Mobile 3D Scanner Layout With Dual-Height Laser Scanners
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Solution Overview
Problem
Existing mobile capture systems struggle to capture large building interiors with high precision and continuity, especially when navigating uneven terrain or capturing objects at similar heights, and require complex post-processing due to limitations in real-time positioning and scanning.
Innovation Solution
A mobile apparatus with a single scanner positioned below a multiple scanner, allowing real-time 3D SLAM with six degrees of freedom, combined with high-precision single scanners for post-processing, ensures uninterrupted capture and precise modeling of building interiors, including objects at varying heights.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a mobile apparatus with multiple scanners is used to capture large building interiors, then the capture continuity and coverage are improved, but the device complexity increases
Solution Approach 1:
The scanning function is segmented into multiple independent scanners positioned at different heights. Each scanner captures data for a specific spatial zone, and the results are integrated in post-processing to form a complete 3D model, thereby improving capture continuity without requiring a single overly complex scanner
Solution Approach 2:
The system transitions from single-plane 2D scanning to multi-plane 3D scanning by positioning scanners at different vertical levels. This dimensional expansion allows simultaneous capture of multiple spatial zones, improving coverage and continuity while maintaining manageable individual scanner complexity
2Speed
If real-time position determination is performed using satellite navigation, then the positioning speed is improved, but the applicability indoors deteriorates
Solution Approach 1:
The system introduces laser range finders and odometry sensors as intermediary measurement devices that function independently of satellite signals. These intermediaries enable position determination indoors by measuring physical quantities like distance and wheel rotation, compensating for the absence of satellite navigation
Solution Approach 2:
The system replaces electronic satellite-based positioning with mechanical measurement systems (odometry using wheel encoders, laser ranging). This substitution enables indoor operation by relying on local mechanical measurements rather than remote electronic signals
3Device complexity
If a single scanner is used to reduce device complexity, then the device complexity is reduced, but the ability to capture objects at similar heights deteriorates
Solution Approach 1:
Different scanners are positioned at different vertical levels, each optimized for capturing specific height zones. The lower scanner captures objects at ground level, while the upper scanner captures objects at elevated positions, ensuring each scanner operates in its optimal measurement range for high precision
4Adaptability or versatility
If laser odometry is used for position determination, then the indoor positioning capability is improved, but the long-term accuracy deteriorates due to drift
Solution Approach 1:
The system uses laser range finders to continuously measure distances to fixed environmental features, providing feedback on position. This feedback mechanism detects and corrects cumulative drift in odometry measurements, maintaining long-term trajectory accuracy while preserving indoor positioning capability
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables real-time visualization and precise capture of building interiors with continuous scanning, overcoming height changes and capturing objects at similar heights, while reducing computational complexity and the need for post-processing adjustments.
Implementation Method 1
a laser scanner is used in combination with a plurality of cameras. A point cloud is generated from the signals of the laser scanner
Implementation Method 2
a laser beam is emitted by a mirror rotating about an axis in a plane in space
Data Source
AI summary
A mobile apparatus for capturing an object space includes a frame and at least one single scanner mounted on the frame and a multiple scanner mounted on the frame above the single scanner. This multiple scanner has a plurality of emission units integrated in one component, a receiver for detecting reflected rays, and a scanning device for changing the emission directions of the signal beams of the emission units. Furthermore, the mobile apparatus has an evaluation device which is designed to generate and output in real time, at least from the reflected rays detected by the receiver, a graphical representation of those areas of the object space through which the mobile apparatus can be moved and/or has been moved. Finally, the mobile apparatus has a data interface designed to output data to a memory device for post-processing. A corresponding method for capturing an object space is also disclosed.