Surveying devices, systems, and methods

Abstract

We provide a system for performing precise measurements to ensure proper construction. [Solution] The system comprises a surveying device and at least one processor. The surveying device includes a support and a sensor 119 attached to the support. The sensor 119 is configured to capture measurement data. The processor is coupled to the sensor 119 to receive the measurement data. The processor is configured to obtain a scene model corresponding to an initial set of measurement data captured by the sensor 119 when the support is located in an initial position in the scene, to determine the location of the surveying device relative to the scene model based on the initial set of measurement data and the scene model, and to update the location of the surveying device relative to the scene model based on a subsequent set of measurement data captured by the sensor 119 when the support is located in a corresponding subsequent position.

Claims

1. It is a system, A surveying device comprising a support and a sensor attached to the support, wherein the sensor is configured to capture measurement data including a point cloud of measured values, The system comprises at least one processor coupled to the sensor for receiving the measurement data, The aforementioned at least one processor is A scene model is obtained that corresponds to the initial set of measurement data captured by the sensor when the support is in its initial position. Based on the initial set of measurement data and the scene model, the location of the surveying device relative to the scene model is determined. The location of the surveying device relative to the scene model is updated based on a subsequent set of measurement data captured by the sensor when the support is positioned at a corresponding subsequent position. The support is equipped with an indicator, The sensor and the indicator have a known or determinable spatial relationship. The at least one processor is configured to provide information including instructions for instructing the user to move the indicator to a layout point, based on the measurement data and the spatial relationship between the sensor and the indicator.

2. The system according to Claim 1, The instruction for instructing the user to move the indicator to the layout point includes information on the distance and direction of moving the indicator to the layout point.

3. The system according to Claim 1, The instruction for instructing the user to move the indicator to a layout point includes a map of a section of the scene model, the map showing the location of the indicator and the layout point.

4. The system according to claim 1, The instruction for instructing the user to move the indicator to the layout point includes an audible instruction for moving the indicator toward the layout point.

5. The system according to claim 4, The audible instructions can be used to guide the user to move the indicator to the layout point.

6. The system according to claim 1, The instruction for instructing the user to move the indicator to the layout point includes an output of the spatial relationship between the indicator and the layout point.

7. The system according to claim 1, The aforementioned layout point is a predetermined coordinate on the construction site.

8. The system according to claim 1, The aforementioned at least one processor is Upon receiving the aforementioned scene model, A transformation is calculated to match at least one of (i) the initial set or (ii) the subsequent set of the measurement data to the scene model. The system is configured to apply the transformation to calculate the location of the surveying device relative to the scene model corresponding to at least one of (i) the initial set or (ii) the subsequent set.

9. The system according to claim 8, The transformation includes at least one of the following: nonlinear transformation, translation, rotation, scaling, or shearing.

10. The system according to claim 1, The at least one processor is configured to generate the scene model based on the initial set of measurement data captured by the sensor when the support is in the initial position.

11. The system according to claim 1, (i) the initial position or (ii) the subsequent position, at least one of which is a known location.

12. The system according to claim 1, The at least one processor is configured to update the scene model based on the measurement data.

13. The system according to claim 1, The indicator is the tip of the support.

14. The system according to claim 1, The support is a rod, The aforementioned surveying device, The at least one processor supported by the rod, A display supported by the aforementioned rod and configured to display the location of the surveying device relative to the scene model, Further sensors supported by the aforementioned rod and configured to track the location of the surveying device by dead reckoning, or Supported by the aforementioned rod, it comprises at least one of the prisms configured for prism positioning by a total station, The measurement device is configured to acquire the prism position determined by the total station.

15. The system according to claim 1, The support is a rod, The sensor includes a LiDAR (Light Detection and Ranging) scanner. The surveying device further comprises an inertial measuring unit (IMU) supported by the rod and coupled to the at least one processor, configured to track the location of the surveying device by dead reckoning.

16. The system according to claim 9, The at least one processor is used when the surveying device is moving to the initial position, or when it is moving from the initial position to one of the subsequent positions, or when it is moving between two of the subsequent positions. In performing the comparison of the measurement data captured by the LIDAR scanner with the scene model, the information captured by the IMU is used as an estimate of the location of the surveying device. The system is configured to update the location of the surveying device based on the aforementioned verification.

17. The system according to claim 1, The aforementioned scene model includes the geometric shape of at least one physical object.

18. The system according to claim 1, The aforementioned sensor includes a laser scanner.

19. The system according to claim 1, The surveying device further comprises other sensors configured to acquire information that can be used to determine the orientation of the sensors configured to capture measurement data. The at least one processor is further configured to determine the location of the indicator based on the information captured by at least the other sensors.

20. The system according to claim 1, The indicator is a physical indicator configured to physically touch an object at a designated location.

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