Portable 2D Scanner and IMU for Rapid Floorplan Generation
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Solution Overview
Problem
Existing measurement systems for creating digital two-dimensional floorplans of environments are complex, require specialized personnel, and are often bulky, making them unsuitable for time-sensitive situations like crime or accident scene investigations.
Innovation Solution
A portable system with a 2D scanner and inertial measurement unit that generates annotated two-dimensional maps by moving to multiple registration positions, determining translation and rotation values, and merging data to create a grid map indicating occupancy probabilities, while being lightweight and operable by a single operator.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If existing measurement systems are used to generate digital floorplans, then measurement precision is improved, but device complexity and weight increase
Solution Approach 1:
The system divides the measurement function into two independent components: a 2D scanner for capturing coordinate data and an inertial measurement unit (IMU) for tracking device movement and orientation. This segmentation allows each component to be optimized independently, reducing overall system complexity while maintaining measurement precision.
Solution Approach 2:
The patent replaces complex mechanical scanning systems with a combination of optical 2D scanning and inertial sensing. Instead of using bulky mechanical structures to maintain positioning, the system uses the IMU to digitally track and compensate for device movement, eliminating the need for complex mechanical stabilization mechanisms.
2Measurement precision
If existing measurement systems are used to generate digital floorplans, then measurement precision is improved, but the system becomes bulky and harder to operate
Solution Approach 1:
The system replaces bulky mechanical positioning structures with a lightweight handheld device equipped with an inertial measurement unit. The IMU digitally tracks device motion and orientation, allowing the scanner to be held and moved freely by a single operator without requiring mechanical support structures or specialized personnel.
Solution Approach 2:
The handheld device integrates multiple functions into a single unit: the 2D scanner captures coordinate data, the IMU tracks device movement and orientation, and the processor combines these data streams to generate floorplans. This multi-functionality eliminates the need for separate positioning equipment and specialized operators, improving ease of operation while maintaining precision.
3Measurement precision
If existing measurement systems are used for time-sensitive situations, then measurement precision is improved, but loss of time increases due to setup complexity
Solution Approach 1:
By separating the scanning function from the positioning function, the system allows the 2D scanner to capture data continuously while the IMU independently tracks device motion. This eliminates the need for time-consuming setup and calibration procedures, enabling rapid deployment in time-sensitive situations while maintaining coordinate determination accuracy.
Solution Approach 2:
The system performs preliminary tracking of device position and orientation continuously during movement, rather than requiring setup at fixed positions. The IMU begins tracking immediately when the device is held, allowing the operator to start scanning without delay and capturing coordinates in real-time as the device moves through the environment.
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 efficient and accurate generation of two-dimensional floorplans in a portable and user-friendly manner, suitable for various applications including crime scene documentation and renovation planning.
Implementation Method 1
The 2D scanner is configured to sweep a beam of light in a horizontal plane
Implementation Method 2
a measurement device configured to be moved to a plurality of registration positions in the environment, the measurement device having a 2D scanner
Data Source
AI summary
Systems and methods of generating two-dimensional (2D) images of an environment are provided. The systems includes a measurement device and a processor configured to generate a 2D image of an environment based at least in part on a number of 2D scans, a first translation value, a first translation direction, a second translation value, a second translation direction, a first rotation value, and a second rotation value. Generating the 2D image further includes generating a grid map that includes a plurality of cells, each of the plurality of cells indicating a probability of a cell area being occupied.