# US 9,519,058 B1 · Audio-based 3D scanner > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,519,058 B1 - Document ID: US9519058B1 - Status: Granted - Kind: B1 - Application number: 14/997,154 - Filed: 2016-01-15 - Granted: 2016-12-13 - Earliest claimed: 2013-03-15 - Assignees: State Farm Mutual Automobile Insurance Company - Applicants: State Farm Mutual Automobile Insurance Company - Inventors: James M. Freeman; Roger D. Schmidgall; Patrick H. Boyer; Nicholas U. Christopulos; Jonathan D. Maurer; Nathan L. Tofte; Jackie O. Jordan, II - Web page: https://patentgrep.com/patent/US9519058B1 ## CPC - G06T 17/20: Finite element generation, e.g. wire-frame surface description, {tesselation} - B64C 39/024: {of the remote controlled vehicle type, i.e. RPV} - G01N 21/64: Fluorescence; Phosphorescence - G01N 21/8851: {Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges (G01N21/8806 and G01N21/93 - G01N21/95692 take precedence; optical measurement of dimensions G01B11/00; optical scanning G02B26/10; image transformation G06T3/00; computerised image enhancement G06T5/00; image processing per se for flaw detection G06T7/0002)} - G01N 22/02: Investigating the presence of flaws - G01S 7/4817: {relating to scanning} - G01S 13/89: for mapping or imaging - G01S 15/89: for mapping or imaging - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01S 17/89: for mapping or imaging - G06F 30/13: Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads - G06Q 30/0278: {Product appraisal} - G06Q 30/0283: Price estimation or determination - G06Q 40/08: Insurance - G06Q 50/16: Real estate - G06Q 50/163: Real estate management - G06T 1/0007: {Image acquisition} - G06T 7/0002: {Inspection of images, e.g. flaw detection} - H04N 7/185: {from a mobile camera, e.g. for remote control} - H04N 13/106: Processing image signals (for multi-view video sequence encoding H04N19/597) - H04N 13/254: in combination with electromagnetic radiation sources for illuminating objects - H04N 13/271: wherein the generated image signals comprise depth maps or disparity maps - H04N 13/275: from three-dimensional [3D] object models, e.g. computer-generated stereoscopic image signals - H04R 23/008: {using optical signals for detecting or generating sound} - B64U 2101/32: for cartography or topography - G01N 2201/06113: Coherent sources; lasers - G01N 2201/10: Scanning - G06T 2200/08: involving all processing steps from image acquisition to 3D model generation - G06T 2207/10028: Range image; Depth image; 3D point clouds - G06T 2207/10032: Satellite or aerial image; Remote sensing - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - B64C: AEROPLANES; HELICOPTERS - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - H04R: LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS (producing sounds with frequency not determined by supply frequency G10K) - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract In a computer-implemented method and system for capturing the condition of a structure, the structure is scanned with a three-dimensional (3D) scanner. The 3D scanner generates 3D data. A point cloud or 3D model is constructed from the 3D data. The point cloud or 3D model is then analyzed to determine the condition of the structure. ## Claims ### Claim 1 A property inspection system comprising: one or more three-dimensional (3D) scanners including a microphone that is a dynamic microphone or a laser microphone, the one or more 3D scanners configured to scan a structure wherein: (i) the one or more 3D scanners receive at the microphone one or more audio waves propagating from at least part of the structure, and (ii) the one or more 3D scanners generate a 3D point cloud of the structure based on the received one or more audio waves; one or more processors; one or more memories communicatively connected to the one or more processors, the one or more memories storing: (i) the generated 3D point cloud, and (ii) computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to: (A) analyze the generated 3D point cloud to identify one or more features of the surface or subsurface of the structure; (B) generate an estimate of a condition of a surface or a subsurface of the structure based on the identified one or more features; and (C) store the generated estimate at one or more memories. ### Claim 2 (depends on 1) The property inspection system of claim 1, wherein the microphone is the laser microphone. ### Claim 3 (depends on 1) The property inspection system of claim 1, wherein the microphone is the dynamic microphone. ### Claim 4 (depends on 1) The property inspection system of claim 1, further comprising: a mechanical feeler to physically manipulate the surface of the structure, wherein the one or more audio waves represent an audio response to the physical manipulation. ### Claim 5 (depends on 1) The property inspection system of claim 1, further including an aerial device attached to the one or more 3D scanners, the aerial device configured to convey the one or more 3D scanners. ### Claim 6 (depends on 5) The property inspection system of claim 5, wherein the aerial device includes a control system for autonomous operation. ### Claim 7 (depends on 1) The property inspection system of claim 1, further comprising: an audio projector configured to project the one or more audio waves, wherein the one or more 3D scanners are further configured to scan the structure by causing the audio projector to project the one or more audio waves before the one or more audio waves are subsequently reflected from the at least part of the structure and received at the microphone. ### Claim 8 A computer-implemented method of inspecting a structure, the method comprising: deploying one or more three-dimensional (3D) scanners including a microphone, wherein the microphone is a dynamic microphone or a laser microphone; receiving, at the microphone of the one or more 3D scanners, one or more audio waves propagating from at least part of the structure; generating, by the one or more 3D scanners, a 3D point cloud of the structure based on the received one or more audio waves; analyzing, by one or more processors, the generated 3D point cloud to identify one or more features of a surface or a subsurface of the structure; generating, by the one or more processors, an estimate of a condition of the surface or subsurface of the structure based on the identified one or more features; and storing the generated estimate at one or more memories. ### Claim 9 (depends on 8) The computer implemented method of claim 8, wherein the microphone is the laser microphone. ### Claim 10 (depends on 8) The computer implemented method of claim 8, wherein the microphone is the dynamic microphone. ### Claim 11 (depends on 8) The computer implemented method of claim 8, further comprising: physically manipulating the surface of the structure, wherein the one or more audio waves represent an audio response to the physical manipulation. ### Claim 12 (depends on 8) The computer implemented method of claim 8, wherein deploying the one or 3D scanners comprises: utilizing an aerial device to fly the one or more 3D scanners into a position where the structure can be scanned. ### Claim 13 (depends on 12) The computer implemented method of claim 12, further comprising: wirelessly receiving, at the aerial device, control commands for moving the aerial device. ### Claim 14 (depends on 8) The computer implemented method of claim 8, further comprising: projecting the one or more audio waves in the direction of the structure before the one or more audio waves are subsequently reflected from the at least part of the structure and received at the microphone. ### Claim 15 A property inspection system comprising: a microphone for receiving one or more audio waves propagating from at least part of the structure, wherein the microphone is a dynamic microphone or a laser microphone; a means for generating a 3D point cloud of the structure based on the received one or more audio waves; a means for analyzing the generated 3D point cloud to identify one or more features of a surface or a subsurface of the structure; a means for generating an estimate of a condition of the surface or subsurface of the structure based on the identified one or more features; and a means for storing the generated estimate at one or more memories. ### Claim 16 (depends on 15) The property inspection system of claim 15, wherein the microphone is the laser microphone. ### Claim 17 (depends on 15) The property inspection system of claim 15, wherein the microphone is the dynamic microphone.