Rangefinder Measuring Device

Abstract

The invention relates to a measuring device comprising a portable chassis (11), a rotating unit (12), configured to be driven in rotation about a principal direction Z1 and relative to the chassis (11), the rotating unit (12) having on its periphery (121): a measuring system (122) configured to capture, point by point, distance data in a visual field (2); a camera (123) configured to capture visual data of the visual field; a computing unit configured to associate the visual data captured by the camera (123) with the distance measurements obtained by the measuring system (122), the device is configured so that the rotating unit (12) includes a wide field optical element configured to allow the camera (123) to capture a visual field with a viewing angle greater than 90° in a plane normal to the principal direction Z1.

Description

Title of the invention: Rangefinder Measuring Device technical field

[0001] The present invention relates to the field of geometric measurement apparatus and methods. More specifically, it relates to telemetry used for carrying out precise dimensional measurements in interior spaces, in particular for the creation of three-dimensional plans of buildings. State of the art

[0002] In the field of architectural surveying, the accuracy and speed of measurements are crucial. Existing technologies, such as that illustrated by patent EP1549909B1, integrate telemetry systems combined with surveying cameras to quickly target and measure specific points within an environment. These devices facilitate the collection of topographic data and improve accuracy through the integration of advanced optical components. They are particularly effective for documenting and modeling complex structures in a short time, playing a vital role in renovation and construction projects. However, their use requires careful attention and advanced skills due to the complexity of the device and are not always suitable for mapping interior spaces.

[0003] In response to this problem, new solutions are emerging, offering measurements through semi-automatic devices positioned in the center of a room to quickly capture the dimensions of the space. Equipped with cameras and rangefinders, these devices synchronize visual data with distance measurements to create accurate three-dimensional representations. This approach simplifies the preparation of detailed plans and allows for faster analysis of volumes and surfaces, making measurements more accessible even for users with less experience in taking measurements.

[0004] Other devices allow for the capture of interior spaces using three-dimensional sensors. However, the current accuracy of these devices is still insufficient, which is particularly problematic for obtaining the precise measurements needed for interior design work. Some recent devices offer greater accuracy, but are very expensive and require much more complex data storage management. Indeed, the large volume of data captured generates files that are too large for practical use in simply measuring the dimensions of an interior space, such as that of an apartment.

[0005] However, despite these advances, significant challenges remain in terms of efficiency and image management for optimizing the measurement phase using these semi-automatic devices. The speed of execution and the accuracy of measurements can still be improved to meet the requirements of complex environments such as cluttered or irregularly configured interiors, where physical obstacles and architectural irregularities can compromise the integrity of the collected data.

[0006] The present invention aims to remedy, or at least mitigate, the problems mentioned.

[0007] The other objects, features, and benefits of this invention will be more clearly defined in the detailed description and illustrations that follow. It should be noted that other advantages may be incorporated therein. Summary

[0008] To achieve this objective, according to one embodiment, a telemetry measurement device is provided comprising: - a portable chassis; - a rotating unit, configured to be driven in rotation along a principal direction Zi and relative to the portable chassis, the rotating unit having: - a measurement system configured to capture, point by point, distance data within a field of view, - a camera configured to capture visual data from the field of view, - a computing unit configured to associate the visual data captured by the camera with the distance measurements obtained by the measurement system.

[0009] The rotating unit includes a wide-field optical element configured to allow the camera to capture a visual field with a viewing angle greater than 90° in a plane normal to the principal direction Zb

[0010] Thus, this makes it possible to limit the number of shots required to extract the visual data, thereby improving the overall efficiency of the device. Without this invention, it would be necessary to increase the number of shots taken by the camera to allow for a proper association of the visual data with the rangefinder measurements.

[0011] In fact, the device according to the present invention allows for more efficient measurements and ensures accurate visualization and measurement, even in large or complex spaces. Indeed, the widening of the field of view facilitates the capture of complete data in a single measurement, thus reducing the time required to perform multiple measurements.

[0012] Furthermore, the integration of a wide-field optical element into the rotating unit provides increased versatility to the device, enabling it to cover large environments without frequent repositioning. This feature is particularly advantageous in contexts such as large commercial spaces or industrial complexes, where the need to capture precise measurements over long distances can be time-consuming and laborious with traditional measurement systems. The wide-field optical element thus optimizes the telemetry process by maximizing the coverage area per scan, thereby reducing the number of operational cycles required to map an entire space.

[0013] Furthermore, the use of a wide-field optical element significantly improves the quality of the collected data by providing better contextualization of the measurements taken. It allows for a more integrated and continuous visualization of the measured space, which is crucial for applications requiring detailed modeling and precise analysis, such as in the fields of architecture and construction. By enabling a broader view, this element helps to more easily identify spatial relationships between various structures or elements in the field of view, which greatly facilitates the modeling task and reduces potential errors in data interpretation.

[0014] According to one embodiment, the invention comprises a measurement method using a device comprising: - a portable chassis; - a rotating unit, configured to be driven in rotation along a principal direction Zi and relative to the chassis, the rotating unit having: - a measurement system configured to capture, point by point, distance data within a field of view, - a camera configured to capture visual data from the field of view, - a computing unit configured to associate the visual data captured by the camera with the distance measurements obtained by the laser rangefinder system, - a wide-field optical element configured to allow the camera to capture a visual field with a viewing angle greater than 90° in a plane normal to the principal direction Zb

[0015] The process comprises the following steps: - positioning of the measuring device at the center of the environment to be measured; - Automated rotation of the rotating unit along the main direction Zi to perform a scan over at least a portion of an angle in order to capture visual field data by the camera and to measure distances by the telemetry system, - processing by the computing unit to merge the captured visual data with the distance data.

[0016] This allows for integrated and rapid mapping of the interior space with high accuracy. Indeed, the integration of measurements and visual data in a single pass simplifies the documentation process and improves operational efficiency.

[0017] The proposed solution thus makes it possible to improve the ability of professionals to carry out detailed studies of complex interior spaces, facilitating the creation of accurate 3D models used for planning and simulation in architecture and construction.

[0018] The increased efficiency of the device, made possible by the use of a wide-field optical element 127, also results in a significant reduction in the time required for the analysis and processing of the collected data. This feature is essential in sectors where time is a critical factor, such as during the preliminary phases of a construction project or during the rapid evaluation of real estate for sale or rent. By reducing the time spent in the field taking measurements, professionals can allocate more resources to data analysis and strategic decision-making, thereby increasing their productivity and competitiveness in the market.In summary, the device offers not only increased precision but also better allocation of human and time resources, consolidating its position as an indispensable tool in the technical arsenal of building and spatial design professionals. Brief description of the figures.

[0019] The aims, objects, features and advantages of the invention will become clearer from the detailed description of an embodiment thereof, which is illustrated by the following accompanying drawings in which:

[0020] [Fig.1] Fig.1 represents a schematic view of an example of a device according to the invention.

[0021] [Fig.2A] Fig.2A represents a schematic view of an example of visual data captured by the camera with a wide-angle element before distortion correction.

[0022] [Fig.2B] [Fig.2B] represents the schematic view of [Fig.2A] after distortion correction.

[0023] The drawings are given by way of example and are not limiting of the invention. They constitute schematic representations of principle intended to facilitate understanding of the invention and are not necessarily to scale with practical applications. Detailed Description

[0024] Before beginning a detailed review of embodiments of the invention, optional features which may possibly be used in association or alternatively are stated below.

[0025] According to one example, the computing unit includes a computer program configured to correct the distortion of the visual data captured by the camera.

[0026] This makes it possible to obtain images faithful to architectural reality, essential for accurate construction plans. Indeed, distortion correction helps to align visual data with telemetry measurements for increased data integrity.

[0027]

[0026] According to one example, the wide-field optical element 127 is a lens A wide-angle lens is positioned in front of the camera lens to capture a field of view with an angle of view greater than 90° in a plane normal to the principal direction Zi. For example, the wide-field optical element 127 is a wide-angle lens positioned in front of the camera lens. Preferably, the lens is configured to capture a field of view between 90° and 180°, preferably between 90° and 135°, preferably between 105° and 135°, preferably at least 110°, and preferably a field of view greater than or equal to 116°. In other words, the lens is preferably configured to capture a field of view with a diagonal angle of view between 110° and 120°, preferably approximately 116°.This configuration is particularly well-suited for shots requiring wide coverage in a plane normal to the principal direction Zb II. It is important to note that characteristics such as focal length and lens power are adjusted to provide this extended angle of view while remaining within an acceptable range of optical performance. This allows for capturing a complete panorama of the room from a single viewpoint. Indeed, using, for example, a wide-angle lens or a fisheye lens maximizes visual coverage without requiring any physical movement of the device.

[0028] According to one example, the calculation unit is configured to perform an adjustment based on a mathematical model of optical distortion specific to the wide-angle lens.

[0029] This ensures that the dimensional measurements derived from these images are accurate. Indeed, this precise correction is based on mathematical models. adapted to the lens used, guarantees the accuracy of the dimensions collected, even in the presence of significant optical distortions.

[0030] Furthermore, the device configuration corrects the distortions induced by the use of a fisheye lens, which tends to curve the vertical or horizontal lines of the measured environment. Consequently, it is possible to perform a precise measurement of all the uprights or vertical lines of an interior space by taking a single measurement per point along a vertical during the scan, thanks to the correction of curves into straight lines, thus optimizing the collection of dimensional data for complex environments.

[0031] According to one example, the rotating unit includes an enclosure in which the measuring system, the camera and the wide-field optical element are protected.

[0032] Advantageously, the envelope is cylindrical, preferably the height of the cylindrical envelope is less than its radius.

[0033] Advantageously, the device casing is cylindrical in shape, with a height H between 4 and 10 centimeters, and preferably less than or equal to 7 cm, and a diameter D between 5 and 15 centimeters, and preferably less than or equal to 9 cm. Preferably, the height of the cylindrical casing H is less than or equal to the diameter D, thus promoting increased compactness while optimizing the internal space.

[0034] According to an alternative example, the device's housing has a rod-shaped structure, thus optimizing the positioning of the sensors as close as possible to the center of rotation. This specific configuration facilitates data post-processing by minimizing spatial distortions and simplifying sensor calibration, contributing to improved measurement accuracy and a reduction in potential errors related to sensor positioning. The housing thus protects the components while ensuring the device's compactness.

[0035] Preferably, the device is configured so that the various technical elements that compose it can be contained within a cylindrical envelope whose radius is less than 15 cm and / or height.

[0036] This allows for increased portability and ease of use in various measurement environments. Indeed, the device's compact size facilitates its rapid deployment and use in confined or hard-to-reach spaces.

[0037] According to one example, the device includes mounting elements configured to allow it to be fixed to a tripod. This allows the measurement altitude z of the vertical line along which the telemetry measurements will be taken to be controlled.

[0038] According to one example, the computing unit is configured to interpolate telemetry data and corrected images in order to generate a dimensional model of at least a portion of the part in a format compatible with various CAD software.

[0039] This allows for seamless integration of measurements into CAD environments for design and planning. Indeed, interoperability with CAD software promotes efficient use of data in architectural and engineering design processes.

[0040] According to one example, the device includes a magnetometer configured to detect the orientation of the measurements in the room and to automatically adjust the calibration of the device according to the geographical orientation.

[0041] This allows for automatic contextualization of the data in space, thus improving the accuracy of the generated 3D models. Indeed, knowing the exact orientation of the device when taking the measurement is crucial for the correct alignment of the data in a spatial model.

[0042] This also ensures the accuracy of measurements, even if the device's position or orientation changes during use. Indeed, this feature reduces the need for manual recalibration and improves data reliability in dynamic environments.

[0043] According to one example, the computing unit includes a machine learning functionality to optimize the accuracy of interpolations based on accumulated historical data.

[0044] Indeed, although the computing unit is capable of incorporating machine learning functionality, the device may include an external platform configured to execute a machine learning function. From multiple images, the external platform identifies straight vertical elements such as doors and uses this data to recalibrate the lens. This method optimizes the accuracy of the interpolations by leveraging accumulated historical data and adapting the optical configuration according to the detected anomalies.

[0045] This allows for continuous improvement in measurement accuracy, for example, through learning from the first ten scans, contingent on the sufficient visibility of doors or similar features. Indeed, the use of machine learning techniques during this initial phase makes it possible to precisely configure the lens parameters. These adjustments reduce measurement errors and refine the data models to better reflect real-world conditions, thus optimizing the reliability of the results obtained.

[0046] According to one example, the processing step by the computing unit includes the application of distortion correction algorithms to the visual data of the visual field in order to allow the measurement of the vertical lines of the measured environment.

[0047] Alternatively, the computing unit can be relocated to a web platform.

[0048] This makes it possible to obtain high-quality images and measurements, even under varying lighting conditions. Indeed, the adaptive correction of images and measurements ensures an accurate representation of the room, regardless of variations in natural or artificial light. Furthermore, this allows for better detection of corners at the intersection of two walls of an interior space.

[0049] According to one example, the automated training step corresponds to a scan of at least 180° of the environment along the main direction Zb

[0050] Preferably the autonomous scanning is carried out over at least 270°, preferably at least 360° along the main direction Zh. During this scanning, the laser rangefinder system takes distance measurements along a plane orthogonal to the main direction Zi and along an altitude z and simultaneously, the camera takes a series of photographs.

[0051] Advantageously, the device includes an incremental stepper motor with an angle measurement system that associates each laser rangefinder point with a location on the image generated by the camera's visual capture. Alternatively, the device may include an angle measurement element to allow for greater configuration flexibility, independent of the motor, while maintaining the necessary accuracy for aligning the rangefinder data with the captured images. As an example, the rotating unit is also equipped with environmental sensors to detect variations in light and temperature that could affect measurement accuracy. This feature allows for dynamic adjustment of the capture parameters to optimize the quality of the data collected in real time.

[0052] Indeed, this configuration offers an innovative technical solution which makes it possible to automatically compensate for distortions induced by variable environmental conditions, thus guaranteeing the reliability of the data collected regardless of the measurement conditions.

[0053] According to a particular embodiment, the data fusion calculation is performed directly in the device, so as to allow real-time data analysis and significant optimization of system performance.

[0054] The term "angle of view" means the opening along a substantially horizontal plane, that is to say, in projection in this plane, the angle having as its vertex the device and extending from the left extremity to the right extremity, or vice versa, of the visual field of the camera at a precise moment.

[0055] The term "environment" or "the environment" means the place from which the measurements are taken. This may preferably be an indoor space such as a room in a dwelling or in an industrial or commercial building.

[0056] The term "camera" refers to an image capture device capable of capturing both still images and videos. This may include still cameras, video cameras, infrared sensor devices, and potentially a Time-of-Flight (ToF) lidar diode. This last option would allow the capture of 3D data, albeit less precise, which could be registered with a more precise 2D point cloud to improve the depth and accuracy of spatial analyses. It is specified that, within the scope of the present invention, the terms "on," "overcomes," "covers," "underlying," "opposite," and their equivalents do not necessarily mean "in contact with."

[0057] A "point-by-point" measurement is understood to mean a measurement performed by a one-dimensional distance sensor, that is, it measures one point, then another point, and so on. In the example of a laser rangefinder, a series of point-by-point measurements means that the measurement of the next point is performed discontinuously with the measurement of the preceding point.

[0058] A phase-shift laser rangefinder is defined as a distance measuring device that uses a continuous laser signal modulated in amplitude (AMCW, Amplitude Modulated Continuous Wave) or in frequency (FMCW, Frequency Modulated Continuous Wave). In this technology, the combination of the emitted signal and its return after reflection from an object is performed to calculate the distance with high accuracy. This method makes it possible to measure distances with greater accuracy than time-of-flight (ToF, Time of Flight) based systems, which are often used for applications requiring fine and precise measurements.

[0059] In the following description, unless otherwise indicated, when reference is made to absolute position qualifiers, such as the terms "front", "back", "top", "bottom", "left", "right", etc., or relative position qualifiers, such as the terms "above", "below", "superior", "lower", etc., or to orientation qualifiers, such as the terms "horizontal", "vertical", "lateral", etc., reference is made to the orientation of the corresponding figures, with the retention device placed in its operating configuration.

[0060] An element located "in line with" or "directly above" another element means that these two elements are both located on the same line perpendicular to a plane in which extends mainly a lower or upper face of an element.

[0061] The terms "approximately", "about", "on the order of" mean "approximately to within 10%, preferably to within 5%" or, with regard to an angular orientation, "to within 10°". Thus, a direction substantially normal to a plane means a direction having an angle of 90+10° with respect to the plane.

[0062] In the following description, the term "on" does not necessarily mean "directly on." Thus, when it is stated that a part or component A is supported "on" a part or component B, this does not mean that parts or components A and B are necessarily in direct contact with each other. These parts or components A and B may be either in direct contact or supported by each other via one or more other parts. The same applies to other expressions such as, for example, the expression "A acts on B," which may mean "A acts directly on B" or "A acts on B via one or more other parts."

[0063] When two parts are described as distinct, this means that these parts are separate. They are: - positioned at a distance from each other, and / or - mobile relative to each other and / or - joined together by being fixed by added elements, this fixing being removable or not.

[0064] A single-piece unit cannot therefore be made up of two separate parts.

[0065] The term "an element C situated between an element A and B" or "an element A and an element B distributed on either side of an element C" shall be understood as the configuration in which the element C does not go beyond either the element A or beyond the element B in a principal direction connecting the element A to the element B.

[0066] The present invention is not limited to the examples described above. Many other embodiments are possible, for example by combining features described above, without departing from the scope of the invention.

[0067] The present invention relates to a telemetry measuring device 1, comprising a portable chassis 11 and a rotating unit 12 pivotally mounted on the chassis 11. The chassis 11 is configured to elevate the rotating unit 12 and ensure optimal stability of the device 1 by effectively supporting the weight and movements of the rotating unit 12 during its operation. This design aims to optimize the ergonomics and maneuverability of the device 1, thus facilitating its use in various measurement environments, including in conditions where space or access may be limited.

[0068] As illustrated in [Fig. 1] and according to one embodiment, the rotating unit 12 is configured to be positioned above the portable chassis 11. The rotating unit 12 is preferably driven by a precision stepper motor that allows smooth and controlled rotation along the main direction of rotation Zh

[0069] Advantageously, the rotating unit 12 comprises a casing 120 which preferably extends in the form of a cylinder and whose periphery 121 comprises a The first aperture 124 and a second aperture 125. The first aperture 124 is configured to allow the transmission and reception of the laser beam from the measurement system 122, preferably a laser rangefinder system. The second aperture 125 is configured to allow the capture of visual data by the camera 123.

[0070] According to a particular embodiment, the first and second openings 124, 125 can be combined into one single opening.

[0071] The rotating unit 12 of the device 1 is configured to facilitate the integration of the components while protecting sensitive elements from external interference and physical impacts. Preferably, the housing 120 also ensures compact integration of the components, making the device not only robust but also easy to handle and suitable for use in confined or hard-to-reach spaces. This configuration contributes to the structural stability of the rotating unit 12, thus guaranteeing the accuracy of measurements during the rotary scan. The housing 120 of the rotating unit 12 therefore includes a peripheral portion 121 with at least one, and ideally two, openings 124, 125, positioned to allow optimal emission and reception of the laser rangefinder beams and for the capture of visual data by the camera 123.In fact, according to this example, the rotating unit 12 is configured so that the first aperture 124 and the second aperture 125 are close to each other so as to allow a rangefinding measurement in the field of view of the camera 123.

[0072] The openings 124, 125 are configured to maximize field of view coverage and improve measurement accuracy by allowing the measurement system 122 and the camera 123 to operate without physical obstruction, thus ensuring maximum integrity of the collected data. This structural configuration notably reduces blind spots and improves the overall quality of the 3D scans and measurements obtained, making the device 1 particularly suitable for applications requiring high-precision measurements in complex architectural environments.

[0073] The cylindrical architecture of the rotating unit 12 is designed to maximize the efficiency of rangefinding and visual data capture 21, with a radius of the envelope 120 in its cylindrical configuration greater than or equal to its height for balanced weight distribution and better stability during rotation.

[0074] Advantageously, the 122 measurement system is a laser rangefinder system configured to integrate advanced technology, such as LIDAR, to provide distance measurements with superior accuracy and speed. The measurement system 122 is configured to perform point-by-point measurements, preferably along a horizontal plane orthogonal to the principal direction Zp. This configuration optimizes scanning operations in varying environments, thus providing increased measurement reliability even in the presence of obstacles or irregularities in the measured space. Preferably, the system is designed to capture data discontinuously to measure the distance from device 1 to obstacles located at an altitude z in the environment to be measured. The advantage of point-by-point measurement is the ability to limit the number of measured points, resulting in smaller data files compared to those obtained using three-dimensional sensors or sophisticated devices that collect a large set of measurement data.Thus, starting from device 1, if we know the properties of the sensor of camera 123, of the wide-field optical element, and the distance of an element located on a vertical plane surface orthogonal to the measurement beam, by a simple measurement of a point, using a trigonometry rule, it is possible to deduce the coordinates of all the elements located on said plane surface.

[0075] Preferably, the 122 measurement system is also configured to adapt dynamically to variations in the measured environment, thus allowing real-time adjustment of the capture parameters. This advanced feature ensures that measurements are not only fast but also extremely accurate, meeting the requirements of professionals in fields such as architecture, engineering, and heritage conservation, where measurement accuracy is paramount.

[0076] According to one example, the measurement system 122 is configured to capture 2D distance data in a field of view 2. This choice contrasts with systems that use 3D technology to create complete three-dimensional visualizations of the environment, often intended to produce immersive and detailed representations similar to miniature models. This allows for faster and less complex data acquisition; indeed, simplifying data processing accelerates analysis and reduces associated costs.

[0077] According to one embodiment, the measurement system 122 is configured to capture, point by point, distance data in a visual field 2 by phase-shift telemetry.

[0078] Thanks to point-by-point data capture, the device achieves high accuracy, even over long distances, while maintaining a low cost. This approach offers an economical and efficient solution for sub-centimeter precision measurements, thus meeting the needs of professionals who demand reliable results without compromising their budget. Indeed, the use of point-by-point data capture Point-by-point reduces the complexity of the necessary components and associated costs, while ensuring measurement accuracy suited to the requirements of fields such as architecture, engineering and heritage conservation.

[0079] According to a preferred embodiment of the present invention, the camera 123 and the measuring system 122 are oriented in the same direction so as to simultaneously and respectively capture the visual data 21 for the camera 123 and the distance measurement between the laser point encountering an obstacle and the device 1, which optimizes the efficiency of the measurement process by reducing the data processing time.

[0080] Advantageously, the camera 123 is configured to operate in perfect synchronization with the measuring system 122, capturing visual data of the measured field simultaneously with distance data. This coordination optimizes the efficiency of the measurement process by reducing the time required for collecting complete data. Preferably, the camera 123 is equipped with a high-resolution sensor which, combined with the wide-field optical element 127, makes it possible to capture detailed images of the environment, even in low-light conditions, thus enhancing the ability of the device 1 to operate effectively in various architectural situations.

[0081] Preferably, the camera 123 is also equipped with a series of advanced image processing algorithms that work in concert with the computing unit to adjust and enhance the captured images in real time. This capability makes it possible to automatically correct any potential optical distortions or aberrations introduced by the wide-field optical element 127, thus ensuring that the final images are not only accurate but also of high quality, ready for detailed analysis or integration into CAD models.

[0082] According to a preferred embodiment, the device 1 is configured such that the wide-field optical element 127, integrated into the rotating unit 12, is configured to provide a viewing angle greater than 90°, preferably specifically designed to achieve viewing angles greater than or equal to 120°, and extendable up to 180° in optimized configurations. This capability is crucial for large environments where comprehensive measurements are required without frequent repositioning of the device. Preferably, the optical element thus makes it possible to capture a wide view of the space in a single scan, reducing the total time required for a measurement session and increasing the efficiency of the documentation process.

[0083] Advantageously, this optical element can be configured in several variants to adapt to different types of measured spaces. For more confined spaces, a lens with a 100° viewing angle can be used to minimize distortion while capturing sufficient detail for a complete analysis. For spaces For larger areas, a lens with a viewing angle of up to 180° may be preferred to maximize space coverage with a minimum number of rotations of the rotating unit 12, thus facilitating measurements in hangars or large halls.

[0084] Preferably, the wide-field optical element 127 is also designed to operate with high accuracy in terms of optical distortion correction. The technology behind this optical element includes advanced adjustments that compensate for the distortion typically associated with wide-angle lenses, particularly fisheye lenses. These lenses are characterized by high vergence and a short focal length, often less than 10 mm, which allows for the capture of extremely wide fields of view of up to 180°. This configuration ensures that the captured visual data is not only vast but also precise, enabling faithful reconstructions of measured spaces without the distortions typical of wide-angle images, which are crucial for applications in architecture and engineering where dimensional accuracy is essential.

[0085] According to one embodiment, the computing unit of the telemetry measuring device 1 is integrated within the rotating unit 12 or the chassis 11. This unit, often a microcomputer or a single-board computer, is configured to support complex calculations and real-time data management. It thus enables rapid and accurate analysis of measurements. It should be noted that the computing unit can either handle all data processing or delegate part of it to a computer server storage system. This remote processing can be performed in real time via a Wi-Fi or cellular connection or be carried out later using storage media such as a removable memory card.

[0086] According to one embodiment, the computing unit is equipped with advanced software configured to associate distance data with captured images, correct optical distortions due to the wide-field optical element 127, and straighten distorted lines in the measured environment. This software also enables the generation of accurate 3D models of the measured spaces, leveraging parallel processing capabilities and machine learning algorithms to improve the fidelity and accuracy of the spatial reconstructions.

[0087] Preferably, the computing unit of device 1 is also configured to incorporate data security and backup options, including encryption mechanisms and protection of collected information. Device 1 includes slots for removable memory media such as flash cards or USB drives, facilitating data transfer and archiving without requiring a direct connection to other systems or networks.

[0088] According to one embodiment, the device 1 is configured to allow space measurements autonomously.

[0089] According to one embodiment, the measuring system 122 is configured to autonomously capture distance data point by point within a visual field 2. Autonomous means the device's ability to perform distance measurements without manual intervention; that is, the measuring system operates independently to capture the necessary data. This optimizes the accuracy and efficiency of the measurements by eliminating potential human errors associated with the manual handling of measuring devices. The device uses an automated rotating mechanism to scan the environment and collect distance data systematically and consistently. This approach significantly reduces the time required to perform complete measurements of an interior space and ensures consistent data quality.

[0090] A measurement method using device 1 may include the following steps: - positioning device 1 in the center of an environment, typically in the center of a room; - launching the capture process by a triggering event such as the activation of a trigger button 128; - Rotation of the rotating unit 12 along the main direction Zb. During this measurement configuration, the measuring system 122 is activated to take successive distance measurements, while the camera 123 takes photographs. Device 1 is configured so that the telemetry system takes more measurements than the camera 123, thus optimizing the coverage and accuracy of the collected data.

[0091] According to one embodiment, the computing unit of the device 1 is configured to allow correction of distortions related to image deformation by the wide field optical element 127. The device 1 includes at least one computer program configured to correct curves assumed to be straight, such as the edges of a door or the corners of a wall, thus allowing a more accurate and faithful representation of the measured environment.

[0092] Preferably, the computing unit is equipped to process data from the wide-field optical element 127, adjusting for distortions introduced by wide viewing angles. This correction straightens lines in the captured images, an essential step for the accuracy of measurements and 3D reconstructions, which can be particularly complex with fields of view greater than 90 degrees.

[0093] As illustrated in Figures 2A and 2B and by way of example, the visual data 21 captured by the camera 123 and shown in [Fig. 2A] are distorted so that some lines assumed to be straight are displayed as curved. The correction of the distortions makes it possible, from the image distorted by the wide field optical element 127, to obtain the image illustrated in [Fig.2B] in which at a minimum the rectified visual data 21' are now straight vertical lines and allow the interpolation of the telemetry measurements.

[0094] According to one embodiment, the device 1 is specifically configured to reconstruct all the vertical lines of the environment in a single launch of its measurement configuration. The telemetry measurements make it possible to determine the obstacles encountered in a plane perpendicular to the principal direction of rotation Zb, advantageously located at the altitude z of the rangefinder relative to the ground. By interpolating with the images captured by the camera 123, and by correcting the distorted images, the device 1 is able to reconstruct the various vertical lines and their deviations, thus facilitating the creation of accurate architectural models.

[0095] According to one embodiment, the device 1 is configured to integrate a process for verifying and adjusting vertical measurements based on horizontal data and images, allowing the vertical measurements to be adjusted according to variations in the environment. This hybrid approach, using both telemetry data and images, optimizes the accuracy of the generated architectural plans and dynamically adapts to structural irregularities.

[0096] The development of an interface for exporting measured data to formats used by standard Up drawing software enables seamless integration of the data into architectural and civil engineering design workflows. This includes converting the data into DXF or DWG formats, commonly used in industry, to allow for easy data manipulation within these software environments.

[0097] As an example, it is possible to deduce all the dimensions associated with a flat surface, such as a wall, from the characteristics of the camera sensor 123, the camera lens 123, and the wide-field optical element 127. Indeed, thanks to the measuring system 122, the distance to the flat surface is measured, and trigonometric calculations are then sufficient to deduce the dimensions on this flat surface. This preferably allows for the optimized calculation of a vertical line assumed to be straight using a single measurement of a point on the flat surface with the measuring system combined with a rectified visual data point 21' from the camera 123.

[0098] Preferably, the internal structural elements of the device 1 are made of ABS, obtained by three-dimensional printing. This method ensures great flexibility in customizing internal designs and meets the specific needs of different applications, from industrial environments to construction sites. Advantageously, the casing 120 serves as the external shell of the device, is produced by injection, offering a suitable aesthetic, improved ergonomics, as well as optimal resistance and durability.

[0099] According to one embodiment, the device 1 can be enhanced with various components that substantially increase its versatility and usefulness. Advantageously, the device 1 includes at least one of the following: a magnetometer, an accelerometer, a level, and a clock, so as to significantly improve the functionality of the device 1, enabling its use in a wider range of operational scenarios. These additional sensors allow the device 1 to provide valuable contextual data that improves measurement accuracy, supports device stabilization during operations, and ensures temporal traceability of the collected data. Furthermore, these additions increase the device 1's ability to operate autonomously under varying conditions, making measurement operations more reliable and less dependent on manual intervention.

[0100] Numerical references: 1 / telemetry measuring device 11 / chassis 12 / rotary unit 120 / envelope 121 / periphery 122 / measuring system 123 / camera 124 / first opening 125 / second opening 127 / wide-field optical element 128 / trigger 2 / visual field 21 / visual data 217 corrected visual data Zi / principal direction Z / measurement altitude

Claims

Demands

1. Rangefinding measuring device (1) comprising: - a portable chassis (11); - a rotating unit (12), configured to be driven in rotation about a principal direction Zi and relative to the chassis (11), the rotating unit (12) having: i. a measuring system (122) configured to capture, point by point, distance data in a visual field (2), ii. a camera (123) configured to capture visual data (21,21') of the visual field (2), iii. a computing unit configured to associate the visual data captured by the camera (123) with the distance measurements obtained by the measuring system (122), the device is characterized in that the rotating unit (12) comprises a wide-field optical element (127) configured so as to allow the camera (123) to capture a visual field (2) with a viewing angle greater than 90° in a plane normal to the principal direction Z.

2. Device according to the preceding claim in which the computing unit includes a computer program configured to rectify the distortion of the visual data captured by the camera (123).

3. Device according to any one of the preceding claims wherein the wide field optical element (127) is a wide-angle lens positioned in front of the camera lens (123) so as to enable the capture of a visual field (2) with a viewing angle greater than 90° in a plane normal to the principal direction Z.

4. Device according to claims 2 and 3 in combination wherein the computing unit is configured to perform an adjustment based on a mathematical model of optical distortion specific to the wide-angle lens.

5. Device according to any one of the preceding claims, wherein the rotating unit (12) comprises an enclosure (120) in which the measuring system (122), the camera (123) and the wide-field optical element (127) are protected.

6.

7.

8. Device according to any of the preceding claims comprising a magnetometer configured to detect the orientation of measurements in the room and to automatically adjust the calibration of the device according to the geographical orientation. A method for measuring from a device (1) comprising: - a portable chassis (11); - a rotating unit (12), configured to be driven in rotation along a principal direction Zi and relative to the chassis (11), the rotating unit (12) having: i. a measuring system (122) configured to capture, point by point, distance data in a visual field (2), ii. a camera (123) configured to capture visual data (21,21') of the visual field (2), iii. a computing unit configured to associate the visual data captured by the camera (123) with the distance measurements obtained by the measuring system (122), iv. a wide field optical element (127) configured so as to enable the camera (123) to capture a visual field (2) with a viewing angle greater than 90° in a plane normal to the principal direction Z. The process includes the following steps: - positioning of the measuring device (1) at the centre of the environment to be measured; - automated rotation of the rotating unit (12) along the main direction Zi to perform a scan over at least a portion of an angle in order to capture visual field data by the camera (123) and to measure distances by the telemetry system, - processing by the computing unit to merge the captured visual data with the distance data. A method according to the preceding claim, wherein the processing step by the computing unit includes the application of distortion correction algorithms to visual data of the visual field.

9. A method according to any one of the two preceding claims, wherein the automated training step corresponds to a scan of at least 180° of the environment along the main direction Z.

10. A method according to any one of claims 8 to 9, wherein the visual data distortion correction step straightens the vertical lines present in the environment.

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