Projection device for displaying construction plans

Abstract

A projection device for displaying construction plans is provided. [Solution] The projection device comprises a projection optical system, a laser module, a projector head having a first galvanometer that redirects incident light from the laser module toward a second galvanometer, and a second galvanometer that further redirects the incident light toward the projection optical system. A memory device stores one or more construction plans. A controller is operationally connected to the laser module, the two galvanometers, and the memory device, and selects a construction plan to be displayed from the memory device, selectively activates the laser module, and, simultaneously with the selective activation of the laser module, selectively directs the first and second galvanometers to follow paths defined by the selected construction plan so that the incident light redirected toward the projection optical system selectively forms a projection of the construction plan on the construction site.

Description

Technical Field

[0001] Cross-reference This application claims priority based on U.S. Provisional Patent Application No. 62 / 772,917, filed on November 29, 2018, which is incorporated herein by reference in its entirety.

[0002] This disclosure relates to the field of projection devices. More particularly, this disclosure relates to a projection device for displaying construction plans.

Background Art

[0003] During construction and renovation, construction plans are created to describe the work being performed. Generally, the most commonly used method for drawing the layout of a construction plan at a construction site is to manually draw the construction plan on the surrounding area using a tape measure and a chalk line or pen.

[0004] This approach can be inaccurate and time-consuming. In many cases, this work can only be performed by skilled workers. Both the time and the required experience can increase the cost of construction work. In addition, there may be differences between the actual and the construction plan that may not be noticed until the layout is drawn. In some cases, it may be necessary to redo the entire construction plan and / or drafting work.

[0005] Some alternative approaches for presenting construction plans have been proposed. For example, in some approaches, workers can create physical drawings as described above, but are assisted by the projection of points representing specific reference points (such as the corners of walls). However, the setup and installation of such approaches can be complex and may not be suitable for inexperienced workers or operators.

Summary of the Invention

Problems to be Solved by the Invention

[0006] Therefore, improvements are needed to present construction plans that compensate for problems related to inaccuracies, wasted time, and wasted labor at construction sites. [Means for solving the problem]

[0007] This disclosure provides a projection device for displaying a construction plan. The projection device comprises a projector head, a memory device, and a controller. The projector head comprises a set of projection optics, a laser module, and two galvanometers, including a first galvanometer configured to redirect incident light from the laser module toward a second galvanometer, and a second galvanometer configured to redirect incident light from the first galvanometer toward the set of projection optics. The memory device stores one or more construction plans. The controller is operationally connected to the laser module, the two galvanometers, and the memory device. The controller selects a construction plan to display from the memory device, selectively activates the laser module, and, simultaneously with the selective activation of the laser module, selectively directs the first and second galvanometers to paths defined by the selected construction plan so that the incident light redirected toward the projection optics selectively forms a projection of the construction plan on the construction site.

[0008] The Disclosure also provides a projection device for displaying construction plans. The projection device comprises a projector head, a memory device, and a controller. The projector head comprises a set of projection optics, a laser module, a galvanometer system adapted to redirect incident light from the laser module toward the set of projection optics, a yaw encoder adapted to detect the yaw of the projector head in real time, and a pitch encoder adapted to detect the pitch of the projector head in real time. The memory device stores one or more construction plans. The controller is operationally connected to the laser module, the galvanometer system, the yaw encoder, the pitch encoder, and the memory device. The controller selects a construction plan to display from the memory device, selectively activates the laser module, and, simultaneously with the selective activation of the laser module, selectively directs the galvanometer system to follow a path defined by the selected construction plan so that incident light directed toward the projection optics selectively forms a projection of the construction plan on the construction site, and the projection of the construction plan is adapted in real time in response to changes in the yaw, pitch, or both of the yaw and pitch of the projector head.

[0009] This disclosure further relates to a projection device for displaying construction plans. The projection device comprises a projector head, a memory device, a controller, and a laser safety module. The projector head comprises a set of projection optics, a laser module, and a galvanometer system adapted to direct incident light from the laser module onto the set of projection optics. The memory device stores one or more construction plans. The controller is operationally connected to the laser module, two galvanometers, and the memory device. The controller selects a construction plan to display from the memory device, selectively activates the laser module, and, simultaneously with the selective activation of the laser module, selectively directs the first and second galvanometers to a path defined by the selected construction plan so that incident light redirected towards the projection optics selectively forms a projection of the construction plan on the construction site. The laser safety module is operationally connected to the laser module and adapted to dynamically control the operation of the laser module.

[0010] According to this disclosure, a method for operating the projection device is also provided. The projection device is positioned at the construction site. The construction plan is loaded into the projection device. Projection of the construction plan at the construction site is then started.

[0011] The above and other features will become more apparent by reading the following non-limiting description of the exemplary embodiments given as examples, with reference to the attached drawings.

[0012] Embodiments of this disclosure will be described as mere examples with reference to the accompanying drawings. [Brief explanation of the drawing]

[0013] [Figure 1] This is an illustrative diagram of a projection device in use according to one embodiment of this technology. [Figure 2] Figure 1 is a front perspective view of a projection device according to one embodiment of this technology. [Figure 3] Figure 1 is a rear perspective exploded view of a projection device according to one embodiment of this technology. [Figure 4] Exploded view of the projector head of the projection device in FIG. 1 according to an embodiment of the present technology. [Figure 5] Schematic layout of the components of the projection device in FIG. 1 according to an embodiment of the present technology. [Figure 6] Flowchart of the operation method of the projection device in FIG. 1 according to an embodiment of the present technology. [Figure 7] Flowchart of the operation method of the projection device in FIG. 1 according to another embodiment of the present technology. [Figure 8] Perspective view of a modified example of the casing supporting the projector head according to another embodiment of the present technology. [Figure 9] Perspective view of another modified example of the casing supporting the projector head according to another embodiment of the present technology. [Figure 10] Block diagram of the projection device and its environment according to another embodiment of the present technology. [Figure 11] Flowchart showing the operation of dynamic laser projection according to an embodiment of the present technology. [Figure 12] Logic diagram of the hardware architecture of the projection device according to another embodiment of the present technology. [Figure 13] Side view of the laser projection size obtained using the projection device. [Figure 14] Top view of the laser projection size obtained using the projection device.

Embodiments for Carrying Out the Invention

[0014] Note that like numbers represent like features on various drawings. The drawings are not necessarily drawn to scale.

[0015] Various aspects of the present disclosure generally address one or more of the problems associated with inaccuracies, time waste, and labor waste at construction sites.

[0016] This disclosure describes a projection device that determines its own position at a construction site relative to known reference points at the construction site, and thus projects part or all of an architectural plan, floor plan, construction layout, etc. (generally referred to as “construction plan”), depending on the spatial position (e.g., along axis x and axis y perpendicular to axis x) and angular position (i.e., orientation with respect to pitch and yaw). Reference points may be established by the operator of the projection device in the local area in which the projection device is used. It is intended that the reference points may also be elements already present in the local area at the construction site by a professional surveyor or entity, such as marks on the floor, such as corners of walls. Alternatively, the operator or assistant of the projection device may establish reference points at the construction site when installing the projection device. Three or more reference points may be used to assist in the positioning of the projection device. It is also intended that the positioning information of the projection device, defined by external means of the projection device, be manually entered at the construction site.

[0017] The projection device is controlled manually by an operator or by a human-machine interface (HMI) connected to the projection device via a wired or wireless connection. The HMI may include, for example, a built-in interactive screen or an application running on a computer or any general-purpose controller. The projection device rotates 360 degrees on two axes, including a vertical and a horizontal axis, and can project relevant information onto surrounding surfaces, including floors, walls, and ceilings, using laser projection. The projection device is powered by one or more batteries and can accommodate hot-swapping of batteries to maintain uninterrupted projection when changing batteries. Alternatively, the projection device may be powered via a cable connected to a wall outlet. Some embodiments of the projection device may be equipped with high-precision sensors adapted to detect movement brought to the projection device. The projection device can adapt its projection in response to such detected movement, thus eliminating the need to recalibrate the projection each time the projection device is moved. The operator can use the HMI to modify the projected construction plan and, if desired, add, delete, or move image entities such as walls, holes, doors, and columns, depending on the embodiment. After entities are added, deleted, or moved, the projection device adapts the projection to reflect these changes. Thus, the projection device allows the operator to adjust for differences between the construction plan and the reality of the construction site, and to adapt the construction plan as needed.

[0018] Referring to FIGS. 1 to 3 here, an embodiment of the projection device 100 according to the present technology will be described. The projection device 100 receives construction plans from an external source and defines guide lines projected around the construction site based on these construction plans. The projected guide lines help assist construction workers when positioning various elements such as walls, doors, and cupboards. By replacing the task of physically drawing the layout of the construction plan at the construction site, the projection device 100 helps reduce the workload of construction workers and improve productivity. Workers can check for possible differences that may occur between reality and the construction plan before performing the actual construction work. Therefore, before the construction work is carried out and wasted, corrections to the construction plan can be prepared and input into the projection device 100. The operator of the projection device 100 and other construction workers may decide to trace the projection on the surface of the construction site before starting the work. Alternatively, the construction workers may decide to work directly on the laser projection. Some embodiments of the projection device 100 can recognize and track objects moving on the construction site, automatically aim at reference points, measure the distances between objects and / or between reference points, and generate a three-dimensional (3D) virtual environment map that can be used for multiple purposes, such as measuring or evaluating the flatness of the surface using the techniques described later, or using the generated 3D virtual environment map as a reference. To improve the detection accuracy of the reference points, a custom-made target with a prism reflector or a reflective surface can be placed on the reference points. The features of the custom-made target can support the computer vision tracking features implemented in the projection device 100.

[0019] The embodiment of the projection device 100 shown in FIGS. 2 and 3 includes a casing 110. The casing 110 houses many components of the projection device 100, including mechanical elements, optical elements, and computing elements such as, but not limited to, driver boards, microcontrollers, and terminals. The components arranged within the casing 110 will be described in more detail below. The casing 110 houses and protects the components of the projection device 100, which will also be described in more detail below.

[0020] The projection device 100 includes a tripod 102 for supporting the components of the projection device 100. The casing 110 is selectively fixed to the tripod 102. The casing 110 is also intended to be supported by different support structures. The casing 110 is also intended to be provided without additional structures and to be positioned on the surface of the operating area.

[0021] The casing 110 receives a battery pack 120 to supply power to the projection device 100. The battery pack 120 contains multiple battery cells, but it is intended that different battery structures may also be used. It is also intended that the projection device 100 may be powered by a power source other than the battery pack 120, for example, by using an electrical cord that can be plugged into a wall outlet.

[0022] The casing 110 also houses the controller. The controller can be implemented as a general-purpose processor or a group of general-purpose processors and is operationally connected to a memory device or a group of memory devices and to one or more interfaces that allow the controller to communicate with other components of the casing 110. In one embodiment, the controller is implemented as a system-on-a-chip (SoC) 116, for example, NVidia's Jetson TX2 or Intel's NUC. The SoC 116 is a computer device designed and compressed to fit on a single board. The SoC 116 is responsible for most of the calculations and decisions of the projection device 100. Software running on the SoC 116 may be written in C++ with an object-oriented architecture or in JavaScript using the cross-platform runtime environment node.js, but is not limited to this. The SoC 116 is communicably connected to the other components of the projection device 100, receiving inputs from them and delivering appropriate outputs. The calculations performed by the SoC116 may include the conversion of the construction plan entered by the operator to projection angles (described in more detail below). The SoC116 may be equipped with a graphical processing unit (GPU), not shown separately, for 3D processing and for interacting with the human-machine interface (HMI) 190. The SoC116 may be operationally connected to wireless communication hardware housed in the casing 110. Through the wireless communication hardware, the projection device 100 can automatically update its firmware and download construction plans from a secure remote server. This can also assist in monitoring the projection device 100 and in remote troubleshooting of any hardware or software problems with the projection device 100.

[0023] The HMI 190 allows a human operator to control the projection device 100. In one embodiment, the HMI 190 may be a tablet running an iOS or Android operating system and communicatively connected to the SoC 116 via a wireless connection. In some embodiments, the HMI 190 may also be connected to the SoC 116 via a hardwired connection. The HMI 190 may also be in various forms, including but not limited to the operator's personal phone, applications run from a computer, an interactive screen incorporated into the projection device 100, and a custom controller similar to a gamepad. The HMI 190 may also be integrated into the projection device 100, for example, as a liquid crystal display (LCD) screen.

[0024] The casing 110 includes two ergonomically designed handles 122 fixed to the casing 110. The handles 122 are provided for convenient carrying of the projection device 100. In some embodiments, it is intended that the handles 122 may be omitted.

[0025] The casing 110 also houses the projector head 150. The casing 110 also houses a rotary motor 140 (see Figure 4). The motor 140 is operatively connected to the projector head 150 to control and determine its vertical angular position (pitch).

[0026] Referring now to Figure 4, the components of the projector head 150 will be described. The projector head 150 includes a housing 152 for housing the various components of the projector head 150. Mounted on the housing 152 is a mounting device 154 that connects the projector head 150 to the motor 140. The mounting device 154 can be constructed from various different mechanical elements.

[0027] The projector head 150 includes a distance meter 158 for measuring the distance between the projection device 100 and a target area at the construction site. The distance meter 158 can be used to determine the distance between the projection device 100 and a reference point. In one embodiment, the distance meter 158 may include a laser-based distance meter, but in other embodiments, different types of distance meters may be used. In one embodiment, the accuracy of the distance meter is ±1 mm.

[0028] The projector head 150 also includes two cameras 172 to generate a 3D map of the environment, detect objects, track moving objects, and measure the ambient brightness of surfaces such as floors, walls, and ceilings at the construction site. The SoC 116 can control the output level of the laser module 160 as a function of the measured brightness so that the brightness of the construction plan projected by the projection device 100 matches the ambient brightness. Thus, the output level of the laser module 160 can be increased during the day and decreased in the evening or when the construction site is generally a dark environment. In one embodiment, stereoscopic vision from the two cameras 172 can be used to determine the distance between the projection device 100 and a reference point. In the same or another embodiment, one camera 172 can be used to track moving objects, and the other camera can be used to generate a 3D map and / or measure the brightness of the surface.

[0029] Several embodiments of the projection device 100 are adapted to measure or evaluate the flatness of surfaces such as floors, walls, and ceilings at a construction site. In one embodiment, two cameras 172 (and optionally additional cameras) capture images of the floor at the same location at the construction site, and the SoC 116 performs homography calculations to calculate the flatness and / or elevation of the floor based on these images. In another embodiment, a distance meter 158 takes three or more distance measurements from the projector head 150 to a location on the floor at the construction site and records the angular position associated with these measurements. The SoC 116 calculates the average elevation of the floor based on these measurements. In a further embodiment, a LiDAR sensor (not shown) is integrated into the projection device 100. The LiDAR sensor scans the construction site to generate a 3D point cloud representing the construction site, including the floor. The SoC 116 calculates the flatness and elevation of the floor based on the 3D point cloud.

[0030] The projector head 150 also includes an optical system, which includes a laser module 160, a galvanometer system 164, and a set of projection optics 166. The laser module 160 may be, for example, a continuous solid-state laser, but is intended to implement a variety of laser systems, including but not limited to pulsed lasers, HeNe lasers, and CO2 lasers. For example, but not limited to, the laser module 160 may be a 40 mW laser emitting at a wavelength of 532 nm.

[0031] The galvanometer system 164, also known as Garbo 164, is an electromechanical device, e.g., Cambridge Technology Inc.'s 6220H device, that includes two galvanometers 174 with integrated actuators. The galvanometer system 164 is communicably connected to the SoC 116 to receive commands from the SoC 116. The galvanometer system 164 delivers a light beam generated by the laser module 160 and incident on the galvanometer system 164 to a desired target at the construction site by changing the angle of the mirror relative to the incident beam angle. Instead of the galvanometer system 164, the projector head 150 may also include, or in addition to, an acousto-optic scanner, an electro-optic scanner, a resonant and polygon scanner. In addition, the galvanometer system 164 may also include more than one set of galvanometer scanners.

[0032] The projection optical system 166 in the illustrated embodiment includes a lens 168 and an aperture 169. Depending on the particular embodiment, more optical elements such as lenses and filters may also be included in the projection optical system 166. In some embodiments, the projector head 150 may omit lenses, depending on the details of the embodiment.

[0033] The optical system generally operates as follows: The SoC 116 calculates a set of vectors representing various points in the construction plan loaded into the projection device 100. Based on these vectors, the SoC 116 causes the laser module 160 to selectively emit a collimated laser beam onto the galvanometer system 164. Also based on these vectors, the SoC 116 selectively directs the laser beam to the galvanometer system 164 at a variable angle controlled according to commands from the SoC 116, based on the projection angle defined in the vectors and calculated based on the construction plan. The thus directed laser beam then passes through the optical system 166 and is projected by the optical system 166. The galvanometer system 164 rapidly sweeps the laser beam along an angle corresponding to the visualization that should be provided in the surrounding environment of the construction plan. Some embodiments of the projection device 100 are adapted to project a construction plan up to 10 meters or more and 10 meters or more in width from the projection device. The same or other embodiments can maintain an accuracy of ±3 mm for projected points on the construction plan in an ideal environment when projection is performed on a flat surface. The accuracy of the projected points on the construction plan may be affected by various irregularities and / or human error at the construction site. Laser divergence (edge ​​to edge) is within 12 mm in most situations.

[0034] Figure 5 shows an overall schematic diagram of the projection device 100, including some of both mechanical and computational elements. It should be noted that this is merely one non-limiting embodiment, and in some cases, fewer, additional, and / or alternative components may be included. The embodiment in Figure 5 shows a projection device 100 including an SoC 116, a laser module 160 connected to the SoC 116 via a relay 180, a rangefinder 158, a camera 172, a remote controller, e.g., an HMI 190 wirelessly connected to the SoC 116, a Garbo driver 182 for a galvanometer 174, a memory device operatively connected to the SoC 116, e.g., flash memory 184, and a motor 140, which may be a servo motor, controlled by the SoC 116 to adjust the pitch axis of the projector head 150. For example, but not limited to, the Garbo driver 182 may be a Cambridge Technology 673 Series servo driver. A module including a driver 186 connected to a motor 187 (either a DC motor or a stepper motor) is operationally connected to the SoC 116 via analog signals. An encoder 188 provides a real-time display of the yaw axis of the projector head 150, and in response, the SoC 116 controls the switching circuit 186 and the stepper motor 187 to adjust the yaw axis of the projector head 150. If the pitch or yaw of the projector head 150 changes over time, the SoC 116 can recalculate the vector set in real time to adjust the projection of the construction plan accordingly.

[0035] In one embodiment, the projection device 100, specifically the SoC 116 and other computing systems within it, can perform file conversion. Conventionally, most construction plans are drawn using common commercially available software products such as AutoCAD®, Revit®, or Tekla Structures®. The output file formats of these software products are standard formats such as ".dwg", ".rvt", ".dxf", or ".dwf" files. In this embodiment, the construction plan is first converted to a predetermined proprietary format (referred to in this disclosure as the .msys or .mec file format) that can communicate with the projection device 100. This is mainly due to the fact that the original construction plan file contains many information elements that are not useful to the operator and can confuse the projected image. An example of such information elements is the dimensions displayed in the construction plan, which are not very useful when the construction plan is projected at actual size on the construction site. For this reason, the file is "cleaned up" or simplified to remove information elements that the operator deems unimportant before uploading it to the projection device 100. This "cleanup" can be automated in one embodiment. In particular, one feature of the projection device 100 is that it allows the operator to individually select components of the construction plan on the graphical user interface (GUI) of the HMI 190 and move them as desired, and the projection device 100 can modify the projection of the construction plan accordingly. Converting the construction plan to a proprietary format facilitates control of the file structure of the construction plan, and therefore makes it easier to modify the construction plan according to the operator's requests. Converting the construction plan to a proprietary format simplifies its operation, allowing the operator of the projection device 100 to modify elements of the construction plan, such as translating, rotating, resizing, adding, or deleting them. The calculation by the SoC 116 of the vector set used to represent various points in the construction plan and to control the laser module 160 and the galvanometer system 164 is also facilitated by this conversion. Cybersecurity is also enhanced by this conversion to a proprietary format.Construction plans are typically considered the customer's trade secrets and assets. The projection device 100, which converts construction plans into a proprietary format, is useful in preventing the unauthorized removal of construction plans.

[0036] Here, with reference to Figure 6, the operation method of the projection device 100 will be described. In Figure 6, sequence 200 includes several operations, some of which can be performed in a variable order, some of which may be performed simultaneously, and some of which are optional. Sequence 200 begins with operation 210, which involves setting up the projection device 100 at the construction site. The operator removes the components of the projection device 100 from the carrying case. The operator then assembles the projection device 100 by fixing the casing 110 to the tripod 102. The operator can then manually level the projection device 100 by adjusting the tripod 102. In some embodiments, the operator can also instruct the projection device 100 to automatically level itself via the HMI 190. In these embodiments, encoders (an example of which is shown in Figure 12) can be integrated into the projection device 100 and their measurements can be provided to the SoC 116. The SoC116 can use these measurements to instruct motors 140 and 187 to adjust the pitch and yaw of the projector head 150.

[0037] Sequence 200 proceeds to operation 220, where the desired construction plan, such as a floor plan, is selected. The operator selects the floor plan to be projected via HMI 190. Before use, one or more floor plans are uploaded to the memory device of the projection device 100 via either a USB key or wireless communication such as WiFi or 4G.

[0038] Sequence 200 proceeds to operation 230, which involves measuring reference points present at the construction site. The operator can have the projection device 100 automatically find and measure the reference points, determine its own position in the space within the construction site, and calculate its position and orientation. Alternatively, the operator can use the HMI 190 to operate the projection device 100 and determine its position within the construction site. In either case, the projection device 100 can transfer the resulting position and orientation to the HMI 190 for display on the GUI.

[0039] In one embodiment, the projection device 100 can operate in a fixed position and orientation. In another embodiment, the projection device 100 may be configured to change its orientation to continuously project distinct portions of a construction plan onto distinct areas of a construction site. Thus, sequence 200 can proceed to operation 242, for example, to manually control the orientation of the projection device 100 by using a joystick or the directional pad portion of the HMI 190. Alternatively, in operation 244, one or both of the cameras 172 can automatically track the changing position of a reference device worn by the operator, and the projection device 100 can orient itself accordingly. For manual control of the projection device 100 in operation 242, the operator may have the option to turn off all windings of the motor 140 (Figure 4) before operating the projection device 100 to the desired orientation. It is also intended that the device may have a scope aligned with its optical path (the optical path of the projection and the optical path of the distance meter 158) that can be used by the operator to make accurate measurements, similar to a total station instrument used by a surveyor. In one embodiment, the operator selects one of two available control modes. The operator can control the projection device 100 to remain in a fixed orientation until a command is received from the HMI 190. Alternatively, the operator can configure the projection device 100 to continuously track the changing position of a reference object being worn by the operator. In the latter case, as the operator's angular position changes at the construction site, the projection device 100 adjusts its projection accordingly to match the portion of the floor plan being projected.

[0040] Sequence 200 proceeds to start projection in operation 250. The projection device 100 determines its own position at the construction site and projects all or part of the selected floor plan according to the spatial and angular position of the projection device 100 at the construction site and according to the plan to be projected. The operator can start or stop projection by the projection device 100 by interacting with the HMI 190. The operator can also interact with the HMI 190 and modify the floor plan through the HMI 190. In particular, the operator can translate, rotate, resize, add, or delete entities. This can be especially useful when the construction plan and the construction environment at the construction site differ from each other. Changes made to the floor plan can be saved to the new floor plan without affecting the original floor plan. In any case, the changes can be immediately reflected in the laser projection. The HMI 190 can also provide commands to increase or decrease the brightness of the laser projection. However, it should be noted that safety considerations may take precedence when it comes to commands to increase the brightness of the laser projection. In one embodiment, a laser safety module 196 (Figure 10) can be provided, intended to prevent eye damage that may be caused by laser projection in various situations. This laser safety module 196 can limit the brightness of the laser projection regardless of commands from the HMI 190. The laser safety module 196 is described in more detail below.

[0041] Referring to Figure 7, the operation of the projection device 100 is described here. In Figure 7, sequence 300 includes multiple operations, some of which can be performed in a variable order, some of which may be performed simultaneously, and some of which are optional. Sequence 300 begins with the automatic or manual calibration of the motor 140 and the horizontal adjustment of the projection device 100 in operation 310. The horizontal adjustment of the projection device 100 may include, for example, adjusting one or both of the pitch and yaw of the projector 150, depending on the specifics of the construction site and the task at hand. In this regard, it should be noted that the term “horizontal adjustment” does not necessarily mean positioning the projector head 150 in a horizontal orientation. The calibration protocol can be initiated by the operator through the GUI on the HMI 190. According to the calibration protocol, the projection device 100 follows a set of instructions to ensure that all of its components are properly calibrated. This may include, but is not limited to, the use of stepping motors, a set of cameras, a rangefinder, and horizontal adjustment tools.

[0042] Sequence 300 proceeds to detect a reference point at the construction site in operation 320, and to measure the distance from the reference point to the projection device 100 in operation 330. Next, sequence 300 proceeds to determine the coordinates of the projection device 100 in operation 340.

[0043] The operator can use the GUI on the HMI 190 to have the projection device 100 automatically determine its own position at the construction site. Alternatively, the positioning process of the projection device 100 can be performed manually. When performed automatically, the projection device 100 searches for known reference points present at the construction site with the help of computer vision or other technologies. The projection device 100 measures the distance to the reference points by using the rangefinder 158 to determine its own position relative to the reference points, for example, using trilateration or other mathematical calculations.

[0044] The projection device 100 can incorporate other techniques to measure the distance to a reference point. For example, one embodiment of the projection device 100 can use a 3D point cloud generated by the LiDAR sensor described above. In this embodiment, the LiDAR sweeps the area of ​​the construction site to generate a 3D point cloud. The SoC 116 manipulates and transforms the contents of the 3D point cloud to generate an outline of the construction site. The outline is then converted into vectors and coordinates by the SoC 116, which are mathematically compared with the construction plan to determine the position of the projection device 100. In this embodiment, the position of the projection device can be defined at a broader level by further using information pointing to the area of ​​the construction plan, which is input into the HMI 190 by the operator.

[0045] Next, sequence 300 may proceed to operation 350 to determine whether the construction drawing file is in the correct format. In one embodiment, before projecting the construction plan, the projection device 100 may read the file format and determine whether it is a proprietary format (such as a .mec or .msys file). In this embodiment, if the file is not in the proprietary format, the projection device 100 may display an error message on the GUI on the HMI 190 in operation 355. Sequence 300 is intended to terminate after operation 355. Alternatively, sequence 300 is also intended to proceed to operation 360 after operation 355. In one embodiment, operations 350 and 355 are further intended to be omitted.

[0046] Next, sequence 300 adapts the projection of the construction site by determining the projection zone in operation 360, and proceeds to project the construction plan onto the determined projection zone in operation 370. Depending on the position and orientation of the projection device 100, the complete construction plan or a portion thereof can be projected. During operations 360 and 370, the projection device 100 can continuously project the construction plan in its initial orientation while remaining in a fixed orientation. The projector head 150 can be moved while the construction plan is being projected. These movements can be performed manually by the operator or via commands from the HMI 190 to change the pitch and / or yaw of the projector head 150. Pitch encoder 406 and yaw encoder 410 (Figure 8) can provide real-time measurement of the orientation of the projector head 150 relative to the SoC 116. Alternatively or in addition, the projection device 100 can continuously track and follow the changing position of a reference device worn by the operator (or site supervisor, if applicable) and correct the orientation of the projector head 150 accordingly. Stereoscopic imaging from two cameras 172 or other tracking technologies can detect the movement of a reference device worn by the operator. In any case, the projection device 100 can dynamically adjust the projection in real time according to the construction plan, the construction site, and the changing orientation of the projection head 150. In one embodiment, the projection device 100 can refrain from adjusting the projection for small movements of the reference device or small movements of the projection device.

[0047] As disclosed herein, various embodiments of projection devices and methods for operating them for displaying construction plans can be envisioned. Such embodiments may include modifications of projection devices having the casing 400 shown in Figure 8 or the casing 500 shown in Figure 9.

[0048] As shown in Figure 8, the casing 400 supports the laser module 160. The horizontal adjustment system supporting the laser module 160 comprises a pitch encoder 406, a pitch motor 408, a yaw encoder 410, and a yaw motor 412. The pitch of the projector head 150 can be adjusted under the control of the SoC 116, which receives a real-time signal from the pitch encoder 406 and provides a control signal to the pitch motor 408. The yaw of the projector head 150 can be adjusted under the control of the SoC 116, which receives a real-time signal from the yaw encoder 410 and provides a control signal to the yaw motor 412. The pitch motor 408 and the yaw motor 412 may be stepping motors, but are not limited to these. Once the pitch and yaw of the projector head 150 are adjusted, the light guided by the galvanometer 174 is directed to a selected zone within the construction area. In one embodiment, the pitch and yaw of the projector head 150 can be adjusted continuously. The camera 172 and rangefinder 158 are mounted on a camera module 414, which is itself mounted on a laser module 160, so that the camera 172 and rangefinder 158 directly track the orientation of the galvanometer 174. The camera 172 may be capable of tracking a reference device at a distance of 50 meters or more. The camera 172 may include a motorized lens for autofocusing on long-range targets, for example, up to 150 meters away. In one embodiment, the projection device 100 can transfer the image captured by the camera 172 for display on the HMI 190.

[0049] The casing 500 shown in Figure 9 is another modification supporting components similar to those previously described in this disclosure. The casing 500 includes a support 502 mounted on the laser module 160 and supporting a rangefinder 158 and a camera 172. The casing 500 also supports a laser alignment device 504 controlled by the SoC 116 and is operable to adjust the pitch of at least the laser module 160 and the support 502.

[0050] Figure 10 is a block diagram of a projection device and its environment according to another embodiment of the present technology. In the illustrated embodiment, SoC116 is the central part of the projection device 100. It is connected to the HMI190 via wireless communication using, for example, WiFi, 4G, or 5G protocols, to peripheral devices 192 via serial communication protocols, to a database 194, and to a laser safety module 196.

[0051] Peripheral equipment 192 may include motors 140 and 187, a laser module 160, a galvanometer 174, a rangefinder 158, and a camera 172.

[0052] SoC192 can use the Structured Query Language (SQL) protocol to retrieve construction plans from database 194, verify customer accounts stored in database 194, and store logs of changes made to the construction plans during the use of projection device 100 in database 194.

[0053] HMI190 may be connected to a user interface application entity 198 that defines parameters for displaying the construction plan, interaction between the operator and the displayed construction plan, and generally for controlling the projection device 100.

[0054] Figure 11 is a flowchart illustrating the operation of dynamic laser projection according to one embodiment of the present technology. In Figure 11, sequence 700 includes multiple operations, some of which can be executed in a variable order, some of which may be executed simultaneously, and some of which are arbitrary. Sequence 700 begins with operation 710 loading the construction plan of interest into the projection device 100. The construction plan, which may be in a proprietary format (.msys or .mec), is queried from the database 194 and stored in the memory device of the projection device 100.

[0055] Operation 720 determines the spatial position information of the projection device 100. This operation 720 makes it possible to determine the relative position of the projection device 100 with three (or more) reference points at the construction site, based on the measurement of the distance between the projection device 100 and the reference points. In one embodiment, trilateration is used in operation 720. More specifically, distance measurements are performed on three or more reference points by a distance meter 158. For each distance measurement, the angular position is read from the pitch axis encoder 406. The measured distances are mathematically projected onto the ground surface to determine the two-dimensional (2D) distance between the projection device 100 and the reference points. Three (or more) 2D distance values ​​are used to calculate the position of the projection device 100 along two horizontal axes (X, Y). The position of the projection device 100 can be further evaluated along a third vertical axis (Z) if one or more of the reference points are not on the ground surface. Instead of trilateration based on distance measurements performed by the rangefinder 158, it is intended that a 3D point cloud generated by LiDAR may be used by the SoC 116 to determine the spatial position of the projection device 100.

[0056] In operation 730, potential keystone effects can be compensated for. For this purpose, the SoC 116 can read the current pitch and yaw angular positions of the projector head 150 in real time from the pitch axis encoder 406 and the yaw axis encoder 410. The SoC 116 can then use the pitch and yaw angular positions of the projector head 150 to generate an equivalent vector set that has been modified from the vector set initially calculated based on the construction plan. This equivalent vector set is used to compensate for the projection of the construction plan with respect to potential keystone effects.

[0057] Operation 740 may include selecting the portion of the construction plan to be displayed on the projection zone of the construction site. To define the projection zone, the boundaries of the field of view of the projection device 100 are evaluated by the SoC 116, at least partially based on the position of a reference point. The SoC 116 determines the lines of the construction plan that intersect these boundaries. The construction plan is clipped by removing any elements of the construction plan that would be located outside the projection zone. The SoC 116 then controls the laser module 160 and the galvanometer 174 to display the unclipped portion of the construction plan within the projection zone. In some situations, it is understood that the complete construction plan may be displayed at once when the construction plan does not contain any elements that extend beyond the field of view of the projection device.

[0058] In operation 750, projection of the construction plan at the construction site, or projection of a portion of the construction plan when the construction plan is clipped so that it fits within the field of view of the projection device 100, is initiated. The SoC 116 simultaneously generates control signals defined based on the vector set and communicated to the Garbo driver 182 for the galvanometer 174, and other control signals communicated to the laser module 160. These control signals can be converted from a digital format to an analog format sent out by the SoC 116, as described in Figure 12. In one embodiment, the SoC 116 can recalculate the vector set and generate hundreds of such signals for each rotation of the galvanometer 174.

[0059] The projection device 100 can be used at will at construction sites where reference points are unavailable. In one embodiment, the position information of the projection device 100 can be manually entered by the operator using the HMI 190. Alternatively, if the position of the projection device 100 is unavailable, the operator can cause the projection device to perform at least operations 720 and 750 so that the construction plan is projected onto the construction site, although this projection is highly inaccurate in most situations. The operator can then move the projection device 100 to illuminate a desired area of ​​the construction site, select a portion of the construction plan that matches the area of ​​the construction site illuminated by the projection device 100 using the HMI 190, and translate, rotate, and / or scale the projected image to fit within the projection area and adjust the focus of the projection. Once these adjustments are made to the operator's satisfaction, the HMI 190 can provide a command to the projection device 100 to store the current settings in a memory device.

[0060] Figure 12 is a logic diagram of the hardware architecture of a projection device according to another embodiment of the present technology. In this embodiment, the SoC116 is complemented by another microcontroller 420, for example, an Arduino Due, and a dedicated controller card 430, for example, a Cambridge Technology ScanMaster controller, among others. The microcontroller 420 and the dedicated controller card 430 are mainly used to offload some processing from the SoC116 and may be omitted in some implementations.

[0061] The microcontroller 420 acts as an interface for real-time exchange of digital signals between the SoC 116 and the stepping motor driver 422, which controls the pitch axis encoder 406 and the pitch axis motor 408, and the stepping motor driver 424, which controls the yaw axis encoder 410 and the yaw axis motor 412. A dedicated controller card 430 is connected to the TCP / IP socket of the SoC 116 and converts the control signals of the SoC 116 for the laser module 160 into analog control signals applied to the laser module 160. The dedicated controller card 430 also transfers the digital control signals of the SoC 116, which are intended to control the galvanometer 174, to a high-precision digital-to-analog converter (DAC) 432, for example, a 16-bit DAC. The DAC 432 converts these control signals into analog signals with equivalent 16-bit precision. The analog signals are applied to the Garbo driver 182, which operates the galvanometer 174. In one embodiment, the illustrated Garbo driver 182 can be replaced with another Garbo driver capable of receiving control signals in a digital format, such as the XY2-100 from Newson Engineering. In this embodiment, the DAC432 may be omitted.

[0062] A communication module 440, integrated into the projection device 100 and communicatively coupled to the SoC 116, enables the SoC 116 to wirelessly communicate with an external database 442 implemented on a website using a 4G or 5G connection. The SoC 116 can query the database 442 to obtain software upgrades for the operation of the projection device 100 and access construction plans and client accounts, etc. Communication between the SoC 116 and the HMI 190 can be performed via a WiFi connection using a REST Application Programming Interface (API). The use of other communication protocols, such as Bluetooth or a wired connection, is also conceivable.

[0063] A laser safety module 196 may be provided for the eye safety of personnel at a construction site. The laser safety module 196 is connected to the laser module 160 and adapted to dynamically control its operation. For example, the laser safety module 196 can interrupt the laser module 160 when the presence of a person is detected near the projection device 100 or when a malfunction is detected in the projection device 100. The laser safety module 196 can also dynamically attenuate the intensity of the laser module 160 to maintain the brightness of the projected construction plan within a safe level.

[0064] More specifically, the laser safety module 196 includes a real-time monitoring function for signals provided by proximity detectors when detecting a person in the optical path of the projection device 100 and a person in close proximity to the projection device 100. The laser safety module 196 implements an emergency laser shutdown function that interrupts the operation of the laser module 160 when the signal from the proximity detector is interpreted as a safety issue for that person. One of the cameras 172 can act as a proximity detector and provide an image used to detect the presence of a person near the projection device 100. In one embodiment, the laser safety module 196 may be directly connected to the laser module 160 so that laser emission can be quickly interrupted without requiring intervention by the SoC 116. In one embodiment, the signal from the proximity detector may indicate the distance between the person and the projection device 100, and the laser safety module 196 may consider the output level of the laser module 160 and the distance between the person and the projection device 100 to determine whether the person poses a safety issue. When the proximity detector detects the presence of a person who is near the projection device 100 but outside its optical path, for example, when the person is standing behind the projection device 100, control of the laser module 160 is also intended.

[0065] The laser safety module 196 can also receive fault indications from various components of the projection device. For example, a fault indication may be received from the Garbo driver 182 when the galvanometer 174 ceases to function normally, causing the projection device 100 to direct the laser beam to a single point according to the fixed position of the galvanometer. Other fault indications may be received from the SoC 116, for example, related to damage to the casing 110 or projection optics 166 that could cause the laser beam to leak in various directions. Another example of a fault indication may be related to a software failure in the SoC 116 or a communication error between the SoC 116 and other components of the projection device 100. The laser safety module 196 may interrupt the operation of the laser module 160 in response to any fault indication.

[0066] The laser safety module 196 is configured to assess the risk of eye damage caused by light emitted by the projection device 100 to people at the construction site. This risk is assessed in terms of the brightness of the construction plan projection and in terms of safety thresholds based on scientific data related to the safety level of the retina exposed to the laser light source. The brightness of the construction plan projection is calculated based on the output intensity (mW) of the laser module 160, taking into account the size of the aperture 169 and the type of laser, including its wavelength. The laser safety module 196 can further estimate the brightness of the projection at the construction site by taking into account one or more of the following: the number of lines on the construction plan projection, the length of the lines, the total length of the lines, the intersections of the lines, the ambient brightness, and the number of jumps in the construction plan projection. These parameters enable the laser safety module 196 to assess the brightness of the laser projection in any given area of ​​the projected construction plan. Information regarding the maximum output level and other characteristics of the laser module 160 can be stored in a memory device connected to the SoC 116. It is also intended that a reference table based on scientific data related to the safety level of the retina exposed to the laser light source be stored in the memory device. The information stored in this memory device can be preloaded into the laser safety module 196 when the projection device 100 is first powered on. The laser safety module 196 dynamically controls the laser module 160 by attenuating its intensity until the brightness of the projection of the construction plan falls below a safe level of retinal exposure. In one embodiment, the laser safety module 196 controls the brightness of each line on the projection of the construction plan to dynamically maintain the brightness density of the projection in any given area of ​​the projected construction plan below a safe level of retinal exposure.

[0067] Referring again to Figure 10, a feedback loop may be implemented between the laser safety module, the SoC 116, and the peripheral equipment 192 housing the laser module 160, so that the emission intensity of the laser beam is maintained at a safe level in any area of ​​the projected construction plan.

[0068] Several embodiments of the projection device 100 are made to comply with relevant standards and operating criteria. In particular, the projection device 100 is adapted to withstand environmental problems at construction sites, including accidental impacts, occasional rain, prolonged use in high or freezing temperatures, and prolonged exposure to sunlight. For example, the projection device 100 may be impact-resistant, waterproof, dustproof, and / or water-resistant. Specifically, the projection device 100 may comply with the NEMA (National Electrical Manufacturers' Association) IP55 specification and / or meet the IK08 rating defined in European standard EN62262. The projection device 100 may further comply with various DFMA (Design for Manufacturing and Assembly) guidelines.

[0069] Figures 13 and 14 show a side view and a top view, respectively, of the laser projection size obtained using the projection device 100. The numerical values ​​shown in Figures 13 and 14 are typical and do not limit the disclosure. Dimensions are in millimeters, except for angles in degrees.

[0070] In a typical use case, the projection module 100 is mounted on its tripod 102 and stands 1700 mm above floor level, and the height and position of this projection module 100 above floor level define the origin of the projection reference point. The pitch angle of the projector head 150 is set 29 degrees below horizontal, as it is desirable to project the construction plan onto the floor. The optical galvanometer 174 has an optical range of 80 degrees in both the horizontal and vertical directions. In Figure 14, this range is divided into 40 degrees to the left and right of the direct line from the projection module 100, defining the projection zone. With this pitch angle of the projector head 150, the maximum depth of the projection zone is approximately 23.8 meters, and the width of the projection zone at its maximum depth is approximately 18.5 meters on both sides of the direct line from the projection module 100. In Figure 13, the laser dots emitted by the projection device 100 when both optical galvanometers 174 are in their centered positions are located approximately 2.43 meters from the projection device 100. When the oscillometer 174 is pointed to its lowest angle, 40 degrees below the pitch angle of the projector head 150, the laser beam is 691 mm away from the projection device 100. Thus, a dead zone of 691 mm in depth is defined from the position of the projection device 100. The oscillometer 174 can be pointed 40 degrees above the pitch angle of the projector head 150, but if the angle of the oscillometer 174 is set too high, the projection device 100 will emit its laser beam horizontally over an infinite distance. In practice, the oscillometer 174 may be a controller that rises up to 25 degrees above the center so that the laser beam is aimed 4 degrees below the horizontal when taking into account the pitch angle of the projector head 150. When the oscillometer 174 rises to 25 degrees, the laser beam can reach a point on the floor at approximately 23.8 meters (shown in Figure 14).

[0071] The projection device 100 may be capable of projecting the construction plan onto a projection zone, which is exemplified as a triangle in Figure 14. However, the projection device 100 may be operated to limit the projection zone to a smaller size, which allows for easier control of the accuracy of the projection.

[0072] Those skilled in the art will notice that the description of the projection device for displaying construction plans and its operation is merely illustrative and not intended to be limiting in any way. Other embodiments will be readily apparent to those skilled in the art who are interested in this disclosure. Furthermore, the disclosed projection device and operation can be customized to provide a valuable solution to existing needs and problems related to inaccuracies, wasted time, and wasted effort at construction sites. For clarity, not all conventional features of implementations of projection devices and operation methods are shown and described. In particular, the combinations of features are not limited to those presented in the above description, as the combinations of elements enumerated in the appended claims form an integral part of this disclosure. Of course, the development of such actual implementations of projection devices and operation methods will require numerous implementation-specific decisions, such as compliance with application-related, system-related, network-related, and business-related constraints, in order to achieve developer-specific goals, and these specific goals will differ from implementation to implementation and from developer to developer. Furthermore, while development efforts can be complex and time-consuming, it will nevertheless be understood as routine engineering work for those skilled in the art of projection devices who are interested in this disclosure.

[0073] According to this disclosure, the components, process operations, and / or data structures described herein may be implemented using various types of operating systems, computing platforms, network devices, computer programs, and / or general-purpose machines. In addition, those skilled in the art will recognize that less general-purpose devices such as hardwired devices, field-programmable gate arrays (FPGAs), and application-specific integrated circuits (ASICs) may also be used. When a method including a series of operations is implemented by a computer, the processor may be operationally connected to a memory device or machine, and these operations may be stored as a series of instructions readable by the machine, processor, or computer, and stored on a non-transient tangible medium.

[0074] The systems and modules described herein may include software, firmware, hardware, or any combination of software, firmware, or hardware suitable for the purposes described herein. The software and other modules may be executed by a processor and reside on the memory devices of servers, workstations, personal computers, computerized tablets, personal digital assistants (PDAs), and other devices suitable for the purposes described herein. The software and other modules may be accessible via local memory devices, networks, browsers or other applications, or by other means. The data structures described herein may include computer files, variables, programming arrays, programming structures, or any electronic information storage scheme or method, or any combination thereof, suitable for the purposes described herein.

[0075] This disclosure is described above herein by non-limiting exemplary embodiments provided as examples. These exemplary embodiments can be freely modified. The scope of the claims should not be limited by the embodiments described in the examples, and should be given the broadest interpretation consistent with the overall description.

Claims

1. A projection device for displaying a construction plan, Projector head and Laser safety module and Memory devices and, Controller and Equipped with, The aforementioned projector head is A set of projection optics, Laser module and Two galvanometers, each comprising a first galvanometer configured to redirect incident light from the laser module toward a second galvanometer, and a second galvanometer configured to redirect incident light from the first galvanometer toward a set of projection optics, Equipped with, The laser safety module is operationally connected to the laser module, The memory device is adapted to store one or more construction plans. The controller is operationally connected to the laser module, the two oscillometers, the laser safety module, and the memory device, and the controller performs the following operations: Select the construction plan to be displayed from the aforementioned memory device; Selectively activate the aforementioned laser module; By directing the first and second optical galvanometers to follow a path defined by the selected construction plan at the same time as the selective activation of the laser module, the incident light, redirected toward the projection optical system, selectively forms a projection of the construction plan onto the construction site. Adapted to perform, The laser safety module performs the following operations: Calculate the safety level of the retina when exposed to laser light; The brightness of the projection of the construction plan is estimated by considering one or more of the following: the number of lines on the projection of the construction plan, the length of the lines, the total length of the lines, the intersections of the lines, the ambient brightness of the construction site, and the number of jumps of the laser beam in the projection of the construction site; The operation of the laser module is dynamically controlled by attenuating the intensity of the projection of the aforementioned construction plan until its brightness falls below the safe level of retinal exposure. Configured to execute Projection device.

2. The projection apparatus according to claim 1, further comprising a support structure, wherein the projector head is selectively connected to the support structure.

3. The projection device further includes a distance meter, The distance meter is operationally connected to the controller and is adapted to measure the distance between the projection device and a reference point placed at the construction site. The aforementioned controller performs the following operations: The measured distance between the projection device and the reference point is received; Based on the measured distance between the projection device and the reference point, the position and orientation of the projection device within the construction site are calculated. The projection apparatus according to claim 1 or claim 2, further configured to perform the following:

4. The projection apparatus according to claim 3, wherein the controller is further configured to adapt the projection of the selected construction plan to a projection zone determined considering the position and orientation of the projection apparatus within the construction site.

5. The controller is further comprising a first camera that is operationally connected to the controller and adapted to track the changing position of a moving reference point, The projection device according to claim 4, wherein the controller is further configured to adapt the projection of the selected construction plan in consideration of the changing position of the moving reference point.

6. The controller further comprises a second camera that is operationally connected to the controller, and the controller further comprises Based on the image provided by the aforementioned camera, the brightness of the construction site is detected. The output level of the laser module is adjusted according to the brightness of the construction site. A projection apparatus according to any one of claims 1 to 5, configured as described above.

7. The projection apparatus according to any one of claims 1 to 4, further comprising two or more cameras operationally connected to the controller and adapted to capture images of the floor of the construction site, wherein the controller is further configured to calculate at least one of the flatness and height of the floor of the construction site based on the images of the floor provided by the two or more cameras.

8. The projection apparatus according to any one of claims 1 to 7, wherein the controller is a system-on-a-chip.

9. The projector head is further equipped with a horizontal adjustment system, The projection apparatus according to any one of claims 1 to 8, wherein the controller is further configured to cause the horizontal adjustment system to correct the pitch axis or yaw axis of the projector head, or both the pitch axis and the yaw axis.

10. The aforementioned horizontal adjustment system A pitch encoder adapted to measure the pitch of the projector head, A pitch motor adapted to adjust the pitch of the projector head, A yaw encoder adapted to measure the yaw of the projector head, A yaw motor adapted to adjust the yaw of the projector head, The projection apparatus according to claim 9, further comprising, wherein the controller is configured to receive measured values ​​from the pitch encoder and the yaw encoder in order to control the pitch motor and the yaw motor, respectively.

11. The projection apparatus according to claim 10, wherein the controller is further configured to adapt the projection of the selected construction plan to changes in the pitch or yaw or both of the pitch and yaw of the projector head.

12. A pitch encoder adapted to measure the pitch of the projector head, A yaw encoder adapted to measure the yaw of the projector head, Furthermore, The projection apparatus according to any one of claims 1 to 8, wherein the controller is further configured to adapt the projection of the selected construction plan to changes in the pitch, yaw, or both of the pitch and yaw of the projector head.

13. The controller further comprises a human-machine interface (HMI) that is communicably connected to the controller, and the HMI is A command to calibrate the aforementioned projection device, Commands for controlling the orientation of the projection device, A command to cause the projector head to perform self-leveling, A command to start searching for reference points placed at the aforementioned construction site. Command to select the aforementioned construction plan, A command to start projecting the construction plan at the aforementioned construction site, A command to increase the brightness of the projection. Command to reduce the brightness of the projection. A command to stop projecting the construction plan at the aforementioned construction site. Command to modify the selected construction plan, The projection device according to any one of claims 1 to 12, configured to transfer one or more commands selected from to the projection device.

14. The projection apparatus according to claim 13, wherein the HMI is communicated to the controller via a wireless connection.

15. The projection apparatus according to claim 13, wherein the HMI is communicated to the controller via a wired connection.

16. The projection apparatus according to claim 13, wherein the HMI is integrated with the projection apparatus.

17. The aforementioned controller further, The format of the selected construction plan is verified, If the selected construction plan does not conform to the prescribed format, an error message will be displayed on the HMI. A projection apparatus according to any one of claims 13 to 16, configured as described above.

18. The aforementioned controller further, The format of the selected construction plan is verified, If the selected construction plan does not conform to a predetermined format, the projection of the construction plan at the construction site will be prevented. A projection apparatus according to any one of claims 1 to 16, configured as described above.

19. The projection device according to claim 3, further comprising a human-machine interface (HMI) communicably connected to the controller, wherein the HMI is configured to receive the calculated position and orientation of the projection device within the construction site from the controller and to display the calculated position and orientation of the projection device within the construction site.

20. The projection apparatus according to claim 1, wherein the laser safety module is adapted to receive a fault indication from a component of the projection apparatus and to interrupt the laser module in response to the fault indication.

21. The projection apparatus according to claim 20, wherein the fault indication relates to a fault in one or both of the two spectroscopy flowmeters.

22. The projection apparatus according to claim 20, wherein the fault indication relates to damage to the projection optical system or damage to the casing housing the projector head.

23. The projection apparatus according to claim 20, wherein the fault indication relates to a software fault or communication fault reported by the controller.

24. The laser safety module further comprises a proximity sensor operatively connected to the laser safety module, and the laser safety module is The proximity sensor receives a signal indicating the presence of a person in the vicinity of the projection device. When the laser safety module interprets a signal indicating the presence of a person near the projection device as a safety issue for that person, it interrupts the laser module. The projection apparatus according to claim 1, configured as described above.

25. The signal indicating the presence of a person in the vicinity of the projection device includes the distance between the person and the projection device. The laser safety module determines whether there is a safety issue for the person, taking into consideration the output level of the laser module and the distance between the person and the projection device. The projection apparatus according to claim 24.

26. The laser safety module, The projection apparatus according to claim 1, which controls the brightness of each line on the projection of the construction plan in order to dynamically maintain the brightness density of the projection in any given area on which the construction plan is projected below a safe level of retinal exposure.

27. In a projection device for displaying construction plans, It is a projector head, A set of projection optics, Laser module and A laser safety module operatively connected to the aforementioned laser module, A galvanometer system adapted to direct incident light from the laser module onto the set of projection optics, A yaw encoder adapted to detect the yaw of the projector head in real time, A pitch encoder adapted to detect the pitch of the projector head in real time, A projector head equipped with, A memory device adapted to store one or more construction plans, A controller that is operationally connected to the laser module, the galvanometer system, the yaw encoder, the pitch encoder, the laser safety module, and the memory device, Select the construction plan to be displayed from the aforementioned memory device, Selectively activate the aforementioned laser module, Simultaneously with the selective activation of the laser module, the galvanometer system is selectively directed to follow a path defined by the selected construction plan so that the incident light directed to the projection optical system selectively forms a projection of the construction plan onto the construction site. The projection of the construction plan is adapted in real time according to changes in the yaw, pitch, or both of the yaw and pitch of the projector head, and the controller is configured accordingly. Includes, The laser safety module performs the following operations: Calculate the safety level of the retina when exposed to laser light; The brightness of the projection of the construction plan is estimated by considering one or more of the following: the number of lines on the projection of the construction plan, the length of the lines, the total length of the lines, the intersections of the lines, the ambient brightness of the construction site, and the number of jumps of the laser beam in the projection of the construction site; The operation of the laser module is dynamically controlled by attenuating the intensity of the projection of the aforementioned construction plan until its brightness falls below the safe level of retinal exposure. Configured to execute Projection device.

28. The controller is further equipped with a distance meter that is operationally connected to the controller and adapted to measure the distance between the projection device and a reference point located at the construction site, The memory device is further adapted to store the locations of known reference points at the construction site. The aforementioned controller further, The measured distance between the projection device and the reference point is received. Based on the known position of the reference point and the measured distance between the projection device and the reference point, the position and orientation of the projection device within the construction site are calculated. The projection of the selected construction plan is adapted to the projection zone determined considering the position and orientation of the projection device within the construction site. The projection apparatus according to claim 27, configured as described above.

29. The projection device according to claim 28, further comprising a camera operatively connected to the controller and adapted to track the changing position of a moving reference point, wherein the controller is further configured to adapt the projection of the selected construction plan in consideration of the changing position of the moving reference point.

30. In a projection device for displaying construction plans, It is a projector head, A set of projection optics, Laser module and A galvanometer system adapted to direct incident light from the laser module onto the set of projection optics, A projector head equipped with, A memory device adapted to store one or more construction plans, A controller that is operationally connected to the laser module, the galvanometer system, and the memory device, Select the construction plan to be displayed from the aforementioned memory device, Selectively activate the aforementioned laser module, Simultaneously with the selective activation of the laser module, the galvanometer system is selectively directed to follow a path defined by the selected construction plan so that the incident light, redirected toward the projection optical system, selectively forms a projection of the construction plan onto the construction site. A controller that is adapted to this, A laser safety module that is operationally connected to the aforementioned laser module, The laser safety module performs the following operations: Calculate the safety level of the retina when exposed to laser light; The brightness of the projection of the construction plan is estimated by considering one or more of the following: the number of lines on the projection of the construction plan, the length of the lines, the total length of the lines, the intersections of the lines, the ambient brightness of the construction site, and the number of jumps of the laser beam in the projection of the construction site; The operation of the laser module is dynamically controlled by attenuating the intensity of the projection of the aforementioned construction plan until its brightness falls below the safe level of retinal exposure. Adapted to perform Laser safety module and A projection device equipped with the following features.

31. The projection apparatus according to claim 30, wherein the laser safety module is adapted to control the brightness of each line on the projection of the construction plan at the construction site in order to dynamically maintain the brightness density of the projection in any given area of ​​the projected construction plan below a safe level of retinal exposure.

32. The projection apparatus according to claim 30 or 31, wherein the laser safety module is adapted to receive a fault indication from a component of the projection apparatus and to interrupt the laser module in response to the fault indication.

33. The laser safety module further comprises a proximity sensor operatively connected to the laser safety module, and the laser safety module is The proximity sensor receives a signal indicating the presence of a person in the vicinity of the projection device. When the laser safety module interprets a signal indicating the presence of a person near the projection device as a safety issue for that person, it interrupts the laser module. A projection apparatus according to any one of claims 30 to 32, configured as described above.

34. A method for operating a projection apparatus according to any one of claims 1 to 33, The process of loading the construction plan into the projection device, The process of placing the aforementioned projection device at the construction site, The process of starting the projection of the construction plan at the aforementioned construction site, A method that includes this.

35. The method according to claim 34, further comprising the steps of: calculating the position and orientation of the projection device within the construction site based on the measured distance between the projection device and the reference point; and displaying the resulting position and orientation on a graphical user interface (GUI).

36. The process of setting at least three reference points at the aforementioned construction site, The process of causing the projection device to calculate its own position and orientation at the construction site, The method according to claim 34, further comprising:

37. The method according to claim 35 or claim 36, further comprising the step of providing the projection device with a command to control the orientation of the projection device.

38. The method according to claim 35 or 36, further comprising the step of providing the projection device with a command to cause the projection device to track the moved position of a reference object, wherein the reference object has at least one reference point.

39. The method according to any one of claims 36 to 38, wherein the step of calculating the position and orientation of the projection device at the construction site includes the step of performing a trilateral survey of the projection device.

40. The method according to any one of claims 34 to 39, further comprising the step of providing the projection device with a command to adjust the pitch angle of the projector head, the yaw angle of the projector head, or the pitch angle and yaw angle of the projector head at the same time.

41. The method according to any one of claims 34 to 40, further comprising the step of calculating compensation for keystone effects for the projection of the construction plan at the construction site.

42. The method according to any one of claims 34 to 41, further comprising the step of converting the construction plan from a first format to a second format.

43. The method according to claim 42, wherein the first format includes the ".dwg", ".rvt", ".dxf", or ".dwf" file format, and the second format includes the ".msys" or ".mec" file format.

44. The method according to claim 42 or 43, wherein the construction plan to be converted from the first format to the second format includes a step of manipulating the contents of the construction plan.

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