US6917893B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Spatial data collection apparatus and method
Assignee: Omron Corp
•
Filing: 2003-03-14
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Granted: 2005-07-12
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Expires: 2023-03-14
Abstract
Abstract A spatial data collection apparatus collects and correlates spatial data for use in creating floor plans, maps and models of existing spaces. The apparatus includes a mobile platform with wheels to allow movement around a space. One or more positional sensors on the platform generate positional data related to a position of the platform. The positional data can include odometry data and optionally gyroscopic data for correcting the odometry data. One or more range-finding devices on the platform measure and calculate range data (e.g., 2-D or 3-D) relating to distances and angles between the platform and objects in the space. The apparatus collects, fuses and correlates the positional data and range data to produce spatial data and stores the spatial data for transfer to a PC for use in creating, viewing and/or editing a map of the space. The apparatus can also record media files (e.g., audio, video, or images) to be associated with locations within the map.
Inventors
- 👤 Jeanne Dietsch
- 👤 William Kennedy
- 👤 Matthew LaFary
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 20:31
CPC Classifications
G; G01; G01C; G01C15/00; G01C15/002
Claims Analysis
Total Claims: 8
Claim 1
Independent Claim
175 words
A spatial data collection apparatus comprising: a mobile platform; at least one wheel coupled to said mobile platform; at least one positional sensor located on said mobile platform for generating positional data related to a position of said mobile platform; at least one range-finding device located on said mobile platform for measuring and calculating range data relating to distances and angles between said mobile platform and objects; a computational device for collecting and correlating said positional data and said range data to produce spatial data, said computational device comprising: software drivers for transferring said positional data and said range data to said computational device; and software for collecting and time stamping said positional data and said range data and for interpolating positions of said mobile platform when said range data was taken to produce said spatial data and for storing said spatial data by logging said range data with said positional data representing said positions when said range data was taken; and a storage system connected to said computational device for storing said spatial data.
Claim 2
Dependent Claim
175 words
A spatial data collection apparatus comprising: a mobile platform; at least one wheel coupled to said mobile platform; at least one positional sensor located on said mobile platform for generating positional data related to a position of said mobile platform; at least one range-finding device located on said mobile platform for measuring and calculating range data relating to distances and angles between said mobile platform and objects; a computational device for collecting and correlating said positional data and said range data to produce spatial data, said computational device comprising: software drivers for transferring said positional data and said range data to said computational device; and software for collecting and time stamping said positional data and said range data and for interpolating positions of said mobile platform when said range data was taken to produce said spatial data and for storing said spatial data by logging said range data with said positional data representing said positions when said range data was taken; and a storage system connected to said computational device for storing said spatial data.
Claim 3
Dependent Claim
148 words
A spatial data collection apparatus comprising: a mobile platform; at least one wheel coupled to said mobile platform; at least one positional sensor located on said mobile platform for generating positional data related to a position of said mobile platform, said positional sensor further comprising at least one shaft encoder on said at least one wheel for generating odometry data; at least one range-finding device located on said mobile platform for measuring and calculating range data relating to distances and angles between said mobile platform and objects; a computational device for collecting and correlating said positional data and said range data to produce spatial data; software for collecting raw encoder data, converting said raw encoder data into an x, y, θ coordinate system, and for transferring said converted encoder data to said computational device; and a storage system connected to said computational device for storing said spatial data.
Claim 4
Dependent Claim
148 words
A spatial data collection apparatus comprising: a mobile platform; at least one wheel coupled to said mobile platform; at least one positional sensor located on said mobile platform for generating positional data related to a position of said mobile platform, said positional sensor further comprising at least one shaft encoder on said at least one wheel for generating odometry data; at least one range-finding device located on said mobile platform for measuring and calculating range data relating to distances and angles between said mobile platform and objects; a computational device for collecting and correlating said positional data and said range data to produce spatial data; software for collecting raw encoder data, converting said raw encoder data into an x, y, θ coordinate system, and for transferring said converted encoder data to said computational device; and a storage system connected to said computational device for storing said spatial data.
Claim 5
Dependent Claim
156 words
A spatial data collection apparatus comprising: a mobile platform; at least one wheel coupled to said mobile platform; at least one positional sensor located on said mobile platform for generating positional data related to a position of said mobile platform, said positional sensor further comprising an inertial measurement unit (IMU) for measuring radial motion of said mobile platform and generating IMU data used to correct said odometry data; at least one range-finding device located on said mobile platform for measuring and calculating range data relating to distances and angles between said mobile platform and objects; a computational device for collecting and correlating said positional data and said range data to produce spatial data; software for collecting raw encoder data, converting said raw encoder data into an x, y, θ coordinate system, and for transferring said converted encoder data to said computational device; and a storage system connected to said computational device for storing said spatial data.
Claim 6
Dependent Claim
156 words
A spatial data collection apparatus comprising: a mobile platform; at least one wheel coupled to said mobile platform; at least one positional sensor located on said mobile platform for generating positional data related to a position of said mobile platform, said positional sensor further comprising an inertial measurement unit (IMU) for measuring radial motion of said mobile platform and generating IMU data used to correct said odometry data; at least one range-finding device located on said mobile platform for measuring and calculating range data relating to distances and angles between said mobile platform and objects; a computational device for collecting and correlating said positional data and said range data to produce spatial data; software for collecting raw encoder data, converting said raw encoder data into an x, y, θ coordinate system, and for transferring said converted encoder data to said computational device; and a storage system connected to said computational device for storing said spatial data.
Claim 7
Dependent Claim
25 words
The spatial data collection apparatus of claim 3 wherein said computational device includes software for correcting discrepancies between said odometry data and said IMU data.
Claim 8
Dependent Claim
71 words
The spatial data collection apparatus of claim 4 wherein said computational device includes software for fusing said IMU data with said odometry data, for interpolating from said fused positional data positions of said mobile platform when said range data was taken to produce said spatial data, and for storing said spatial data by logging said range data with said fused positional data representing said positions when said range data was taken.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2008-07-11 | 2009-01-10 | 2009-07-12 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2012-07-11 | 2013-01-10 | 2013-07-12 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2016-07-11 | 2017-01-10 | 2017-07-12 | $7700.00 | Window Closed / Lapsed |