US 12,332,382 B2
Mobile apparatus and method for capturing an object space
Mandolin Maidt, Munich (DE); Andreas Goebel, Munich (DE); Stefan Romberg, Munich (DE); Georg Schroth, Munich (DE); Michael Jaschke, Munich (DE); Prashant Doshi, Munich (DE); Sarah Godoj, Munich (DE); Hernando Samuel Pinzon Holguin, Munich (DE); Matthias Wagner, Munich (DE); Humberto Alvarez-Heredia, Munich (DE); Neeti Tyagi, Munich (DE); Paul Zeller, Munich (DE); and Christian Werner, Munich (DE)
Assigned to NavVis GmbH, Munich (DE)
Appl. No. 17/045,259
Filed by NavVis GmbH, Munich (DE)
PCT Filed Apr. 8, 2019, PCT No. PCT/EP2019/058843
§ 371(c)(1), (2) Date Oct. 5, 2020,
PCT Pub. No. WO2019/193207, PCT Pub. Date Oct. 10, 2019.
Claims priority of application No. 10 2018 108 141.3 (DE), filed on Apr. 6, 2018.
Prior Publication US 2021/0132195 A1, May 6, 2021
Int. Cl. G01S 7/481 (2006.01); G01S 7/48 (2006.01); G01S 17/89 (2020.01)
CPC G01S 7/4817 (2013.01) [G01S 7/4808 (2013.01); G01S 7/4813 (2013.01); G01S 17/89 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A mobile apparatus for capturing an object space, having a frame,
at least one single scanner mounted on the frame, comprising:
a first emission unit for generating a first signal beam in a first emission direction,
a first receiver for detecting a first reflected ray generated by reflection of the first signal beam on at least one object of the object space, and
a first scanning device for changing the first emission direction of the first signal beam,
a multiple scanner mounted on the frame above the at least one single scanner, comprising:
a plurality of second emission units integrated in one component for generating a plurality of second signal beams in second emission directions,
a second receiver for detecting second reflected rays generated by reflections of the second signal beams on one or more objects in the object space, and
a second scanning device for changing the second emission directions of the second signal beams,
an evaluation device, which is coupled for data exchange at least to the second receiver and which is configured to generate and output in real time, at least from the second reflected rays detected by the second receiver, a graphical representation of a trajectory of the mobile apparatus, wherein in the graphical representation a region in which the mobile apparatus has been moved is indicated with a first color and a region in which the mobile apparatus can be moved is indicated with a second color, and
a data interface, which is coupled for data exchange at least to the first receiver and which is configured to output data that has been generated, at least from the first reflected ray detected by the first receiver, to a memory device for post-processing.