the previous calibration step.To compensate for this, the calibration step is performed again, whereby the changed surface shape of the projection surface 5 with the construction elements 14 arranged on it can be detected and subsequently compensated by means of the projection distortion.

[0047] According to an alternative embodiment of the inventive method, the computer unit 4 continuously adjusts the projection distortion based on a known geometry of the individual construction elements 14 arranged on the projection surface 5 in order to always ensure an undistorted, planar representation of the plan in real dimensions.

[0048] The adaptation of the projected plan 13 to the changed geometry of the surface of the projection plane 5 is Figure 4a to Figure 4c evident. In Figure 4aA construction element 14 is positioned at a designated location on the projection plane 5 in the projected plan 13. This changes the surface shape of the projection plane 5, as the construction element 14 now occupies it, as shown in Figure 4b This is clearly arranged. This causes an additional distortion of the projected plan 13, which would mean that the projected plan 13 would no longer be represented in real dimensions at the location of the construction element 14. Now, the representation of the projected plan 13 can be corrected either by repeating the calibration step as described above, or by incorporating the known geometry of the construction element 14 into the projection distortion, in order to achieve an undistorted representation of the projected plan 13 in real dimensions. If this is done, the height of the construction element 14 is taken into account in the projected plan, among other things. Figure 4cillustrates how the representation of the projected Plan 13 is consequently changed. Figure 4c Figure 1 shows the projection plane with the projected plan 13 after the construction element 14 would have been removed again without re-adjusting the projection distortion. The corrected height of a side wall 15 of the construction element 14 results in an additional width 16 of the construction element 14 in the projected plan 13, which is projected onto the side wall 15 of the construction element 14 as long as the construction element 14 is located in the projection surface 5.

[0049] This ensures that the projected plan 13 takes into account the changed surface shape of the projection surface 5, so that the projected plan 13 on the projection surface 5 again corresponds to an undistorted, flat representation of the plan in real dimensions. The calibration step can also be repeated at any time, as already mentioned, for example, after a predetermined time period, after a temperature change of the projection unit 2 by more than a predetermined limit value detected by a temperature sensor, after user input at the computer unit 4, and / or after a vibration, movement detected by a position sensor, or after a change in position of the projection unit 2 and / or the sensor unit 3 or sensor units 3. A shadow generated by the construction element 14 in the projection surface 5 can, for example, be corrected by providing another projection unit 2, as in the Figures 3a to 3c shown, compensated.

[0050] According to the preferred embodiment of the method according to the invention, if the number, shape, and position of the construction elements 14 arranged on the projection surface 5 correspond to the number, shape, and position provided in the projected plan 13, a projection distortion is performed on a further plan by means of the computer unit 4 based on the surface shape and position of the projection surface 5 relative to the projection unit 2, which were acquired in the calibration step. The distorted further plan is then projected by the projection unit 2 onto the projection surface 5 in such a way that the projected further plan on the projection surface 5 corresponds to an undistorted, planar representation of the further plan in real dimensions.This makes it possible, after the completion of a certain construction phase or section, to project a new plan for the next section onto projection plane 5 with the construction elements arranged on it, which in turn corresponds to an undistorted, flat representation of the further plan in real dimensions.

[0051] As in Figure 3cAs shown, the inventive method for increasing the safety of construction personnel preferably comprises detecting the position of persons 9 and / or objects within, and preferably in the vicinity of, the projection surface 5 by means of the sensor unit 3 or sensor units 3. Furthermore, an optical and / or acoustic signal is output by means of the projection unit 2 and / or the loudspeaker when a person 9 approaches a predetermined area 10 of the projected plan 13 closer than a predetermined distance. This provides a warning when a person 9 approaches or enters a danger zone. Preferably, other devices, such as cranes, robot arms, and the like, can also be connected to the computer unit 4 via the network 6, with the computer unit 4 transmitting a stop signal or a shutdown command to these devices in such a case.This contributes significantly to increasing occupational safety. The identification of persons 9 can be carried out, for example, using an image recognition process performed by computer unit 4. Alternatively or additionally, persons 9 can, for example, wear helmets in signal colors or an identification marker, which can be detected by sensor unit 3 and easily identified by computer unit 4.

[0052] Preferably, as in Figure 3cThe sensor unit(s) 3 and / or sensor units 3 also detect gestures performed by the persons 9 being recorded or signals 11 arranged on the projection surface 5, such as points of light, and / or control markings, with the computer unit 4 being configured to interpret these as control signals. Alternatively, the sensor unit 3 and sensor units 3 can also detect the covering of signals 11, for example, by the hand of person 9, with the computer unit 4 interpreting the covering of at least one of the signals 11 as a control signal. This provides a means of user input. A control signal could, for example, include a request to change the projected plan 13, such as replacing a reinforcement plan with a pipework plan.The signals 11 can either be projected onto the projection surface 5 by means of the projection unit 2, or painted, glued or applied in another way to the projection surface 5.

[0053] Preferably, the deviation of the position and / or shape of the construction element 14 arranged on the projection surface 5 from the position and / or shape specified for this construction element 14 in the projected plan 13 is determined by means of the sensor unit(s) 3 using a grid reflection method. The projected plan 13 is used as the transmitting grid. Thus, in this determination step, a separate pattern does not need to be projected onto the projection surface 5, and the determination can be carried out without disrupting the work processes of the design personnel.

[0054] The computer program product according to the invention, which is configured to carry out the method according to the invention, can be executed on the computer unit 4 in order to control the further components, such as the sensor unit 3 or the sensor units 3 and the projection unit 2. The computer program product can also be provided on a data storage device, such as a USB stick, a hard drive, or cloud storage.

Claims

1. Method for visualizing a plan in real dimensions, wherein - in a calibration step, using a raster reflection method, a transmission pattern is projected onto a projection surface (5) by means of a projection unit (2), and a reception pattern reflected from the projection surface (5) is detected by at least two sensor units (3), and a computer unit (4) connected to the projection unit (2) and the sensor units (3) detects a surface shape and a position of the projection surface (5) in relation to a position of the projection unit (2) and a position of the sensor units (3) on the basis of a distortion of the reception patterns in comparison with the transmission pattern (5) in relation to a position of the projection unit (2) and to a position of the sensor units (3) is detected, and - the computer unit (4) performs a projection distortion on the plan using the surface shape and position of the projection surface (5) in relation to the projection unit (2) acquired in the calibration step, and the distorted plan is projected by the projection unit (2) onto the projection surface (5) in such a way that the projected plan (13) on the projection surface (5) corresponds to an undistorted, flat representation of the plan in real dimensions, characterized in that the method further comprises the following steps performed prior to the aforementioned calibration step: - mounting the at least two sensor units (3) and the projection unit (2) on a carrier in a relative position to each other, - in a reference environment, precalibrating the two sensor units (3) and the projection unit (2) relative to each other, preferably by projecting a calibration pattern from the projection unit (2) onto a calibration surface, wherein the computer unit (4) determines the relative position of the two sensor units (3) and the projection unit (2) relative to each other based on the images of the calibration pattern on the calibration surface detected by the sensor units (3), - moving the carrier with the two sensor units (3) mounted thereon and the projection unit (2) from the reference environment to a place of use where the aforementioned calibration step and the projection of the distorted plane (13) are performed.

2. Method according to claim 1, wherein two of the said carriers, each with at least two sensor units (3) and one projection unit (2), are pre-calibrated and mounted at the location of use, where the calibration step is performed for both of the systems located on the respective carriers, consisting of at least two sensor units (3) and one projection unit (2) located on the respective carriers, wherein the sensor units (3) each have a field of view that is large enough that a transmission pattern emitted by the projection unit (2) of the other system is at least partially within the field of view of the sensor units (3), so that a relative distance between the two systems can be determined.

3. Method according to claim 1 or 2, wherein the calibration step is repeated after a predetermined period of time, after a change in the temperature of the projection unit (2) detected by a temperature sensor by more than a predetermined limit value, after a user input at the computer unit (4), and / or after a vibration or movement of the projection unit (2) and / or the sensor units (3) detected by a position sensor is repeated.

4. Method according to one of claims 1 to 3, wherein - the calibration step is additionally performed for at least a second projection unit (2), wherein a second transmission pattern is projected onto the projection surface (5) by means of the at least one second projection unit (2), and a second reception pattern reflected from the projection surface (5) is detected by the sensor units (3), and a computer unit (4) connected to the at least one second projection unit (2) and the sensor units (3), the surface shape and the position of the projection surface (5) in relation to a position of the at least one second projection unit (2) and to the position of the sensor units (3) are detected on the basis of a distortion of the second reception pattern in comparison with the second transmission pattern; - whereby, by means of the computer unit (4), based on the surface shape and position of the projection surface recorded in the calibration step (5) in relation to the second projection unit (2) recorded in the calibration step, and the distorted second plan is projected by the second projection unit (2) onto the projection surface (5) in such a way that the projected second plan on the projection surface (5) corresponds to an undistorted, flat representation of the second plan in real dimensions.

5. Method according to one of claims 1 to 4, wherein the projected plane (13) contains at least one position marker (12), and the method comprises detecting the position marker (12) with an augmented reality-capable portable device (8) such as a smartphone, augmented reality glasses, or a tablet computer, wherein the augmented reality-capable portable device (8) determines its position in relation to the projected plane (13) based on the detected position marker (12) and preferably the position of the sensor units (3) and / or the projection unit (2), and supplements the projected plan (13) with a two-dimensional or three-dimensional representation of a construction element (14) in real dimensions.

6. Method for designing an object, comprising a method for visualizing a plan in real dimensions according to any one of claims 1 to 5, comprising the steps: - arranging at least one construction element (14) contained in the projected plan (13) construction element (14) contained in the projected plan (13) in accordance with a position provided for this construction element (14) on the projection surface (5); - Determining a deviation of a position and / or a shape of the construction element (14) arranged on the projection surface (5) from the position and / or a predetermined shape provided for this construction element (14) in the projected plan (13) by means of the sensor units (3); - Correcting the position of the construction element (14) arranged on the projection surface (5) so that it corresponds to the position provided for this construction element (14) in the projected plan (13), and / or replacing the construction element (14) arranged on the projection surface (5) with a construction element (14) whose shape corresponds to the specified shape.

7. Method according to claim 6, comprising the step of: - emitting an optical and / or acoustic signal by means of the projection unit (2) and / or a loudspeaker when the position and / or shape of the construction element (14) on the projection surface (5) deviates from and / or corresponds to the position and / or the predetermined shape provided for this construction element(14) in the projected plan (13).

8. Method according to one of claims 4 or 7, comprising the steps: - detecting a number of construction elements (14) arranged on the projection surface (5) by means of the sensor units (3); - comparing the detected number of construction elements (14) with a number of construction elements (14) provided in the projected plan (13).

9. Method according to claim 8, comprising the step of: - emitting an optical and / or acoustic signal by means of the projection unit (2) and / or the loudspeaker when the detected number of construction elements (14) matches and / or deviates from the number of construction elements (14) provided.

10. Method according to one of claims 8 or 9, wherein if the number, shape, and position of the construction elements (14) arranged on the projection surface (5) matches the number, shape, and position provided for in the projected plan (13), the calibration step is performed again.

11. Method according to one of claims 8 to 10, wherein, if the number, shape, and position of the construction elements (14) arranged on the projection surface (5) correspond to the number, shape, and position provided in the projected plan (13), by means of the computer unit (4) uses the surface shape and position of the projection surface (5) in relation to the projection unit (2) using the surface shape and position of the projection surface (5) recorded in the calibration step, and the distorted further plan is projected by the projection unit (2) onto the projection surface (5) in such a way that the projected further plan on the projection surface (5) corresponds to an undistorted, flat representation of the further plan in real dimensions.

12. Method according to one of claims 6 to 11, comprising the steps: - detecting the position of persons and / or objects within, and preferably in the vicinity of, the projection surface (5) by means of the sensor units (3), and - emitting an optical and / or acoustic signal by means of the projection unit (2) and / or a loudspeaker when a person approaches a predetermined area of the projected plan (13) closer than a predetermined distance.

13. Method according to one of claims 6 to 12, wherein the determination of the deviation of the position and / or shape of the construction element(14) arranged on the projection surface (5) from the position and / or predetermined shape provided for this construction element(14) in the projected plan (13) is performed by means of the sensor units (3) by means of a raster reflection method, wherein the projected plan (13) is used as the transmission raster.

14. Method according to one of claims 1 to 13, wherein, when performing the method steps, a time point of the start of the method step and / or a time point of the end of the method step is recorded by the computer unit, wherein the recorded time points can be retrieved via an interface of the computer unit.

15. Computer program product comprising instructions which, when the program is executed by a computer, cause the computer to perform the method according to one of claims 1 to 14.