Wearable Scanner Frame for Stable Indoor 3D Positioning
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Solution Overview
Problem
Current detection systems for capturing object spaces within buildings face challenges in real-time, accurate position determination and complete scanning due to limitations in satellite navigation, drift issues with inertial measurement units, and computational intensity of SLAM methods, making it difficult to create detailed, uninterrupted 3D models of large spaces.
Innovation Solution
A frame and spatial detection device that allows a scanning device to be carried by a person, featuring a shoulder rest and hip contact point for stabilization and weight distribution, equipped with multiple scanners and cameras for real-time 3D-SLAM with six degrees of freedom, enabling continuous scanning and accurate position determination without the need for recalibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a scanning device is mounted on a vehicle or aircraft for outdoor detection, then the detection system can achieve stable position determination using satellite navigation, but this approach cannot be applied inside buildings where no signal link to navigation satellites is available
Solution Approach 1:
The patent replaces satellite navigation (electromagnetic signal-based system) with inertial measurement units and odometry systems (mechanical/physical sensing systems) that do not require external signal links. This substitution enables the scanning device to determine its position autonomously using accelerometers, gyroscopes, and wheel encoders, making it suitable for indoor environments where satellite signals are unavailable.
Solution Approach 2:
The patent introduces intermediate positioning methods (odometry based on wheel rotation and inertial navigation based on accelerometer/gyroscope data) as mediators between the scanning device and the final position determination. These intermediary systems bridge the gap by providing continuous position estimates without requiring direct satellite signal links, enabling seamless operation both indoors and outdoors.
2Speed
If SLAM methods are used for position determination in real-time, then the system can provide rapid position updates for operator control, but the computational intensity makes it difficult to achieve both real-time performance and high accuracy
Solution Approach 1:
The patent segments the position determination task into multiple independent components: odometry-based position estimation, inertial navigation calculations, and SLAM-based refinement. Each component operates with different computational demands and accuracy levels, allowing the system to maintain real-time performance while achieving high accuracy through the combination of these segmented processing stages.
Solution Approach 2:
The patent applies partial SLAM processing in real-time to provide sufficient position accuracy for operator control, while reserving more computationally intensive full SLAM processing for post-processing. This partial action approach achieves the necessary real-time performance without requiring complete SLAM computation during active scanning operations.
3Adaptability or versatility
If the scanning device is carried by a person using a frame with shoulder rest, then the device can access difficult-to-reach spaces, but the weight and stability of the frame affect the ease of operation and scanning quality
Solution Approach 1:
The patent incorporates counterweight elements in the frame design, positioning heavy components (scanning devices, batteries, processing units) to balance the overall center of gravity. This counterbalancing reduces the effective weight felt by the operator and improves stability, making it easier to carry and operate the device in difficult-to-access spaces without compromising operator comfort or scanning quality.
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, real-time capture and stabilization of difficult-to-access spaces with improved manageability and accuracy, allowing for detailed 3D modeling of large areas without interruptions or recalibration, even in complex environments like construction sites or caves.
Implementation Method 1
a laser scanner is used in conjunction with several cameras. From the signals of the laser scanner and the images of the cameras, a point cloud is produced
Implementation Method 2
for each data element (point of the point cloud), the respective time stamp of the respective emitted laser pulse with the associated angular position within the rotation axis. Moreover, each of these data elements contains one or more values that are derived from one or more successively received reflection signals and give the distance of the respective reflecting surfaces
Data Source
AI summary
A frame for a scanning device includes a supporting device for fitting and carrying the frame by a person. The supporting device has a shoulder rest for placing the frame on the person's shoulders. The frame further includes an upper frame section, to which a first holder for the scanning device is fastened, with the first holder located above the person's head when the person is carrying the frame by means of the supporting device. The frame further has a contact part which is connected via a bracket to the shoulder rest, with the contact part located at the level of the person's hip region when the person is carrying the frame by means of the supporting device. A spatial detection device includes a scanning device and a frame.