Patent Publication Number: US-2017370720-A1

Title: Method for Detecting a Measurement Region in a Substrate

Description:
This application claims the priority of International Application No. PCT/EP2015/080983, filed Dec. 22, 2015, and European Patent Document No. 14200185.8, filed Dec. 23, 2014, the disclosures of which are expressly incorporated by reference herein. 
    
    
     BACKGROUND AND SUMMARY OF THE INVENTION 
     The present invention relates to a method for detecting a measurement region in a substrate. 
     A known apparatus for detecting objects in a substrate is disclosed in DE 20 2010 016 564 U1. The apparatus includes a detector device, a localization device, and a control device. The user moves the detector device over the substrate, wherein the detector device executes a series of measurements. During the measurement process, the localization device determines the current position of the detector device on a regular basis. The measurement data of the detector device and the position data of the localization device are transmitted to the control device, which allocates and stores the measurement and position data. The measurement and location data can be further processed by the control device and depicted on a screen, for example. 
     The object of the present invention is directed to a method for detecting a measurement region in a substrate. 
     According to one or more embodiments of the invention, the method for detecting a measurement region in a substrate by an apparatus, which includes a detector device having a detection field, a localization device, and a control device, is as follows:
         In a first step, one selects a measurement region to be detected having a start position and target coordinates, wherein the dimensions of the measurement region to be detected are greater than the detection field of the detector device,   In a second step, a current position of the detector device is determined using the localization device,   In a third step, a current detection field is determined by the control device from the current position of the detector device, and   In a fourth step, the start position of the measurement region to be detected is compared by the control device against the current detection field of the detector device.       

     The method according to the invention deals with detecting a measurement region in a substrate and detecting objects that are embedded in the substrate. The term “object” includes all elements that may be located in a substrate. Examples of objects, which are detected by the detector device, are power lines, broadcast cables, empty pipes, water lines, heating pipes, and reinforcing bars. 
     If the start position is located outside of the current detection field, an adjustment instruction for the detector device is calculated by the control device from the current position of the detector device and the start position of the measurement region to be detected and is depicted on a display device. The user is instructed by the adjustment instruction how the detector device is to be moved over the substrate. 
     If the start position of the measurement region to be detected is located within the current detection field, the control device issues a command to the detector device to execute at least one measurement in the substrate. The method has the advantage that the control device controls the initiation of the measurements. 
     If the start position of the measurement region to be detected is located within the current detection field, an adjustment instruction to stop the detector device is generated by the control device and depicted on a display device. In a particularly preferred embodiment, the control device issues a command to the detector device to execute at least one measurement in the substrate when the start position of the measurement region to be detected lies within the current detection field and does not move the detector device. 
     In a particularly preferred embodiment, during the measurement with the detector device, an adjustment instruction for the detector device is calculated from the coordinates of the measurement region to be detected and the current position of the control device, and is depicted on a display device. The user is instructed by the adjustment instruction how the detector device is to be moved over the substrate. 
     Preferably, measurements in the substrate are taken with a measurement frequency using the detector device and the measurement values are transmitted using a first transmission frequency by the detector device to the control device. 
     In a particularly preferred embodiment, the current position of the detector device is determined by the localization device using a localization frequency and the position data is transmitted using a transmission frequency by the localization device to the control device. 
     In a preferred embodiment, a command is issued by the control device to the detector device to discontinue taking measurements in the substrate, if the coordinates of the measurement region to be detected are located outside of the current detection field. Measurements using the detector device are taken only if the detector device is correctly positioned and the coordinates of the measurement region are located in the detection field of the detector device. 
     In a particularly preferred embodiment, an adjustment instruction for the detector device is calculated by the control device from the current position of the detector device and the coordinates of the measurement region to be detected, and is depicted on a display device. The user is instructed by the adjustment instruction how the detector device is to be moved over the substrate. 
     In a particularly preferred embodiment, the control device issues a command to the detector device to execute at least one measurement in the substrate when the coordinates of the measurement region to be detected are located within the current detection field. The method has the advantage that the control device controls the initiation of the measurements. The measurements are taken only when the detector device is correctly positioned and the coordinates of the measurement region are located in the detection field of the detector device. 
     In a particularly preferred embodiment, the detector device is guided at least two times over the measurement region to be detected, wherein the detector device executes a first measurement using first detection parameters and second measurements using second detection parameters. Via the measurement using different detection parameters, the accuracy and reliability of the measurement data can be increased. Different object and object properties in the substrate may require different detection parameters. 
     In a further embodiment, the method according to the invention, in a second step, a current orientation of the detector device, in addition to the current position of the detector device, is also determined by the localization device. In a particularly preferred embodiment, in the third step, the current detection field of the detector device is determined by the control device from the current position and the current orientation of the detector device. By determining the current orientation, the accuracy with which the orientation of the detector device can be determined is increased. The current orientation of the detector device can be determined for example using a camera or by the differentiation among multiple known markings, which are applied on the detector device. Here, all known methods are suited for determining the orientation of an object in the room. 
     Preferably, the current orientation of the detector device is also taken into account in all method steps of the method according to the invention, which use the current position of the detector device. 
     Embodiments of the invention are described below by the drawing. It is intended to show the embodiments not necessarily to scale; rather the drawing, where useful for explanation purposes, is executed in a schematic and/or slightly distorted manner. Regarding amendments to the teachings directly evident from the drawing, one shall refer to the relevant prior art. In doing so, one shall take into account that diverse modifications and changes pertaining to the form and detail of an embodiment can be undertaken without departing from the general idea of the invention. The features of the invention disclosed in the description, drawing and claims may be essential both individually on their own as well as in any combination for the further development of the invention. Also falling within the scope of the invention are all combinations of at least two of the features disclosed in the description, drawing and/or claims. The general ideal of the invention is not restricted to the exact form or detail of the preferred embodiments depicted and described hereafter, or limited to a subject matter that would be restricted in comparison to the subject matter claimed in the claims. For given measurement ranges, values lying within the mentioned limits shall be disclosed as limit values and one shall be able to use and claim these as one wishes. 
     For the sake of simplicity, the same reference signs are used for identical or similar parts, or parts with an identical or similar function. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  illustrates the application of an apparatus for detecting a measurement region in a substrate designed as a back wall, including a detector device, a localization device and a control device; 
         FIG. 2  illustrates the back wall of  FIG. 1  with a measurement region to be detected; 
         FIG. 3  illustrates the interaction of the detector device, the localization device, and the control device of the apparatus depicted in  FIG. 1  in the form of a block diagram; and 
         FIG. 4  illustrates a design variant of the method according to the invention for detecting a measurement region in the form of a flow chart. 
     
    
    
     DETAILED DESCRIPTION OF THE DRAWINGS 
       FIG. 1  illustrates an apparatus  10  for executing the method according to the invention for examining object properties of an object in a substrate. The term “object” covers all elements that are located in a substrate. Apparatus  10  includes a detector device  11 , a localization device  12 , and a control device  13 . Detector device  11 , localization device  12 , and control device  13  are designed as separate components, which can be connected via communication lines and which can communicate with each other. Detector device  11  is designed as a hand-guided detector device that is moved over the substrate during the measuring process. 
     In regard to detector devices, one differentiates between held and guided detector devices; a held detector device is held over the substrate to be detected during the measurement process without any forward movement, and a guided detector device is guided during the measuring process along a linear path or in any desired path over the substrate to be detected. 
     The method according to the invention is described by a measurement task in an interior space  14 . Interior space  14  consists of a floor  15 , a left and right sidewall  16 ,  17 , a back wall  18  and a ceiling  19 . The boundaries  15 - 19  of interior space  14  are covered by the term “boundary surface”. Interior space  14  is spanned by a three-dimensional coordinate system X, Y, Z, whose point of origin ( 0 ,  0 ,  0 ) is located in the left bottom corner between floor  15 , left sidewall  16 , and back wall  18 . 
       FIG. 2  illustrates back wall  18  of interior space  14  with a measurement region  21  to be detected. Back wall  18  lies in the XY plane of the coordinate system and it has a width B in direction X and a height H in direction Y. 
     Before measurements are taken using detector device  11 , detector device  11  must be positioned over measurement region  21 . To do so, using localization device  12 , current position P akt  is determined using coordinates x akt , y akt , z akt  of detector device  11  in interior space  14 . Current position P akt  of detector device  11  is determined using two localization marks  22 A,  22 B. In the embodiment, localization marks  22 A,  22 B are applied to the top side of detector device  11 . From the current position P akt  of detector device  11 , control device  13  determines a current detection field  23  of detector device  11 . There is a known relationship between the positions of localization marks  22 A,  22 B and detection field  23  of detector device  11 . A current orientation O akt  of detector device  11  may also be determined using localization marks  22 A,  22 B. After control device  13  has determined current detection field  23  of detector device  11 , the start position of measurement region  21  is compared by control device  13  against current detection field  23  of detector device  11 . 
     Measurement region  21  is designed in a rectangular manner and is bounded by four corner points E ul , E ol , E or , E ur . The corner points are suitable as the start position of measurement region  21 . 
       FIG. 3  illustrates the setup and interaction of detector device  11 , localization device  12 , and control device  13  in the form of a block diagram. Detector device  11 , localization device  12 , and control device  13  are designed in the embodiment as separate components, which can communicate with each other via communication links. 
     Detector device  11  and control device  13  can be connected to each other via a first communications link  31 . Control device  13  can be connected to localization device  12  via a second communications link  32 . The communication links can be designed as wireless communication links, for example as radio, infrared, Bluetooth, WLAN or W-Fi links, or as cabled communication links. Besides the listed wireless link technologies, all already known and future wireless communication technologies for data and image transmission are suitable. 
     Control device  13  includes a housing  33 , into which is integrated an operating device  34  and a display device  35 . Operating device  34  and display device  35  can be designed as separate parts as shown in  FIG. 2  or jointly integrated into a touch screen for example. Control device  13  also has an evaluation and control element  36 , a storage element  37  and a first transmit and receive element  38 . 
     Detection device  11  includes a sensor device  41 , a control element  42  for controlling sensor device  41  and a second transmit and receive element  43 . Originating at first transmit and receive element  38  of control device  13 , the first communications link to second transmit and receive element  43  of detector device  11  is set up. The commands for detector device  11  are transmitted by control device  13  via first communications link  31  to control element  42  of detector device  23 . The sensor device has a single sensor element or multiple sensor elements; the sensor elements may be designed as inductive sensors, capacitive sensors, radar sensors, magnetic field sensors, or as other sensors suitable for detecting objects in substrates. 
     Localization device  12  includes a measuring device  44 , a control and evaluation element  45  for controlling measuring device  44  and for evaluating the measured values as well as a third transmit and receive element  46 . Locator device  12  is designed for example as a total station and the measuring device  44  is designed as a distance and angle measuring device. Originating at first transmit and receive element  38  of control device  13 , second communications link  32  to third transmit and receive element  46  of localization device  12  is set up. 
       FIG. 4  illustrates the method according to the invention for detecting a measurement region in a substrate using a flow chart. The method is described using measurement region  21  of  FIG. 2 , which is arranged in back wall  18 . 
     In a step S 01 , the user selects via operating device  34  measuring region  21  to be detected having start position E ul  and the coordinates; in a step S 02 , measurement region  21  is uploaded into control device  13 . Prior to starting the process, the user can establish one of the corner points as the start position or control device  13  decides, while the process is performed, which of the corner points lies closer, and defines that one as the start position. In the embodiment of  FIG. 4 , left bottom end point E ul  of measurement region  21  is defined as the start position. 
     In a step S 03 , the user starts to execute the process. After the start in step S 03 , localization device  12  determines in a step S 04  current position P akt  and current orientation O akt  of detector device  11  on back wall  18 , which is transmitted in a step S 05  by localization device  12  to control device  13 . In a step S 06 , control device  13  determines from current position and orientation P akt , O akt  current detection field  23  of detector device  11  and compares in a step S 07  the start position against current detection field  23 . In step S 07 , control device  13  thereby checks whether start position E ul  of measurement region  21  is located within current detection field  23 . 
     If start position E ul  of measurement region  21  is located outside of current detection field  23  (N in S 07 ), control device  13  generates in a step S 08 , from current position and orientation P akt , O akt  of detector device  11  and start position E ul , an adjustment instruction for detector device  11 , which is depicted on display device  35 . The method according to the invention is continued with step S 04 . If start position E ul  is located within current detection field  23  (J in S 07 ), in a step S 09  control device  13  issues a command to detector device  11  to take measurements in substrate  18  using a measuring frequency, and determines in a step S 10  an adjustment instruction, from current position and orientation P akt , O akt  and the coordinates of measurement region  21 , how detector device  11  is to be moved over measurement region  21  to be detected. In a step S 11 , localization device  12  determines current position and orientation P akt , O akt  using a localization frequency and transmits the position data to control device  13 . Control device  13  determines from current position and orientation P akt , O akt  current detection field  23  and in a step S 12  compares the coordinates of measurement region  21  to be detected against current detection field  23 . 
     If the coordinates of measurement region  21  are located within current detection field  23  (J in S 12 ), the method according to the invention is continued with step S 11 . If the coordinates of measurement region  21  are located outside current detection field  23  (N in S 12 ), control device  13  issues in a step S 13  a command to detector device  11  to discontinue the measurements in substrate  18 . In a step S 14 , control device  13  determines from current position and orientation P akt , O akt  of detector device  11  and the coordinates of measurement region  21  an adjustment instruction, which is depicted on display device  35 . 
     In a step S 15 , current position and orientation P akt , O akt  of detector device  11  are determined by localization device  12  and transmitted to control device  13 . In a step S 16 , control device  13  determines from current position and orientation P akt , O akt  of detector device  11  current detection field  23 , and in a step S 17 , it compares the coordinates of measurement region  21  to be detected against current detection field  23 . In step S 17 , control device thereby checks whether the coordinates of measurement region  21  to be detected are located within current detection field  23 . 
     If the coordinates of measurement region  21  are located outside of current detection field  23  (N in S 17 ), the method according to the invention is continued with step S 14 . If the coordinates of measurement region  21  are located within current detection field  23  (J in S 17 ), control device  13  generates in a step S 18  a command to detector device  11  to continue the measurement in substrate  18 . The method according to the invention is continued with step S 11 .