laser scanner

Abstract

The invention relates to a laser scanner and a system comprising a laser scanner for measuring an environment. The laser scanner comprises an optical distance measuring device for detecting distance measurement data, having an emitter unit and a receiver unit for receiving a return portion of the distance measurement radiation, a base, a support fixed to the base such that the support can be rotated about a support rotation axis, a beam steering unit for the distance measurement radiation, the beam steering unit being fixed to the support such that the beam steering unit can be rotated about a rotation axis which is essentially perpendicular to the support, a first angle encoder for recording first angle data about the rotation of the support about the support rotation axis, and a second angle encoder for recording second angle data about the rotation of the beam steering unit about the beam rotation axis.

Description

[0001] This application is a divisional application of the original patent application No. 201680091460.7 (International Application No. PCT / EP2016 / 077372) (Application Date: November 10, 2016, Invention Title: Laser Scanner). Technical Field

[0002] This invention relates to a laser scanner for optical measurement and environmental imaging, and more particularly to a laser scanner for generating and displaying color 3D point clouds. Background Technology

[0003] For example, craftsmen and architects are very interested in three-dimensional measurements of rooms and environments because this allows them to quickly obtain the actual condition of the room or construction site and / or the construction progress, so that pending work can be scheduled. Visual displays in the form of point clouds (e.g., combining multiple time levels of augmented reality) and / or virtual reality can be used to examine different options for further steps or expansion possibilities, and, if necessary, can be presented to colleagues or clients in a simple way.

[0004] The environment can be optically scanned and measured using a laser scanner. A common approach to this involves scanning the environment with the aid of pulsed electromagnetic radiation (e.g., a laser), in which the echoes from backscattered surface points in the environment are received, and the distance to the surface point is derived, for example, based on the transmission time, the shape and / or phase of the pulse, and in each case, associated with the spatial location of the surface point, for example, using angular information at the time of measurement and using the known location of the laser scanner.

[0005] Significant differences in laser scanner design are obtained, particularly due to whether the laser scanner is used for optical scanning processes in the form of raster scanning or optical scanning sensing. In particular, the present invention relates to scanning laser scanners, especially laser scanners with high-speed rotating beam deflection units.

[0006] In the case of grating scanning, optical sensing is performed, for example, by specific individual sensing of multiple surface points, such as based on a predefined scanning grating for the environment to be scanned; in other words, by using the specific orientation of each predefined grating point.

[0007] In the case of scanning sensing, multiple measurement points are typically recorded and spatially measured by means of at least one rotating beam deflection element that alters the alignment of the emission direction of the distance measurement beam, for example, a plane mirror tilted relative to the rotation axis. The desired point-to-point resolution is achieved, for example, by adjusting the pulse rate of the distance measurement beam and / or by adjusting the rotational speed of the beam deflection element. The environment, particularly as a 3D point cloud, can then be analyzed and / or displayed in different ways based on the multiple measurement points using common data processing steps and / or display methods.

[0008] Typically, scanning laser scanners have one or two mutually orthogonal rotation axes, such as a vertical rotation axis and a horizontal rotation axis perpendicular to it. The vertical rotation axis is used for the relatively slow rotation of the entire laser scanner and is often referred to as the "azimuth axis" or "slow axis," while the horizontal rotation axis is used for the high-speed rotation of the beam deflection element. Due to the high rotational speed of the frequently used beam deflection element, the second axis is also known as the "fast axis."

[0009] For sensing linear or linearly movable structures and environments, such as railway track systems, roads, tunnel systems, or air fields, instead of rotation about an azimuth axis, the translational motion of the entire laser scanner is typically utilized, for example, by mounting the laser scanner on a vehicle. Such laser scanners with only a fast axis are also known as profilometers.

[0010] This type of laser scanner, which has a fast axis and may also have an azimuth axis or be combined with translational motion, allows users to sense large surfaces and objects in a relatively short period of time.

[0011] For additional information, information and scan data can be combined and processed, for example, with camera data (especially RGB camera data or infrared data).

[0012] In some cases, the distance measurement module in a laser scanner used for spatial measurements has intensity sensitivity but no color sensitivity. This means that the generated 3D point cloud can be displayed in grayscale without the use of additional data. Using a "grayscale" 3D point cloud with RGB data from a color camera as a reference, for example, a "colorful" 3D point cloud can be generated, making its display, for example, quite easy for the human eye. References for different data and datasets (e.g., measurement procedures that vary in time and space) are becoming increasingly standardized.

[0013] Laser scanners can also be designed with position and orientation systems, such as those using inertial systems, tilt sensors, or receivers for global satellite navigation systems, where local sensing data is automatically referenced using a global 3D coordinate system. Summary of the Invention

[0014] The object of this invention is to provide an improved laser scanner and an improved system for measuring and imaging the environment using a laser scanner.

[0015] This invention relates to a measurement system for optical measurement and imaging of the environment, comprising a laser scanner for collecting measurement data, a processing unit for processing a portion of the measurement data into processed measurement data, and a display for displaying the processed measurement data, at least representing a local area of ​​the environment; wherein the laser scanner includes: an optical distance measuring device for detecting distance measurement data, having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a surface sensor for detecting surface sensor data; in particular, at least one color camera for recording image data, wherein the sensor defines the optical axis of the sensor and the observation direction of the sensor along the optical axis; a base; a support member fixed to the base such that it can rotate about a support rotation axis, particularly about a slow rotation axis; and a beam steering unit for the distance measuring radiation fixed to the support member such that it can... The beam rotates about a beam rotation axis substantially perpendicular to the support rotation axis, particularly about a fast rotation axis; a first angle encoder is used to detect data related to the first rotation of the support member about the support rotation axis; a second angle encoder is used to detect data related to the beam steering unit about the beam rotation axis, wherein distance measurement data, surface sensor data, and first and second angle data (hereinafter referred to as measurement data) are detected during the measurement process (wherein, the distance measurement data combined with the first and second angle data is also generally referred to as sampled measurement data), the measurement process including scanning sensing by means of a distance measuring device, wherein the support member rotates about the support rotation axis in a prescribed progressive (especially continuous) manner, wherein the beam steering unit rotates about the beam rotation axis in a prescribed progressive (especially continuous) manner, and wherein distance measuring radiation is continuously emitted and the return portion of the distance measuring radiation is continuously received, and the surface sensor is read multiple times for different viewing directions of the sensor.

[0016] For example, one aspect of the invention relates to the fact that the processing unit is arranged on a computing device, particularly a computer or tablet, separate from the laser scanner, and the laser scanner and computing device are configured to enable (particularly wirelessly) measurement data transmission from the laser scanner to the computing device, particularly via WLAN or Bluetooth connection, to perform at least initial processing on portions of the measurement data during the measurement process based on the correlation between surface sensor data and distance measurement data and first and second angle data, and to display portions of the processed measurement data during the measurement process and to progressively (particularly continuously) update (particularly supplement and / or replace) based on the processed measurement data, particularly wherein a display coupled to or integrated with the computing device is provided for display.

[0017] One implementation involves, for example, the following fact: a scanning plane for distance measurement radiation is defined by a virtual 360-degree rotation of the beam steering unit about the beam rotation axis, and a surface sensor is arranged and oriented on a support such that its azimuth observation direction differs from the azimuth orientation of the scanning plane. This means that the imaginary rearward extension of the optical axis of the surface sensor intersects the scanning plane at a predetermined intersection angle, particularly where the intersection angle is at least 45 degrees, and particularly where the scanning plane is not captured by the field of view of the surface sensor. A fully automated first pre-programmed measurement process with predetermined steps is performed according to the following time sequence:

[0018] • Provides surface sensor data, including

[0019] □ Rotation of the support member about the support axis

[0020] □ Readings from the surface sensor used to detect surface sensor data, and

[0021] A portion of the detected surface sensor data is fed into the data stream of the computing device.

[0022] In particular, the initial processing and display of the detected surface sensor data are performed based on the data stream.

[0023] • Provide scan measurement data, namely distance measurement data and related first and second angle data, including,

[0024] □ Rotation of the support member about the support axis

[0025] □ The rotation of the beam steering unit around the beam rotation axis

[0026] □ It emits range-measuring radiation and receives the return portion of the range-measuring radiation to detect range-measuring data, wherein, during the detection of range-measuring data, relevant first and second angle data are detected, and

[0027] □ A portion of the detected scan measurement data is fed into the data stream of the computing device.

[0028] • Initial processing of surface sensor data and scanning of measurement data transmitted via data stream, and

[0029] • Displays part of the sensor data and scans the measurement data using a data stream in the form of a color 3D point cloud.

[0030] Another implementation involves the fact that a second pre-programmed measurement process is performed using a time series defined by the following steps:

[0031] • Provides the first set of area sensor data, especially area sensor data with reduced resolution, including

[0032] □ Rotation of the support member about the support axis

[0033] □ Readings from the surface sensor used to detect surface sensor data, and

[0034] □ A portion of the detected surface sensor data flows into the computing device.

[0035] In particular, the initial processing and display of the first set of surface sensor data are performed based on the data stream.

[0036] • Based on the first set of area sensor data, a set of exposure times for the area sensor is derived, and

[0037] • This set of exposure times based on the area sensor provides a second set of area sensor data, including

[0038] □ Rotation of the support member about the support axis

[0039] □ Readings from the surface sensor used to detect surface sensor data, and

[0040] □ A portion of the detected surface sensor data flows into the computing device.

[0041] In particular, based on the data stream, the initial processing and display of the second set of surface sensor data are performed.

[0042] Another implementation involves the fact that a third pre-programmed measurement process is performed using a time series defined by the following steps:

[0043] • Provides surface sensor data, including

[0044] □ Rotation of the support member about the support axis

[0045] □ Readings from the face sensor used to detect face sensor data, particularly where the detection of face sensor data includes data processing of the specifically read (i.e., unprocessed) raw face sensor data, to

[0046] and

[0047] □ A portion of the detected surface sensor data flows into the computing device.

[0048] In particular, the initial processing and display of the detected surface sensor data are performed based on the data stream.

[0049] • Provide scan measurement data, including,

[0050] □ Rotation of the support member about the support axis

[0051] □ The rotation of the beam steering unit around the beam rotation axis

[0052] □ It emits range measurement radiation and receives the return portion of the range measurement radiation to detect range measurement data, wherein, during the detection of range measurement data, relevant first and second angle data are detected, and the detection of range measurement data includes data processing of specially received (i.e., unprocessed) raw data from the surface sensor, and

[0053] □ A portion of the detected scan measurement data is fed into the data stream of the computing device.

[0054] • Initial processing of surface sensor data and scanning of measurement data transmitted via data stream, and

[0055] • Displays part of the sensor data and scans the measurement data using a data stream in the form of a color 3D point cloud.

[0056] In particular, the data processing of the raw distance measurement data includes taking into account parameters that depend on the first and / or second angle data as part of the measurement data relative to a common coordinate system.

[0057] Another implementation involves the fact that the laser scanner and computing device are configured such that control signals can be sent to the laser scanner, particularly wirelessly, especially via WLAN or Bluetooth, by means of a monitoring and control unit on the computing device.

[0058] Another implementation involves the fact that the computing device is equipped with an inertial measurement system and / or a tilt sensor, such that, based on the position of the computing device, especially its position and / or orientation, adjustments are made to the rotational position of the support member about the support rotation axis and / or the rotational position of the beam steering unit about the beam rotation axis, particularly in substantially synchronized with changes in the position of the computing device. In particular, by adjusting at least a first position of the computing device, at least one area of ​​interest in the environment can be defined. Furthermore, predefined settings can be made for at least one area of ​​interest used for detecting measurement data, and / or for portions of the processed measurement data displayed. Specifically, the predefined settings for detecting measurement data include the measurement resolution of the area sensor and / or the measurement accuracy and / or the scanning resolution of the distance measuring device, and / or the predefined settings for portions of the processed measurement data displayed include display resolution and / or color settings and / or grayscale value settings and / or predefined highlighting relative to sub-regions within the area of ​​interest.

[0059] Another implementation involves the fact that the computing device is configured to access auxiliary data to process measurement data and / or display portions of the processed measurement data, particularly wherein the auxiliary data is invoked for visual display in augmented reality and / or virtual reality.

[0060] Another implementation involves the fact that the laser scanner includes a position determination unit for providing reference data, particularly the position and / or orientation of the laser scanner unit, and has at least one element from the group consisting of: an inertial measurement system; a tilt sensor for detecting at least one tilt relative to the direction of gravity; a receiver for a global satellite navigation system and / or for a pseudo-satellite navigation system; a compass, particularly an electronic compass; and a barometer, wherein the measurement data also includes reference information, and / or the data processing is based on a process for simultaneous positioning and mapping (SLAM).

[0061] Another aspect of the invention relates, alone or in combination with other aspects of the invention, to a laser scanner for optically measuring the environment, comprising: an optical distance measuring device for detecting distance measurement data, having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving the distance measuring radiation; a surface sensor for detecting surface sensor data, particularly at least one color camera for recording image data, wherein the sensor defines the optical axis of the sensor and the observation direction of the sensor along the optical axis; a base; a support member fixed to the base such that it is rotatable about a support rotation axis, particularly about a slow rotation axis; and a beam steering unit for the distance measuring radiation, fixed to the support member such that it is rotatable about a beam rotation axis substantially perpendicular to the support rotation axis, particularly about a slow rotation axis. It rotates about a fast rotation axis; a first angle encoder is used to detect data related to the first rotation of the support member about the support rotation axis; a second angle encoder is used to detect data related to the rotation of the beam steering unit about the beam rotation axis, wherein distance measurement data, surface sensor data, and the first and second angle data (hereinafter referred to as measurement data) are detected as part of a measurement process, which includes scanning sensing by means of a distance measuring device, wherein the support member rotates about the support rotation axis in a prescribed progressive (especially continuous) manner, wherein the beam steering unit rotates about the beam rotation axis in a prescribed progressive (especially continuous) manner, and wherein distance measuring radiation is continuously emitted and the return portion of the distance measuring radiation is continuously received, and the surface sensor is read multiple times for different viewing directions of the sensor.

[0062] The invention is characterized by defining a scanning plane for distance measurement radiation by means of a beam steering unit that rotates virtually 360 degrees around a beam rotation axis, and by arranging and orienting a surface sensor on a support such that its azimuth observation direction differs from the azimuth orientation of the scanning plane. In this sense, the imaginary rearward extension of the optical axis of the surface sensor intersects the scanning plane at a predetermined intersection angle, particularly wherein the intersection angle is at least 45 degrees, and particularly wherein the scanning plane is not captured by the field of view of the surface sensor. A fully automated first pre-programmed measurement process with predetermined steps is performed according to the following time sequence:

[0063] • Recording of surface sensor data, including

[0064] □ The rotation of the support member about the support rotation axis, and

[0065] □ Readings from the surface sensor used to detect surface sensor data.

[0066] In particular, the initial processing and display of surface sensor data are performed.

[0067] • Recording of scan measurement data, namely distance measurement data and related first and second angle data, including,

[0068] □ Rotation of the support member about the support axis

[0069] □ The rotation of the beam steering unit around the beam rotation axis, and

[0070] □ It emits distance measurement radiation and receives the return portion of the distance measurement radiation to detect distance measurement data.

[0071] Specifically, during the detection of distance measurement data, relevant first and second angle data are detected.

[0072] One implementation involves the fact that a second pre-programmed measurement process with predetermined steps is performed according to the following time sequence:

[0073] • Provides the first set of area sensor data, especially area sensor data with reduced resolution, including

[0074] □ The rotation of the support member about the support rotation axis, and

[0075] □ Readings from the surface sensor used to detect surface sensor data.

[0076] • Based on the first set of area sensor data, the area sensor exposure time is derived, and

[0077] • The exposure time based on the area sensor provides a second set of area sensor data, including

[0078] □ The rotation of the support member about the support rotation axis, and

[0079] □ Readings from the surface sensor used to detect surface sensor data.

[0080] Another implementation involves the fact that at least initial processing of a portion of the measurement data is performed during the measurement process, in particular the correlation between sampled measurement data and surface sensor data, and in particular, a portion of the processed measurement data is displayed during the measurement process and updated progressively (in particular, continuously) based on the processed measurement data, in particular supplementing and / or replacing it, and in particular, a display coupled to or integrated with a laser scanner is provided for display.

[0081] Another implementation involves the fact that, based on area sensor data, at least one area of ​​interest in the environment can be defined, and in particular, for at least one area of ​​interest, predefined settings can be made for the detection measurement data and / or for the portion displaying the processed measurement data.

[0082] Another implementation involves the fact that, as part of the measurement process, all surface sensor data required for the measurement process are fully detected before the acquisition of sampled measurement data begins, and in particular, a 2D panoramic display of at least one local area of ​​the environment is generated, or a 2D dome projection is generated, based on the detected surface sensor data.

[0083] Another aspect of the invention relates, alone or in combination with other aspects of the invention, to a measurement system for optically measuring the environment, comprising a laser scanner for collecting measurement data, a processing unit for processing portions of the measurement data into processed measurement data, and a display unit for a predetermined display of at least a portion of the processed measurement data representing a local area of ​​the environment, wherein the laser scanner comprises: an optical distance measuring device for recording distance measurement data, having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a support; a beam steering unit for the distance measuring radiation, fixed to the support such that it can rotate about a beam rotation axis, particularly about a fast rotation axis; and an angle encoder for detecting data regarding the rotation of the beam steering unit about the beam rotation axis, wherein the measurement data includes distance measurement data and angle data.

[0084] A feature of this invention is that the central reference point of the laser scanner is defined as the origin for distance and angle measurements. Specifically, for rotation of the support member about the base, an infrared sensor sensitive in the infrared wavelength range is integrally arranged on the support member at the intersection of the beam rotation axis and the support rotation axis. The infrared sensor defines the optical axis of the infrared sensor and the observation direction of the infrared sensor along the optical axis, and the position of the infrared sensor and the orientation of its optical axis relative to the beam steering unit and the central reference point are known. The measurement data includes infrared data detected by the infrared sensor, and the measurement data is correlated with the infrared data. In particular, temperature information is considered for displaying a portion of the processed data.

[0085] Another implementation involves the fact that a portion of the processed measurement data is generated as a colored 3D point cloud, and temperature information is stored in the 3D point cloud and / or displayed in a defined color-coded format.

[0086] Another aspect of the invention relates, alone or in combination with the foregoing aspects of the invention, to a laser scanner for optically measuring the environment, comprising: an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a support; a beam steering unit for the distance measuring radiation, fixed to the support such that it can rotate about a beam rotation axis, particularly about a fast rotation axis; and an angle encoder for detecting angle data related to the rotation of the beam steering unit about the beam rotation axis, wherein the distance measuring data and angle data (hereinafter referred to as measurement data) are detected during the measurement process, the measurement process including scanning sensing by means of the distance measuring device, wherein the beam steering unit rotates about the beam rotation axis in a prescribed progressive (particularly continuous) manner, and wherein distance measuring radiation is continuously emitted and the return portion of the distance measuring radiation is continuously received.

[0087] The present invention is characterized in that the laser scanner has only a single integrated control element (e.g., a single button, also in the form of a touchscreen button or a single switch), the control element has only a single active and a single inactive state, and can be switched to enter the active or inactive state by an external action, stores a set of prescribed measurement programs and / or actions of the laser scanner, and each measurement program and / or action from the set of prescribed measurement programs and / or actions is triggered based on at least one element from the following group:

[0088] • The state of the control element changes from inactive to active.

[0089] • The state of the control element changes from active to inactive.

[0090] • Switching control elements using a persistent external action within a specified time interval.

[0091] • The encoded sequence of state changes of the control element between active and inactive states, and

[0092] • A time-permanent encoded sequence of external actions on a control element within a specified time interval.

[0093] One implementation involves, for example, the fact that a set of prescribed measurement procedures and / or actions of a laser scanner includes activating the laser scanner, and at least one element from the group consisting of: deactivating the laser scanner; starting the measurement process; interrupting the measurement process; terminating the measurement process; and restarting the measurement process; particularly wherein a set of different settings for the measurement process is stored and / or can be defined, and the set of prescribed measurement procedures and / or actions of the laser scanner unit also includes at least one element from the group consisting of: adjusting settings in a set of settings for the measurement process; starting the measurement process using settings in a set of settings for the measurement process; and restoring the default settings of the laser scanner, particularly the default startup configuration of the laser scanner.

[0094] Another implementation involves, for example, the fact that the encoded sequence of state changes of a control element is defined by a certain number of state changes during a predetermined time interval between active and inactive states, and / or the encoded sequence of a time-persistent external action is defined by one or more different predetermined time intervals for maintaining the external action.

[0095] Another aspect of the invention relates, alone or in combination with other aspects of the invention, to a laser scanner for optically measuring the environment, comprising: an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a surface sensor for detecting surface sensor data, particularly at least one color camera for recording image data, wherein the sensor defines the optical axis of the sensor and the viewing direction of the sensor along the optical axis; a support; a beam steering unit for distance measuring radiation, fixed to the support such that it is rotatable about a beam rotation axis, particularly about a fast rotation axis; an angle encoder for detecting angle data related to the rotation of the beam steering unit about the beam rotation axis, wherein distance measurement data, surface sensor data, and first and second angle data (hereinafter referred to as measurement data) are detected during a measurement process comprising scanning sensing by means of the distance measuring device, wherein the beam steering unit rotates about the fast rotation axis in a prescribed progressive (particularly continuous) manner, and wherein distance measuring radiation is continuously emitted and the return portion of the distance measuring radiation is continuously received, and the surface sensor is read multiple times for different viewing directions of the sensor.

[0096] The invention is characterized in that the central reference point of the laser scanner is defined as the origin of distance and angle measurements. Specifically, for rotation of the support about the base, at the intersection of the beam rotation axis and the support rotation axis, a surface sensor is fixedly arranged on the support, having a fixed field of view relative to and away from the support. In this sense, the sensor's field of view changes only during measurement when the support moves, especially when the support rotates about the beam rotation axis, and the imaginary rearward extension of the optical axis of the surface sensor passes through the central reference point.

[0097] One implementation involves, for example, the fact that multiple face sensors are arranged on a support, wherein, for each of the multiple face sensors, the imaginary rearward extension of its optical axis substantially passes through a central reference point.

[0098] Another implementation involves, for example, the fact that the scanning plane of the distance measurement radiation is defined by a virtual 360-degree rotation of the beam steering unit about the beam rotation axis, and one of a plurality of surface sensors is arranged such that its field of view cone intersects the scanning plane, in particular wherein a support is fixed to a base such that it is rotatable about a support rotation axis, particularly about a slow rotation axis, and the field of view cone of the surface sensor with the steepest height orientation of the optical axis intersects the imaginary extension of the support rotation axis.

[0099] Another embodiment involves, for example, a support fixed to a base such that it can rotate about a support rotation axis, particularly about a slow rotation axis. The laser scanner includes another angle encoder for detecting additional angular data as measurement data related to the rotation of the support about the support rotation axis. The measurement also includes multiple readings from multiple face sensors with respect to different azimuth angles of view of each sensor. The multiple face sensors are arranged such that they are capable of performing spherical measurements during the measurement process. In particular, the field cone of the face sensor with the steepest height orientation of the optical axis intersects with an imaginary extension of the support rotation axis. The multiple face sensors define a minimum detection radius for the spherical measurement such that a sphere is defined by a central reference point and the minimum detection radius, with the central reference point located at the center. During the measurement process, at least one hemispherical surface defined by the sphere can only be scanned by the multiple face sensors. In particular, the portion of the sphere larger than the hemispherical surface can be scanned by means of the multiple face sensors.

[0100] Another aspect of the invention relates, alone or in combination with other aspects of the invention, to a laser scanner for optically measuring the environment, comprising: an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a surface sensor for detecting surface sensor data, particularly at least one color camera for recording image data, wherein the sensor defines the optical axis of the sensor and the viewing direction of the sensor along the optical axis; a support; a beam steering unit for the distance measuring radiation, fixed to the support such that it is rotatable about a beam rotation axis, particularly about a fast rotation axis; an angle encoder for detecting angle data related to the rotation of the beam steering unit about the beam rotation axis, wherein distance measurement data, surface sensor data, and first and second angle data (hereinafter referred to as measurement data) are detected during a measurement process comprising scanning sensing by means of the distance measuring device, wherein the beam steering unit rotates about the fast rotation axis in a prescribed progressive (particularly continuous) manner, and wherein distance measuring radiation is continuously emitted and the return portion of the distance measuring radiation is continuously received, and the surface sensor is read multiple times for different viewing directions of the sensor.

[0101] A feature of this invention is that the central reference point of the laser scanner is defined as the origin for distance and angle measurements. Specifically, for rotation of the support about the base, multiple surface sensors with different optical axis height directions are fixedly arranged on the support at the intersection of the beam rotation axis and the support rotation axis. In this sense, the field of view of the sensors changes only when the support moves, especially when the support rotates about the beam rotation axis, and for each of the multiple surface sensors, the imaginary rearward extension of its optical axis substantially passes through the central reference point.

[0102] One implementation involves, for example, the fact that multiple surface sensors are arranged in the same azimuth direction, and in particular, the scanning plane of the distance measurement radiation is defined by a virtual 360-degree rotation of the beam steering unit about the beam rotation axis, with the optical axes of the multiple surface sensors arranged in a plane outside the scanning plane.

[0103] Another implementation involves, for example, the fact that the field cone of the surface sensor with the steepest height direction of the optical axis intersects the scanning plane at a distance between 0.25m and 7m from the central reference point.

[0104] Another aspect of the invention relates, alone or in combination with other aspects of the invention, to a laser scanner for optically measuring the environment, comprising: an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a surface sensor for detecting surface sensor data, particularly at least one color camera for recording image data, wherein the sensor defines the optical axis of the sensor and the viewing direction of the sensor along the optical axis; a support; a beam steering unit for the distance measuring radiation, fixed to the support such that it is rotatable about a beam rotation axis, particularly about a fast rotation axis; an angle encoder for detecting angle data related to the rotation of the beam steering unit about the beam rotation axis, wherein distance measurement data, surface sensor data, and first and second angle data (hereinafter referred to as measurement data) are detected during a measurement process comprising scanning sensing by means of the distance measuring device, wherein the beam steering unit rotates about the fast rotation axis in a prescribed progressive (particularly continuous) manner, and wherein distance measuring radiation is continuously emitted and the return portion of the distance measuring radiation is continuously received, and the surface sensor is read multiple times for different viewing directions of the sensor.

[0105] A feature of this invention is that the laser scanner includes a lamp, particularly one or more LEDs, for illuminating the field of view of a surface sensor, wherein the lamp defines the optical axis of the lamp and the illumination direction of the lamp along its optical axis, the lamp being used for selectively controllable illumination, substantially directed towards the field of view of the surface sensor.

[0106] One implementation involves, for example, the fact that the surface sensor is arranged on the support and the lamp is arranged adjacent to the surface sensor on the support, and in particular, the maximum lateral offset between the optical axis of the lamp and the optical axis of the surface sensor is 4 cm.

[0107] Another implementation involves, for example, the fact that the lamp emits essentially white light, which means broadband light in the visible wavelength range, especially by lamps designed with dual LEDs, i.e., LED pairs, where the two independent LEDs differ in the range of their emission spectra.

[0108] Another implementation involves, for example, the fact that a plurality of surface sensors are arranged on a support, wherein each of the plurality of surface sensors is assigned a controllable lamp dedicated to the sensor, substantially illuminating the sensor’s field of view.

[0109] Another implementation involves, for example, detecting the fact that a first set of surface sensor data is detected, particularly surface sensor data with reduced resolution, deriving a set of lighting settings for a lamp based on the first set of surface sensor data, and recording a second set of surface sensor data based on the lighting settings, particularly wherein the first set of surface sensor data is detected when the lamp is not used or when uniform illumination of the lamp is used.

[0110] Another aspect of the invention relates, alone or in combination with other aspects of the invention, to a laser scanner for optically measuring the environment, comprising: an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a base; a support member fixed to the base such that it can rotate about a support rotation axis, particularly about a slow rotation axis; a beam steering unit for the distance measuring radiation, fixed to the support member such that it can rotate about a beam rotation axis substantially perpendicular to the support rotation axis, particularly about a fast rotation axis; and a first angle encoder. The device includes a encoder for detecting data relating to a first rotation of the support member about a support rotation axis; and a second angle encoder for detecting data relating to the rotation of the beam steering unit about a beam rotation axis, wherein distance measurement data and first and second angle data (hereinafter referred to as measurement data) are detected as part of a measurement process that includes scanning sensing by means of a distance measuring device, wherein the support member rotates about the support rotation axis in a prescribed progressive (especially continuous) manner, wherein the beam steering unit rotates about the beam rotation axis in a prescribed progressive (especially continuous) manner, and wherein distance measuring radiation is continuously emitted and the return portion of the distance measuring radiation is continuously received.

[0111] The present invention is characterized in that the base includes a single integrally effective stabilizing region axially along the support rotation axis for stabilizing the support to prevent the support from tilting relative to the base, the stabilizing region having a first extension axially along the support rotation axis and a second extension perpendicular to the support rotation axis and substantially radially symmetrical with respect to the support rotation axis, the second extension being greater than the first extension.

[0112] One implementation involves, for example, the fact that the support is mounted by means of a single bearing rim, allowing it to pivot relative to the base about a support rotation axis, wherein stability is achieved solely by a single bearing rim.

[0113] Another implementation involves, for example, the fact that the bearing rim is designed as a single-row four-point roller bearing, or the bearing rim is designed as a single-row sliding bearing with an outer ring and an inner ring, the outer ring and the inner ring forming two contact bearings, in particular two bearing lines or two bearing surfaces axially spaced relative to the supporting rotating shaft.

[0114] Another implementation involves, for example, the fact that stability is achieved by means of a spring load acting radially on the bearing rim relative to the supporting axis of rotation.

[0115] Another implementation, for example, involves the fact that the second extension is at least twice as large as the first extension, especially where the second extension is at least five times as large as the first extension, and especially where the second extension is at least ten times as large as the first extension.

[0116] Another implementation involves, for example, the fact that a lubricant-protectant emulsion is applied along a boundary region substantially parallel to the contact bearing, such that the dispersion of the lubricant in the bearing rim due to the surface tension of the lubricant-protectant emulsion is substantially limited by the boundary region, or the bearing rim is designed as a four-point roller bearing, in the form of a dry-running ring bearing with ceramic roller elements.

[0117] Another aspect of the invention relates, alone or in combination with other aspects of the invention, to a laser scanner for optically measuring the environment, comprising: an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a base; a support member fixed to the base such that it can rotate about a support rotation axis, particularly about a slow rotation axis; a beam steering unit for the distance measuring radiation, fixed to the support member such that it can rotate about a beam rotation axis substantially perpendicular to the support rotation axis, particularly about a fast rotation axis; and a first angle encoder. A encoder for detecting data relating to the first rotation of the support member about the support rotation axis; a second angle encoder for detecting data relating to the rotation of the beam steering unit about the beam rotation axis, wherein distance measurement data and first and second angle data (hereinafter referred to as measurement data) are detected as part of a measurement process comprising scanning sensing by means of a distance measuring device, wherein the support member rotates about the support rotation axis in a prescribed progressive (especially continuous) manner, wherein the beam steering unit rotates about the beam rotation axis in a prescribed progressive (especially continuous) manner, and wherein distance measuring radiation is continuously emitted and the return portion of the distance measuring radiation is continuously received.

[0118] A feature of this invention is that, with respect to the rotation of the support member about the support rotation axis, the base is designed as a passive element only. In this sense, all active electronics required for the motorization of the rotation about the support rotation axis are arranged only in the support member and rotate together with the support member about the support rotation axis. In particular, each of the following components is completely arranged in the support member and rotates together with the support member about the support rotation axis: an active drive element for the rotation of the support member about the support rotation axis, in particular a rotary motor having a drive shaft coupled to a motor or an electric coil element for radial interaction between the electric coil element and the passive magnetic element in the base about the support rotation axis; and a power supply unit for the active drive element.

[0119] One embodiment involves, for example, the fact that for rotation of the support member about a support rotation axis, a rotary motor arranged in the support member is designed with a drive shaft connected to the motor, the drive shaft extending axially, substantially parallel to the support rotation axis and offset relative to the support rotation axis, the base including a circularly symmetrical bearing surface about the support rotation axis, and a freewheel arranged on the drive shaft, particularly with a rubber ring, which is operatively connected to the bearing surface such that during rotation of the drive shaft, the freewheel extends along the bearing surface and the support member thus rotates relative to the base about the support rotation axis, particularly wherein the bearing surface defines a virtual circle and the freewheel is arranged within this circle.

[0120] Another embodiment involves, for example, the fact that the following components are integrally and additionally arranged in the support and operate by means of a power supply unit: an optical distance measuring device; a surface sensor; a monitoring and control unit; and electronics for a first angle encoder and a second angle encoder, wherein, in particular, the base and the support are designed such that no power transmission or electrical signal transmission occurs between the base and the support during the measurement process.

[0121] Another implementation involves, for example, the fact that the laser scanner includes only one power supply unit in total, namely the power supply unit for the active drive element, which is arranged in the support, and in particular, the base is permanently and irreversibly electrically decoupled from the support, such that no power transmission occurs between the support and the base.

[0122] Another implementation involves, for example, the fact that the laser scanner includes a wireless signal transmission unit, particularly based on a WLAN or Bluetooth connection, wherein the signal transmission unit is integrally arranged in a support, wherein bidirectional transmission of measurement data and / or auxiliary data is provided between the laser scanner and an external control unit, and / or transmission of a portion of measurement data from the laser scanner to an external computing and / or storage unit, particularly wherein bidirectional transmission of measurement data and / or auxiliary data is provided between the laser scanner and the external computing and / or storage unit.

[0123] Another implementation involves, for example, the fact that the transmission of measurement and / or auxiliary data is performed substantially in parallel with the measurement process by means of a data stream of a portion of the measurement data, which begins simultaneously with, or at least almost simultaneously with, the start of the measurement process.

[0124] Another aspect of the invention relates, alone or in combination with the foregoing aspects, to a laser scanner for optically measuring the environment, comprising: an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a base; a support member fixed to the base such that it can rotate about a support rotation axis, particularly about a slow rotation axis; a beam steering unit for the distance measuring radiation, fixed to the support member such that it can rotate about a beam rotation axis substantially perpendicular to the support rotation axis, particularly about a fast rotation axis; and a third... An angle encoder for detecting data relating to the rotation of a support member about a support rotation axis; and a second angle encoder for detecting data relating to the rotation of a beam rotation axis about a beam rotation axis, wherein distance measurement data and first and second angle data (hereinafter referred to as measurement data) are detected as part of a measurement process comprising: scanning sensing by means of a distance measuring device, wherein the support member rotates about the support rotation axis in a prescribed progressive manner (especially continuously), wherein the beam steering unit rotates about the beam rotation axis in a prescribed progressive manner (especially continuously), and wherein distance measuring radiation is continuously emitted and the return portion of the distance measuring radiation is continuously received.

[0125] The invention is characterized in that, for rotation of the support member about a support rotation axis, a rotary motor arranged in the support member is designed with a drive shaft connected to the motor, the drive shaft extending axially offset relative to the support rotation axis substantially parallel to it, the base including a circularly symmetrical bearing surface about the support rotation axis, and a freewheel disposed on the drive shaft, particularly with a rubber ring, which is operatively connected to the bearing surface such that during rotation of the drive shaft, the freewheel extends along the bearing surface, thus causing the support member to rotate relative to the base about the support rotation axis, wherein the bearing surface defines a virtual circle and the freewheel is arranged within this circle.

[0126] Another aspect of the invention relates, alone or in combination with the foregoing aspects of the invention, to a laser scanner for optically measuring the environment, comprising: an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a support; a beam steering unit for the distance measuring radiation, fixed to the support such that it can rotate about a beam rotation axis, particularly about a fast rotation axis; and an angle encoder for recording angle data related to the rotation of the beam steering unit about the beam rotation axis.

[0127] The present invention is characterized in that the beam steering unit is connected to a shaft mounted in a support member connected along the beam rotation axis, wherein the shaft penetrates the beam steering unit to a predetermined penetration depth or is designed integrally with the beam steering unit, a bell-shaped element is arranged on the shaft, wherein the bell-shaped element is arranged in a fixed position on the shaft or is integrally formed with the shaft, wherein the bell-shaped element defines a bell-shaped body and a bell-shaped back, a passive magnetic element of the driver is arranged in the bell-shaped body for rotating the shaft, an active driving element of the driver is arranged to be anchored in the support member for generating electromagnetic interaction with the passive magnetic element (in particular an electric coil element), wherein the active driving element at least partially protrudes into the bell-shaped body, and the shaft and thus the beam steering unit perform a predetermined rotational movement about the beam rotation axis by means of the radial interaction between the active driving element and the passive magnetic element.

[0128] One implementation involves, for example, the fact that the active drive element is completely embedded in the bell-shaped body.

[0129] Another embodiment involves, for example, the fact that at least one rim of a bearing for mounting a shaft in a support protrudes into a bell-shaped body.

[0130] Another embodiment involves, for example, the fact that the rim of the bearing protruding into the bell-shaped body is designed as a roller bearing rim, and the rollers of the roller bearing rim protrude at least partially into the bell-shaped body.

[0131] Another embodiment involves, for example, the fact that at least one rim of a bearing for mounting the shaft in a support protrudes into the beam steering unit, and in particular, the rim protruding into the beam steering unit is designed as a roller bearing rim, and the rollers of the roller bearing rim protrude at least partially into the beam steering unit.

[0132] Another embodiment, for example, involves the fact that the shaft comprises only a single effective stabilizing region axially along the beam rotation axis, which is used to stabilize the shaft against tilting relative to the support. In this embodiment, the beam steering unit, the bell element, and the shaft are designed and arranged relative to each other such that their common center of gravity axially along the beam rotation axis is located in the stabilizing region. In particular, the stability is achieved solely by bearings that are substantially axially symmetrical about the center of gravity to mount the shaft in the support.

[0133] Another implementation, for example, involves the fact that the encoding element of the angle encoder is arranged on the back of the bell element, and in particular, the encoding element is designed integrally with the bell element.

[0134] Another implementation involves, for example, the fact that at least one of the following connections is achieved solely by adhesive bonding and / or compression: connection between a shaft and a stabilizing element; connection between a shaft and a bell element; connection between a passive magnetic element and a bell element; and connection between an encoding element and a bell element.

[0135] Another aspect of the invention relates, alone or in combination with the foregoing aspects of the invention, to a laser scanner for optically measuring the environment, comprising: an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a support; a beam steering unit for the distance measuring radiation, fixed to the support such that it can rotate about a beam rotation axis, particularly about a fast rotation axis; and an angle encoder for recording angle data related to the rotation of the beam steering unit about the beam rotation axis.

[0136] The invention is characterized in that a beam steering unit is mounted in a support along a beam rotation axis by means of a shaft, wherein the beam steering unit includes a mirror for deflecting distance measurement radiation, particularly a plane mirror inclined at 45° relative to the beam rotation axis, or an inclined parabolic mirror; the shaft has a transmission region at one end; the beam steering unit has a closing region for closing the transmission region of the shaft during connection of the beam steering unit to the shaft; the closing region has a shape suitable for closing the shaft along the length of the transmission region during connection, such that in the connected state, there is a gap of a predetermined width between the shaft and the closing region of the beam steering unit; the closing region includes a stabilizing element that can be pressed into the gap to obtain tolerance compensation and a stable connection between the beam steering unit and the shaft; in the unconnected state, the stabilizing element... The thickness is greater than the width of the gap, and the beam steering unit, in particular the closed region, the shaft, and the stabilizing element are designed and interact in such a way that during the connection between the beam steering unit and the shaft, the stabilizing element arranged between the closed region and the shaft is pressed into the gap, and in this deformed state, there is a connection in the gap, in particular, wherein at least a portion of the stabilizing element is plastically deformed, a specified residual elastic force radially to the beam rotation axis acts on the beam steering unit and the shaft, the beam steering unit and the shaft are stabilized relative to each other in the axial direction relative to the beam rotation axis, the beam steering unit is stabilized against tilting relative to the shaft in the stable region defined by the length of the transmission region, and the residual elastic force does not act on the mirror surface except within the specified tolerance range.

[0137] One implementation involves, for example, the fact that the stabilizing element and the shaft adhere to each other during the connection.

[0138] Another implementation, for example, involves the fact that the enclosed region includes at least two stabilizing elements spaced apart in the axial direction relative to the beam rotation axis.

[0139] Another implementation involves, for example, the fact that the stabilizing element is ring-shaped.

[0140] Another implementation involves, for example, the fact that the stabilizing element is made of a material with uniform plastic properties, especially having a uniform plastic flow region.

[0141] Another implementation involves, for example, the fact that a stabilizing element is integrated into a beam steering unit, particularly wherein the stabilizing element is injection molded onto the beam steering unit or the beam steering unit and the stabilizing element are designed as a single unit.

[0142] Another implementation involves, for example, the fact that a specified tolerance range for the influence of residual elastic forces on the mirror surface is selected such that a specified ideal design is ensured relative to the mirror surface, with a surface accuracy of + / -5 μm, especially + / -3 μm, especially + / -1 μm or + / -300 nm.

[0143] Another aspect of the invention relates, alone or in combination with the foregoing aspects of the invention, to a laser scanner for optically measuring the environment, comprising: an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a portion of the distance measuring radiation returned from the environment; a support; a beam steering unit for the distance measuring radiation, fixed to the support such that it can rotate about a beam rotation axis, particularly about a fast rotation axis, wherein the beam steering unit includes a mirror for deflecting the measuring radiation, particularly a plane mirror or a parabolic mirror inclined relative to the beam rotation axis; and an angle encoder for detecting angular data relating to the rotation of the beam steering unit about the beam rotation axis, wherein the distance measurement data and the angular data (hereinafter referred to as measurement data) are detected during a measurement process comprising scanning sensing by means of the distance measuring device, wherein the beam steering unit rotates about the beam rotation axis in a predetermined progressive (particularly continuous) manner, and wherein distance measuring radiation is continuously emitted and the returned portion of the distance measuring radiation is continuously received.

[0144] A feature of the invention is that a receiving optics for a portion of the distance measurement radiation returned through the mirror is arranged on a support, wherein the optical axis of the receiving optics is aligned with respect to the beam rotation axis, specifically coaxially aligned, and an exit region is provided on the support for emitting the distance measurement radiation toward the mirror, and the exit region has a lateral offset relative to the optical axis of the receiving optics, the distance measurement radiation emitted from the exit region being emitted onto a mirror parallel to the optical axis of the receiving optics.

[0145] One implementation involves, for example, the fact that the receiving optics has a cutout or window, particularly a flat glass window, in which an exit area is placed or which forms an exit area.

[0146] Another implementation involves, for example, the fact that the exit area is arranged next to, or in particular adjacent to, the receiving optics.

[0147] Another implementation involves, for example, the fact that the exit region is designed such that, due to the geometry and orientation of the exit region, the maximum beam diameter at the exit region of the outgoing distance measuring radiation is substantially surrounded by the exit region, and in particular, wherein the geometry and orientation of the exit region substantially correspond to the geometry and orientation of the beam waist (beam cross-section) of the outgoing distance measuring radiation at the exit region.

[0148] Another embodiment involves, for example, the fact that the transmitter unit includes a laser diode for generating distance measurement radiation as laser radiation, and the cross-section of the emitted distance measurement radiation at the exit region has an oval shape, especially an elliptical shape, particularly having a short semi-axis along the lateral offset direction.

[0149] Another embodiment involves, for example, the fact that the receiving optics also includes a correcting optics to measure the portion of radiation for a distance returned from a distance shorter than the specified near-field distance, taking into account the parallax effect caused by the lateral offset of the exit region relative to the beam rotation axis, and in particular, wherein the correcting optics is implemented as a cylindrical lens.

[0150] Another implementation involves, for example, the fact that a compensation algorithm is provided to compensate for parallax effects associated with the emitted and returned portions of the distance measurement radiation caused by lateral offset of the exit region relative to the beam rotation axis during continuous rotation of the beam steering unit about the beam rotation axis, using compensation parameters that depend on the angle data, particularly wherein the compensation parameters are taken into account as part of a reference to the measurement data with respect to a common coordinate system.

[0151] Another implementation involves, for example, the fact that the exit area and compensation algorithm are designed such that, within the specified measurement tolerances for reference measurement data relative to a common coordinate system, no further adjustments to the laser scanner are required, except for the compensation algorithm used to compensate for parallax effects.

[0152] Another implementation involves, for example, the fact that the exit region and the receiving optics are arranged such that, at the height at which the distance measuring radiation is incident on the beam steering unit, there is a lateral offset of at least 0.5 cm between the imaginary extension of the optical axis of the receiving optics and the central propagation axis of the distance measuring radiation in the exit region.

[0153] Another implementation involves, for example, the fact that the transmitter unit and receiver unit are arranged on a common printed circuit board.

[0154] Another aspect of the invention relates, alone or in combination with the foregoing aspects, to an electronic laser ranging module for measuring the distance to a target object, particularly for a laser scanner, wherein the laser ranging module comprises: a transmitter unit for generating a transmission signal, particularly wherein the transmission signal is generated by pulsed laser radiation; a receiver unit for receiving a portion of the transmission signal returned from the target object as a received signal; a receiver circuit for regulating and digitizing the received signal to ultimately derive the distance to the target object based on a signal transmission time method; and a controller for the transmitter unit and the receiver unit.

[0155] The present invention is characterized in that the receiver circuit includes: a comparator stage for deriving the signal amplitude of the received signal; an amplifier stage for adjusting the signal amplitude, particularly by amplifying or attenuating the input signal; and first and second analog-to-digital converter stages, wherein the receiver circuit and the transmitter unit can be controlled by a controller such that, with alternating use of the first and second analog-to-digital converter stages, a continuous distance measurement sequence includes: a first distance measurement by means of the first analog-to-digital converter stage, particularly based on a first signal packet of the continuously received signal; a second distance measurement by means of the second analog-to-digital converter stage, particularly based on a second signal packet of the continuously received signal; using the first received signal as a test signal and the second received signal as a measurement signal, feeding the test signal to the comparator stage and deriving the signal amplitude of the test signal through the comparator stage; and, based on the obtained signal amplitude of the test signal, adjusting the amplifier stage for at least a portion of the received signal containing the measurement signal, such that at least the measurement signal exists as an input signal within the control range of the first analog-to-digital converter stage and / or the second analog-to-digital converter stage downstream of the amplifier unit.

[0156] One implementation involves, for example, the following fact: the receiver circuit further includes an activation unit by means of which a first adjustment is performed, wherein a test signal is considered in order to determine the distance to the target object, and a second adjustment is performed, wherein the test signal is discarded in order to determine the distance to the target object. In particular, a range of values ​​for the available signal amplitude of the test signal is defined, the amplitude of a sample signal obtained by a comparator stage is compared with the range of values, and the activation unit is controlled based on the comparison of the signal amplitude with the range of values. If the signal amplitude of the test signal is within the range of values, the test signal is considered in order to determine the distance to the target object; if the signal amplitude of the test signal exceeds the range of values, the test signal is discarded in order to determine the distance to the target object.

[0157] Another implementation involves, for example, the fact that, as part of a single distance measurement, the adjustment of the amplifier unit and the acquisition of the distance to the target object are based on a signal packet consisting of up to three consecutively received signals.

[0158] Another implementation involves, for example, the fact that the received signal of the immediately preceding distance measurement from a plurality of distance measurements is used as the current test signal for the current distance measurement from the plurality of distance measurements, and in particular, the most recently received signal of the immediately preceding distance measurement is used as the current test signal.

[0159] Another aspect of the invention relates, alone or in combination with the foregoing aspects, to an electronic laser ranging module for measuring the distance to a target object, particularly for a laser scanner, wherein the laser ranging module comprises: a transmitter unit for generating a transmission signal, particularly wherein the transmission signal is generated by pulsed laser radiation; a receiver unit for receiving a portion of the transmission signal returned from the target object as a received signal; a receiver circuit for regulating and digitizing the received signal so as to ultimately derive the distance to the target object based on a signal transmission time method; and a controller for the transmitter unit and the receiver unit.

[0160] The present invention is characterized in that the receiver circuit includes a plurality of analog-to-digital conversion stages (including at least first and second ones), wherein a controller is configured to control the receiver circuit and the transmitter unit such that a successive distance measurement sequence includes the alternating use of the plurality of analog-to-digital conversion stages, one after another and in an alternating order, each performing one distance measurement, wherein each of the plurality of analog-to-digital conversion stages has a closed sampling phase per distance measurement for sampling an input signal, particularly a pulse packet, followed by a closed output phase for outputting the value sampled during the sampling phase, wherein, during the alternation, the corresponding output phase of the first analog-to-digital conversion stage is in time located in the corresponding sampling phase of the second analog-to-digital conversion stage, and the corresponding output phase of the second analog-to-digital conversion stage is in time located in the corresponding sampling phase of either the first analog-to-digital conversion stage or another of the plurality of analog-to-digital conversion stages.

[0161] Another aspect of the invention relates, alone or in combination with the foregoing aspects of the invention, to a laser scanner for optically measuring the environment, comprising: an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having one of the aforementioned distance measuring modules; a support; a beam steering unit for distance measuring radiation, fixed to the support such that it can rotate about a beam rotation axis, particularly about a fast rotation axis; and an angle encoder for detecting angle data related to the rotation of the beam steering unit about the beam rotation axis, wherein the distance measurement data and the angle data (hereinafter referred to as measurement data) are detected during a measurement process comprising scanning sensing by means of the distance measuring device, wherein the beam steering unit rotates about the beam rotation axis in a prescribed progressive (particularly continuous) manner, and wherein distance measuring radiation is continuously emitted and the return portion of the distance measuring radiation is continuously received.

[0162] Another aspect of the invention relates, alone or in combination with other aspects of the invention, to a laser scanner for optically measuring the environment, comprising: an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a base; a support member fixed to the base such that it can rotate about a support rotation axis, particularly about a slow rotation axis; a beam steering unit for the distance measuring radiation fixed to the support member such that it can rotate about a beam rotation axis substantially perpendicular to the support rotation axis, particularly about a fast rotation axis; a first angle. An encoder is used to detect data relating to a first rotation of the support member about a support rotation axis; and a second angle encoder is used to detect data relating to the rotation of the beam steering unit about a beam rotation axis, wherein distance measurement data and first and second angle data (hereinafter referred to as measurement data) are detected as part of a measurement process that includes scanning sensing by means of a distance measuring device, wherein the support member rotates about the support rotation axis in a prescribed progressive manner (especially continuously), wherein the beam steering unit rotates about the beam rotation axis in a prescribed progressive manner (especially continuously), and wherein distance measuring radiation is continuously emitted and the return portion of the distance measuring radiation is continuously received.

[0163] The present invention is characterized in that the support has a skeleton structure comprising at least two separate detachable support structures as skeleton components, the first of the two support structures being rotatably mounted relative to the base, the second support structure being connected only to the first support structure, particularly based on a connection using ordinary pins, the first support structure having an upper structure extending in the direction of the support rotation axis, by means of which a stable mounting of the second support structure with respect to the tilt of the second support structure relative to the support rotation axis is achieved, and the beam steering unit is mounted only within the second support structure so that it can rotate relative to it.

[0164] One implementation involves, for example, the fact that the first support structure is based on an inverted T-shape, wherein a disc or annular disc connected to the base forms a T-shaped crossbar portion, and the upper structure forms a T-shaped vertical portion.

[0165] Another embodiment involves, for example, the fact that the support has a third support structure as an additional skeleton part, which can be separately and detachably fixed to the upper structure of the first support structure, the second and third support structures are each substantially based on a plate structure having a flat side, and the upper structure having two opposing contact sides that are far apart from each other forms a retainer, one for the flat side of the second support structure and the other for the flat side of the third support structure.

[0166] Another embodiment involves, for example, the fact that the laser scanner includes a surface sensor for detecting surface sensor data, and in particular at least one color camera for recording image data, wherein the sensor defines the optical axis of the sensor and the viewing direction of the sensor along the optical axis, the distance measuring device is disposed in a second support structure, the surface sensor is disposed in a third support structure, and the distance measuring device and / or the surface sensor can be interchanged in a modular manner, in particular wherein the first, second, third, or another support structure includes a power supply unit for the distance measuring device and / or the surface sensor.

[0167] Another aspect of the invention relates, alone or in combination with the foregoing aspects, to a laser scanner for optically measuring the environment, comprising an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a base; a support member fixed to the base such that it can rotate about a support rotation axis, particularly about a slow rotation axis; a beam steering unit for the distance measuring radiation, fixed to the support member such that it can rotate about a beam rotation axis substantially perpendicular to the support rotation axis, particularly about a fast rotation axis; and a laser scanner for optically measuring the environment. A first angle encoder for detecting data relating to a first rotation of a support member about a support rotation axis; and a second angle encoder for detecting rotation of a beam steering unit about a beam rotation axis, wherein distance measurement data and first and second angle data (hereinafter referred to as measurement data) are detected as part of a measurement process comprising scanning sensing by means of a distance measuring device, wherein the support member rotates about the support rotation axis in a prescribed progressive (especially continuous) manner, wherein the beam steering unit rotates about the beam rotation axis in a prescribed progressive (especially continuous) manner, and wherein distance measurement radiation is continuously emitted and the return portion of the distance measurement radiation is continuously received.

[0168] A feature of this invention is that the laser scanner includes a status indicator for indicating the status of the device, particularly for indicating the status of the measurement process. The status indicator is arranged on a support, meaning that it rotates together with the support when the support rotates about a support rotation axis. The status display is designed such that it appears substantially the same around its circumference relative to the support rotation axis in all azimuth directions. Therefore, regardless of the rotational position of the support about the support rotation axis, the same information provided by the status indicator is visible to the user of the laser scanner and can be read from all horizontal user perspectives.

[0169] One implementation involves, for example, the fact that a status display is formed by means of individual lights arranged at substantially the same height, particularly closely adjacent to each other, around the entire perimeter of the support.

[0170] Another implementation involves, for example, the fact that the status indicator is achieved by means of a continuous and uninterrupted lighting device that is substantially entirely around the support and the support rotation axis, and in particular, the lighting device is implemented as an LED ring.

[0171] Another implementation involves, for example, the fact that the status indicator is based on a fiber optic loop design having at least one optically coupled input, particularly two or four coupled inputs, wherein the ratio of radiative (radial) light extraction to light transmission along the fiber optic loop increases with the distance along the fiber optic loop from the coupled input location.

[0172] Another implementation involves, for example, the fact that the status indicator is designed to disclose the device status to the user by means of visual encoding, in particular by means of a specified color encoding of the status indicator and / or by means of a specified flashing encoding of the status indicator.

[0173] Another aspect of the invention relates, alone or in combination with the foregoing aspects, to a laser scanner for optically measuring the environment, comprising an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a surface sensor for detecting surface sensor data, particularly at least one color camera for recording image data, wherein the sensor defines the optical axis of the sensor and the viewing direction of the sensor along the optical axis; a support; a beam steering unit for the distance measuring radiation, fixed to the support such that it is rotatable about a beam rotation axis, particularly about a fast rotation axis; and an angle encoder for recording angle data related to the rotation of the beam steering unit about the beam rotation axis.

[0174] A feature of the present invention is that the support is implemented by a skeleton structure, the support including a cover which is carried by and detachable from the skeleton structure as a housing element, and the face sensor is fixed to and carried by the housing element.

[0175] For example, one implementation involves the fact that the laser scanner includes a plurality of face sensors, each of which is mounted on and carried individually by a housing element, in that sense, each of the plurality of face sensors is carried individually and in each case by the housing element, in particular wherein the housing element is formed with an opening for the face sensor, the respective face sensors of the plurality of face sensors are fixed to the interior of the housing element, and in each case the respective face sensors of the plurality of face sensors can be seen through an opening in the housing element.

[0176] Another aspect of the invention relates, alone or in combination with the foregoing aspects, to a laser scanner for optically measuring the environment, comprising: an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a base; a support member fixed to the base such that it can rotate about a support rotation axis, particularly about a slow rotation axis; a beam steering unit for the distance measuring radiation, fixed to the support member such that it can rotate about a beam rotation axis substantially perpendicular to the support rotation axis, particularly about a fast rotation axis; and a laser scanner for detecting... A first angle encoder for measuring data relating to the first rotation of the support member about the support rotation axis; and a second angle encoder for detecting data relating to the rotation of the beam steering unit about the beam rotation axis, wherein distance measurement data and the first and second angle data (hereinafter referred to as measurement data) are detected as part of a measurement process comprising scanning sensing by means of a distance measuring device, wherein the support member rotates about the support rotation axis in a prescribed progressive (especially continuous) manner, wherein the beam steering unit rotates about the beam rotation axis in a prescribed progressive (especially continuous) manner, and wherein distance measurement radiation is continuously emitted and the return portion of the distance measurement radiation is continuously received.

[0177] A feature of the invention is that the distance measuring device is designed to emit a set of measuring beams formed by multiple individual distance measuring beams, and in particular, the set of measuring beams is deflected during the measurement process by a mirror of a beam deflection unit shared by the multiple distance measuring beams.

[0178] One implementation involves, for example, the fact that the maximum divergence between adjacent beams in the measured beam set is less than 15 degrees, and especially less than 1 degree.

[0179] Another embodiment involves, for example, the fact that the individual beams of the measuring beam set are emitted from the support as beam fans in the direction of the beam turning unit, forming a single beam line, in particular, wherein the single beam line extends in a direction perpendicular to both the beam rotation axis and the support rotation axis, and in particular, wherein the beam fan consists of up to ten individual beams.

[0180] Another aspect of the invention relates, alone or in combination with the foregoing aspects of the invention, to a laser scanner for optically measuring the environment, comprising: an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having a transmitter unit for emitting distance measuring radiation and a receiver unit for receiving a return portion of the distance measuring radiation; a support; a beam steering unit for the distance measuring radiation, fixed to the support such that it can rotate about a beam rotation axis, particularly about a fast rotation axis; and an angle encoder for detecting angle data related to the rotation of the beam steering unit about the beam rotation axis, wherein the measurement data includes distance measurement data and detected angle data detected during a measurement process comprising scanning sampling by means of the distance measuring device, wherein the beam steering unit rotates about the beam rotation axis in a prescribed progressive (particularly continuous) manner, and wherein distance measuring radiation is continuously emitted and return portions of the distance measuring radiation are continuously received.

[0181] A feature of the invention is a receiving element for a receiving base, wherein the receiving element is detachable from the base by means of a latching device, wherein the latching device includes a cutout portion on the base, a ring embedded in the cutout portion having a circumferentially continuous cavity therein, and a sleeve is included on the receiving element, wherein the sleeve includes at least three latching bodies, wherein in the basic position of the release device, the latching bodies are pushed radially outward to engage in the cavity by the latching bodies, thereby preventing the receiving element from separating from the base, and activation of the release device allows the latching bodies to enter the sleeve radially so that the receiving element can be detached from the base.

[0182] One implementation involves, for example, the fact that the cut portion is designed to be cylindrical.

[0183] Another implementation involves, for example, the fact that the receiving element is a tripod head or is designed to be attached to a tripod head.

[0184] Another implementation involves, for example, the fact that the latch is designed as a rotating body, especially a spherical or ellipsoidal, trapezoidal, pyramidal, trapezoidal with rounded corners, or pyramidal with rounded corners.

[0185] Another implementation involves, for example, the fact that the latch body and the cavity are designed and matched to each other such that the engagement of the latch body in the cavity causes the base to self-center, especially relative to the support rotation axis.

[0186] Another embodiment relates, for example, to a release device arranged in a sleeve and having at least one radial pin for activating the release device, an axial pin for blocking or allowing separation, and a tension spring for maintaining a basic position, wherein the radial pin, axial pin, and tension spring are operatively connected such that, in the initial state of the release device, the axial pin forces the latch body radially outward, and when the release device is activated, the displacement of the radial pin moves the axial pin toward the tension spring, and the axial pin releases space due to its displacement, thus allowing the latch body to disengage radially into the sleeve.

[0187] Another implementation involves, for example, the fact that, in the basic position, the axial pin presses the latch body into the cavity of the ring by the tension of the tension spring.

[0188] Another implementation involves, for example, the fact that each latch body has at least two points of contact with the cavity, particularly at least one contact line with the cavity.

[0189] Another aspect of the invention relates to a laser scanner in conjunction with the foregoing aspects of the invention, wherein an axial position calibration process is provided for deriving axial position calibration parameters, which are taken into account during measurement data in a reference common coordinate system. In particular, the axial position calibration process includes measuring known objects in a known environment and / or in the environment to be measured. In particular, for the axial position calibration process, the laser scanner is arranged in a hollow test body having known spatial dimensions, and / or in the test environment and / or in an environment provided as part of the actual measurement process, a set of test objects having known positions and / or dimensions relative to each other are mounted and measured as part of the axial position calibration process.

[0190] Another aspect of the invention relates to a laser scanner in conjunction with the foregoing aspects of the invention, wherein, during measurement, a beam steering unit rotates about a beam rotation axis at a speed of at least 50 Hz, particularly at least 100 Hz, particularly at least 250 Hz, and / or, during measurement, a base rotates about a support rotation axis at a speed of at least 0.01 Hz, particularly at least 0.02 Hz, particularly at least 0.03 Hz.

[0191] Another aspect of the invention relates to a laser scanner, in conjunction with the foregoing aspects, wherein, during measurement, a minimum sampling point density of at least 3 points per 1° rotation angle is set based on the rotational speed of the beam steering unit around the beam rotation axis and based on the pulse frequency of the distance measurement radiation. Attached Figure Description

[0192] The system and laser scanner according to the invention are described in detail below by way of purely exemplary means with reference to the exemplary embodiments schematically illustrated in the accompanying drawings. In the drawings, the same elements are labeled with the same reference numerals. The described embodiments are generally not shown to scale and should not be construed as limiting the invention.

[0193] They respectively show:

[0194] Figure 1 A typical laser scanner used for measuring a room according to existing technology;

[0195] Figure 2 Typical equipment components for scanning using a common laser scanner;

[0196] Figure 3 The system for optical measurement according to the present invention includes a laser scanner and a (wireless) monitoring, processing and display unit;

[0197] Figure 4 Another embodiment of the system for optical measurement according to the present invention includes a laser scanner and a (wireless) monitoring, processing and display unit;

[0198] Figure 5 According to the present invention, a camera arrangement of multiple cameras integrated in a laser scanner relative to a central reference point;

[0199] Figure 6 According to the present invention, a camera arrangement has specific lighting devices for the viewing directions of each camera;

[0200] Figure 7 The same rotating beam steering unit according to the invention is used for transmitting and receiving radiation, and is arranged biaxially relative to the optical axis of the lens unit via the beam outlet.

[0201] Figure 8 Another use of the same rotating beam steering unit according to the invention is for transmitting and receiving radiation, by means of a window for transmitting the beam integrated in the lens unit.

[0202] Figure 9 According to the lens unit of the present invention, it has a window integrated in the lens unit for transmitting a beam and has a correction optics for close-range measurement;

[0203] Figure 10 According to the receiver circuit of the present invention, it has a comparator stage and two analog-to-digital conversion stages for adjusting the increase of the signal amplitude and measurement rate of the measurement signal;

[0204] Figure 11Example diagram of a pulse packet and test and measurement signals as part of a receiver circuit according to the invention having two analog-to-digital conversion stages;

[0205] Figure 12 According to the invention, the laser scanner arrangement has a passive base for scanning and data acquisition, a short vertical axis, and a motor integrated in the support for the rotation of the support.

[0206] Figure 13a , Figure 13b The motor for rotating the support is integrated into the support according to the invention, and the mounting according to the invention is based on a short vertical axis by means of a four-point roller bearing (a) or a sliding bearing (b).

[0207] Figure 14a , Figure 14b The mounting according to the invention and the beam steering unit according to the invention are compact drivers that utilize bell-shaped elements around a fast axis;

[0208] Figure 15 According to another embodiment of the bell element of the present invention, it has an encoder disk for integrating an angle encoder into the bell element;

[0209] Figure 16a , Figure 16b According to the present invention, the beam steering unit is connected to the shaft along the beam rotation axis by means of a compressible stabilizing element;

[0210] Figure 17a , Figure 17b Arrangement of the laser scanner according to the invention by means of the three-part support members of the skeleton;

[0211] Figure 18 Typical applications of reference elements in the support structure of laser scanners;

[0212] Figure 19a and Figure 19b The multi-beam arrangement of the laser scanner according to the present invention;

[0213] Figure 20a and Figure 20b A laser scanner having a receiving element (quick release) according to the invention, for example, for fixing the laser scanner on a tripod. Detailed Implementation

[0214] Figure 1A typical laser scanner 1, mounted on a tripod 2 according to the prior art, is shown, having two rotation axes, wherein the laser scanner 1 includes a slow (vertical) rotation axis – also known as a support rotation axis 3 – for azimuth rotation of the laser scanner 1 or rotation of the support 4 of the laser scanner 1 about the base 5 of the laser scanner 1, and a fast (horizontal) rotation axis – also known as a beam rotation axis 6 – mounted in the support 4 of the laser scanner 1 relative to a fast rotating beam deflection element 7.

[0215] To sense linear or linearly movable structures and environments, such as railway track systems, roads, tunnel systems, or air fields, a base or azimuth rotation axis is typically omitted. Instead, a laser scanner is mounted on a moving device, such as a land-based or airborne vehicle. This type of laser scanner, with only one beam rotation axis, is also called a profilometer.

[0216] In particular, profilometers, as well as dual-axis laser scanners for large-area continuous measurements, often have a position and orientation system, for example, which is directly integrated into the laser scanner to automatically reference local sensing data using a global 3D coordinate system.

[0217] The laser scanner 1 also includes a camera 8, for example for recording RGB data, wherein camera images of the environment can be associated with sensing data generated by means of a rotating distance measuring beam 9 and associated angle encoder data for the direction of the distance measuring beam 9. The camera can be moved individually, in particular, to record, for example, different fields of view and / or oriented camera images and scan data relative to a common reference surface or a common coordinate system.

[0218] Figure 2 The typical main components of a conventional laser scanner 1' are shown, for example, having two rotation axes. The laser scanner 1' is based on a design using a base 5 and a support 4, wherein the support 5 is rotatably mounted on the base 5 about a support rotation axis 3 (especially a slow rotation axis). Typically, the rotation of the support 4 about the support rotation axis 3 is also referred to as azimuth rotation, regardless of whether the laser scanner 1' or the support rotation axis 3 is precisely vertically aligned.

[0219] The core component of the laser scanner 1' is formed by an optical distance measuring device 10 arranged in the support 4 for recording distance measurement data. The optical distance measuring device 10 has a transmitter unit for emitting distance measuring radiation 9 (e.g., pulsed laser radiation), a receiver unit with receiver optics (especially lens 11), and a photosensitive sensor for receiving the return portion of the distance measuring radiation 9, wherein the echo is received from a backscattering surface point of the environment, and the distance to the surface point is obtained, for example, based on the propagation time, the shape and / or phase of the pulse.

[0220] Environmental scanning is performed by altering the orientation of the emission direction of the range-measuring beam 9 using a rotating beam-directing unit 7 mounted in a support 4, which rotates about a beam rotation axis 6, particularly a rapidly rotating axis, substantially perpendicular to the support rotation axis 3. An angle encoder 12 detects angular data, such as the fixed angular position and / or the relative angular change of rotation of the support 4 about the support rotation axis 3, and angular data relative to the rotation of the beam-directing unit 7 about the beam rotation axis 6, to detect the emission direction of the range-measuring beam 9 and correlate it with the corresponding acquired range measurement data. By using multiple such measurement points, the entire environment can thus be measured essentially in space, where the desired point-to-point resolution is set, for example, by adjusting the pulse rate of the range-measuring beam 9 and / or by adjusting the rotation speed of the beam-directing unit 7. Subsequent data display can be based on, for example, common data processing steps and / or display methods, such as for displaying the acquired data in the form of a 3D point cloud.

[0221] The beam steering unit 7 has a mirror 14 for deflecting the distance measurement radiation 9, especially a mirror that is tilted relative to the beam rotation axis 6, such as a planar or parabolic mirror. Due to the rapid rotation of the beam steering unit 7 and the large centrifugal force generated, it is usually designed to be integrated with the rotating body of the beam steering unit 7, rather than by attaching a separate optical component such as a separate mirror.

[0222] The prescribed scanning motion of the distance measuring beam 9, which has minimum tolerances for guiding the distance measuring beam 9 with high angular accuracy, typically requires the mounting 13 of the support 4 and the beam steering unit 7 to have the smallest possible clearance; that is, minimum tolerances for the tilt of the support 4 relative to the support rotation axis 3, and for the tilt of the beam steering unit 7 relative to the beam rotation axis 6, respectively. Furthermore, the mirror surface 14 typically has high surface accuracy to ensure, for example, optimal beam collimation and intensity sensitivity.

[0223] To ensure zero-backlash mounting 13 with minimal tilt of the beam steering unit 7 and support 4, mounting 13 is typically implemented along an effective stabilization region 15 with the maximum axial range in each case. Due to the weight of support 4, in the prior art, mounting 13 of support 4 about support rotation axis 3 is typically based on designing vertical axis 16 as long (or high) as possible relative to the total volume of support 4, which, together with the bracket 4 of support 4, defines the stabilization region 15 with the maximum axial range.

[0224] Figure 3The system 17 of the present invention is shown for optical measurements and for imaging the environment, here for example in an area measured in an interior room, where a laser scanner 1” for minimizing possible shadows and / or blind spots can be placed anywhere in the room, here on a table 18 in the room. System 17 includes a laser scanner 1” for detecting measurement data (i.e., distance measurement data and angle data) provided by a distance measurement unit and an angle encoder for determining the emission direction of the distance measurement beam. The measurement data also includes area sensor data provided by a sensor (e.g., a camera 8, particularly an RGB camera or an infrared camera) arranged on and rotating with the support 4.

[0225] The measurement data is recorded by the laser scanner 1” as part of the measurement process defined by scanning sensing using a distance measuring device, wherein the support 4 rotates continuously about the support rotation axis 3 as specified, the beam steering unit 7 rotates continuously about the beam rotation axis 6 as specified, continuously emits distance measuring radiation and continuously receives the return portion of the distance measuring radiation, and repeatedly reads the surface sensor 8 relative to different azimuth angles of the sensor 8.

[0226] The system 17 of the present invention also includes a processing unit disposed on a computing device 19 (especially a computer or tablet computer) separate from the laser scanner 1”, for processing a portion of the measurement data relating to the correlation of surface sensor data with distance measurement data and angle data. The system 17 of the present invention is designed such that, during the data acquisition of the measurement data as part of the measurement process, at least the initial processing of a portion of the measurement data is relating to the correlation of surface sensor data with distance measurement data and angle data, particularly with minimal possible delay, in other words, substantially in parallel with data recording in time, and is performed, for example, via a display connected to or integrated with the computing device 19. The device continuously displays data to user 20, for example, as a continuously growing color 3D point cloud. Specifically, the laser scanner 1” and computing device 19 are configured to transmit measurement data from the laser scanner 1” to the computing device 19, which is essentially parallel to the measurement process via a data stream initiated simultaneously with the measurement process, for example using a WLAN or Bluetooth connection. In particular, the laser scanner 1” and computing device 19 are configured such that monitoring and control signals are transmitted from the computing device 19 to the laser scanner 1”, thus the laser scanner 1” is monitored by the external processing unit 19, and, for example, the prescribed measurement process of the laser scanner 1” can be started, stopped, interrupted, and / or adjusted from the computing device 19.

[0227] In laser scanners, scanning with the aid of a distance measuring device is primary, and in the prior art, camera data is therefore usually only recorded after the distance measuring device has performed a full room scan (360-degree azimuth rotation), for example as supplementary information and usually only for selected areas of the environment, such as providing an improved display of the area of ​​interest to the user.

[0228] The distance measurement modules used in laser scanners for spatial measurements typically lack color sensitivity, meaning the generated 3D point clouds can be displayed in grayscale without the need for additional data. Due to the lack of color and, consequently, depth, much detail remains hidden from the human observer. For example, using RGB data from a color camera, “colored” 3D point clouds can be generated, which makes them fairly easy for the human eye to view. Now, for instance, such referencing of different data and datasets is being performed in an increasingly standardized manner using general data processing algorithms.

[0229] In existing technologies, laser scanners are typically designed such that the field of view of a camera (e.g., an RGB camera) essentially records the scanning plane of the distance measurement radiation, defined by a virtual 360-degree rotation of the beam steering unit around the beam rotation axis. This is achieved, for example, through parallel alignment of the camera's optical axis relative to the scanning plane, or by appropriate coaxial coupling of the camera's beam path into the optical path of the distance measurement device. This has the advantage that, for example, at least for the camera's viewing range, directly corresponding camera and distance measurement data can be recorded. This makes it possible, for example, to simultaneously record camera data and distance measurement data corresponding to the camera's field of view, which facilitates reference between the camera data and the distance measurement data. Therefore, for example, any environmental interference effects occurring during the measurement process can then be identified in the camera data and the distance measurement data.

[0230] However, such integration and alignment of the camera's field of view is usually associated with a certain degree of integration effort, especially when the highly compact structure of the laser scanner is only possible to a limited extent.

[0231] One aspect of the invention relates to integrating a surface sensor 8, particularly an RGB camera, into a laser scanner 1”, such that the viewing direction of the surface sensor is significantly different from that of the scanning plane, wherein, for example, the imaginary rearward extension of the optical axis of the surface sensor intersects the scanning plane at a cutting angle of at least 45 degrees, particularly at an angle of 90 degrees, and particularly wherein the scanning plane is not captured by the field of view of the surface sensor.

[0232] This arrangement of the camera 8 in the laser scanner enables a compact design, such as the laser scanner 1”, but has the disadvantage of potentially being unable to simultaneously record camera data and distance measurement data corresponding to the camera's field of view. In contrast, the arrangement of the present invention enables the use of a scanning parallel readout surface sensor 8, such as an RGB camera, which means that, for example, a dome measurement can be performed in one action by scanning the distance measuring device and the camera 8, and thus the measurement is accelerated, wherein, for example, the distance measurement data, angle data, and camera data can then be computationally referenced accordingly.

[0233] Compared to 360-degree recording of camera data, a full room scan (360-degree azimuth rotation) using a distance measuring device takes a relatively long time. However, to ensure that the environment is displayed immediately upon the start of the measurement process, especially as a color 3D point cloud, one aspect of the invention involves the fact that color camera data of the environment is recorded first, and the scanning using the distance measuring device is performed only afterward. Thus, at least initial processing has been performed based on the relatively quickly recorded camera data, which is then displayed to user 20, for example, as a 2D panoramic view; and, by acquiring distance measurement data, the correlation between the distance measurement data and angle data and the recorded camera data can be virtually performed in real time, thereby enabling the display of a steadily growing color 3D point cloud to user 20 substantially in real time. This allows user 20, for example, to quickly evaluate the recorded data and, if necessary, immediately adjust or change the settings of the laser scanner 1”, for example, a prescribed measurement mode with different point densities.

[0234] Since the laser scanner 1” in the context of the system according to the invention can be controlled by means of an external computer unit 19, especially a tablet computer wirelessly connected to the laser scanner 1”, which in particular performs the computational dense correlation of distance measurement data with camera data and angle data and the display of measurement data, the laser scanner 1” can be designed to be very compact.

[0235] In particular, the laser scanner 1 itself only needs to integrate a minimum number of control elements. For example, the laser scanner 1 according to the invention has only a single integrated control element 21, which has an active and inactive state and can be switched to an active or inactive state by an external action. These two states (the change of the state of the control element 21 from inactive to active, and the change of the state of the control element 21 from active to inactive), the switching of the control element 21 by means of a progressive external action (e.g., continuing to press the control knob) during a specified time interval, the encoded sequence of the state change of the control element 21 between the active and inactive states, and / or the encoded sequence of temporally continuous external actions on the control element 21 within a specified time period are assigned to the various measurement programs and / or actions of the laser scanner 1, such as the activation / deactivation of the laser scanner 1, the start of a specified measurement process, or the interruption / suspension / restart of the measurement process.

[0236] For example, the laser scanner 1” can also be designed with a position and orientation system, such as using an inertial system, a tilt sensor, or a receiver for a global satellite navigation system, which is switched to an active state by control, thus continuously determining the position and / or orientation of the laser scanner 1” and continuously storing it in the measurement data. In this mode, the laser scanner 1” can then be moved within a room, for example, by automatically referencing local scan data using a global 3D coordinate system.

[0237] The laser scanner 1” can also be designed such that prescribed measurement procedures and actions are stored on the laser scanner 1”, and / or new measurement procedures and actions can be defined and assigned to the state / state change of the control element 21, for example, through the corresponding input function of the external computing device 19.

[0238] Another aspect of the invention relates to a status indicator 22 for indicating the status of a device, for example, indicating the status of the current measurement process, wherein the status indicator 22 is arranged on a support 4, in other words, rotates together with the support rotation axis 3 during rotation of the support 4. The status indicator 22 is then designed such that it appears substantially the same about its circumference relative to the support rotation axis 3 in all azimuth directions. For example, the same information can be provided to the user 20 of the laser scanner 1” regardless of their line of sight to the laser scanner 1” (regardless of the azimuth position of the user 20 from the scanner's perspective), especially even when the measurement process is in progress and the scanner 1” is rotating.

[0239] For example, the status indicator 22 is designed with the aid of an optical fiber loop having two relatively positioned optically coupled input ends, wherein the ratio of radiative emission (radial light extraction) to optical transmission increases as the distance along the coupling position of the optical fiber loop increases, wherein the device status is displayed to the user 20 by visual encoding, such as a specified color code of the status indicator 22, and / or by a specified flash code of the status indicator 22.

[0240] Figure 4 Another embodiment of the system 17' of the present invention for optical measurement and imaging of the environment is shown, for example in an area measured in an indoor room, wherein the laser scanner 1"' is mounted on a tripod. As previously described (see above) Figure 3 The laser scanner 1”’ is wirelessly controlled via an external computing device 19’, for example via a tablet computer, where data and monitoring and control signals are transmitted bidirectionally (from the laser scanner 1”’ to the tablet computer 19’, and vice versa).

[0241] In this embodiment, the tablet computer 19' is also equipped with an inertial measurement system and / or a tilt sensor, which allows the laser scanner 1"' to be controlled based on the positioning (location, orientation) of the computing device 19', for example, substantially in sync with changes in the position of the computing device 19'.

[0242] The tablet 19' also has a display 23 on which a current live stream, for example, from the camera 8 is displayed, allowing the user 20 to observe the environment from the position and orientation of the laser scanner 1"' at different azimuth angles of the support 4 for the laser scanner 1"'. This means, for example, that it is possible to check whether the current position of the laser scanner 1"' in the room needs to be adjusted to avoid blind spots before taking measurements.

[0243] User 20 can also define different regions of interest 24 for various azimuth angles of the laser scanner 1” in the environment, for example, via a tablet computer 19' using a touchscreen function, and assign settings to these regions of interest 24 that were defined before the measurement process for recording measurement data (e.g., camera resolution, distance measurement accuracy, scan resolution), and / or definition settings for displaying portions of the processed measurement data (e.g., color settings, highlighting).

[0244] Additionally, the tablet 19' (or laser scanner 1"') can, for example, access augmented reality data, thereby displaying further details of surrounding areas hidden from the human eye, such as cables or pipes hidden in walls, mounting points, furniture, etc., to the user 20 from the perspective of the scanner 1"'.

[0245] Figure 5A laser scanner according to the invention is shown, which has a plurality of cameras 8 integrated on a support, wherein, in particular, the cameras 8 are arranged such that their optical axes 25 are all located in the same azimuth plane - here for example perpendicular to the scanning plane of the distance measuring radiation, which is defined by the virtual 360-degree rotation of the beam steering unit 7 about the beam rotation axis 6 - so that the cameras 8 have the same azimuth observation direction.

[0246] The laser scanner has a central reference point 26 as the origin for distance and angle measurements of the distance measuring device, for example, the intersection of the optical axis of the lens and the beam steering unit 7. Alternatively, the distance measurement data can also be corrected by calculation relative to a central reference point defined elsewhere.

[0247] According to the present invention, cameras 8 are now arranged on support 4 such that the imaginary rearward extension of each of their optical axes 25 passes through the central reference point 26, thus the cameras 8 are arranged in a parallax-free manner relative to the central reference point 26. For example, this facilitates referencing camera data with distance and angle data so that the measurement data can be displayed as a 3D point cloud.

[0248] Furthermore, the parallax-free arrangement ensures that the optical axis 25 of camera 8 is always substantially coaxial with the direction (azimuth and elevation) of the distance measurement beam. That is, during the measurement process (as part of the azimuth rotation of support 4), depending on whether camera 8 is looking "forward" or "backward" relative to the rotated azimuth and the azimuth rotation of the scanning plane of the distance measurement radiation, camera 8 will sooner or later be rotated to the past or future observation direction of the distance measurement radiation. Due to the parallax-free arrangement, camera 8 therefore "sees" the same view as the distance measurement radiation and experiences substantially the same (environmentally generated) shadows and field-of-view obstructions as the distance measurement device, and thus captures substantially the same sampling points as the distance measurement radiation. As a result, for example, corners and edges are detected substantially the same by camera 8 and the distance measurement device, which in turn improves their reference and / or modeling based on camera and scan data.

[0249] In certain situations, cameras 8 can be designed and positioned such that they cover different height fields of view, for example, three cameras, where their field of view cones 27 intersect above a minimum radius 28 around a central reference point 26.

[0250] In particular, if the camera with the steepest height alignment of the optical axis is designed such that its field of view cone 27 intersects the support rotation axis 3, for example, at a distance of the aforementioned minimum radius 28 from the central reference point 26, the arrangement of cameras with the minimum radius 28 and the larger makes it possible to perform dome measurements (measurements of the hemisphere defined by the support rotation axis 3 and the beam rotation axis 6 on a plane perpendicular to the support axis 3 and perpendicular to the beam rotation axis 6).

[0251] The figure also shows a camera 29 with parallax relative to the central reference point 26, such as an infrared camera for recording thermal data.

[0252] Figure 6 Another embodiment of the laser scanner according to the invention is shown, wherein the parallax-free camera 8 is positioned relative to the origin, which serves as the distance and angle measurement point for the distance measuring device (see...). Figure 5 The center reference point 26 of the laser scanner is arranged in the support 4. The support 4 also has a plurality of lights 30, each illuminating the field of view of a particular camera, wherein the lights 30 are designed and arranged such that they are used for selectively controlled illumination, essentially targeting the field of view of a particular camera.

[0253] The lamps 30 are typically designed such that the divergence of their light cones 31 is smaller than the field of view of the camera, wherein each camera is assigned, for example, two or four lamps 30 directly arranged to its side. The lamps 30 are implemented, for example, as LEDs for emitting white light, or in each case as dual LEDs, i.e., as a pair of LEDs with two LEDs having different emission spectral ranges, in order to achieve the most realistic color representation of the camera image to the human eye.

[0254] To achieve optimal (individual) illumination for each camera, for example, a 360-degree (orientation rotation) pre-scan can be performed first using the cameras, for example with the lights off or with the lights adjusted to a uniform intensity, so that the optimal exposure time and illumination intensity for each individual camera at different orientation positions can be obtained, and then this can be taken into account during the effective measurement scan.

[0255] Figure 7 Another embodiment of the laser scanner according to the invention is shown, having a biaxial arrangement relative to the optical axis of the emitted distance measuring beam 9 and the lens 11, or the receiver of the distance measuring device 10, wherein the emitted distance measuring beam 9 and the return portion 32 of the distance measuring beam are deflected to the surrounding environment via the same optical rotating element 7, or separately deflected into the lens 11. This, for example, enables a compact, simple, and robust design for the distance measuring device 10. In the example shown, the emitted distance measuring beam 9 is arranged such that it exits directly beside the lens 11 of the receiving unit of the distance measuring device 10.

[0256] Compared to the coaxial arrangement commonly used between the range measuring beam and the lens, no central shadow, such as that caused by a deflector positioned at the center of the lens for range measuring radiation, is produced. However, parallax effects do occur, particularly for the portion of range measuring radiation returning from the near field, due to the lateral offset of the beam exit relative to the optical axis of the lens. As a result, for example, the vertical wall is thus scanned by the range measuring beam with a sinusoidal scanning portion instead of the substantially vertical scanning portion.

[0257] However, on the one hand, this effect can be compensated by appropriate correction optics (e.g., cylindrical lenses) in lens 11, and / or on the other hand, compensation can be calculated using a compensation algorithm relative to a common coordinate system as part of the reference measurement data, based on the angular position of beam steering unit 7 and the detection distance stored when recording distance measurement radiation.

[0258] Figure 8 Another embodiment of the laser scanner according to the invention is shown, which has a biaxial arrangement relative to the optical axis of the outgoing distance measuring beam 9 and the lens 11, or the receiver of the distance measuring device 10, wherein the distance measuring radiation 9 exits through an exit region 33 arranged in the lens 11, for example through a cutout or window in the lens 11. This will, on the one hand, reduce the parallax effect caused by the lateral offset between the optical axes of the outgoing distance measuring beam 9 and the receiver unit, and on the other hand, allow the beam steering unit 7 and the lens 11 to better utilize the effective light collection area.

[0259] Figure 9 A front view of the lens unit 11 for the biaxial arrangement of the present invention is shown relative to the output distance measuring beam 9 and the optical axis of the lens 11 of the distance measuring device, wherein the distance measuring radiation 9 passes through the lens 11 (see...). Figure 8 The exit area of ​​the lens 11 is located, for example, radially directly at the edge of the lens 11. Additionally, the correction optics 34 are used to compensate for the parallax effect of a portion of the range measurement radiation returning from the near field of the range measurement radiation 9.

[0260] The size and orientation of the exit region 33 generally make the geometry of the exit region 33 essentially cover only the minimum 35 and maximum 36 extensions of the beam waist of the emitted distance measuring radiation 9 - for example, depending on the geometry, the arrangement and orientation of the diodes generating the distance measuring radiation 9, especially where the geometry and orientation of the exit region are adjusted relative to the geometry and orientation of the beam cross section, for example in the form of an elliptical window.

[0261] Figure 10 A schematic diagram of the receiver circuit 37 of the laser distance measurement module according to the invention is shown, which is adapted to determine the distance to the target object based on the signal propagation time method, and is connected here to the pulser 38.

[0262] For example, receiver circuit 37 includes receiver element 39, such as a receiver diode, transimpedance amplifier 40, and amplifier unit 41 for adjusting the signal amplitude, particularly by amplifying or attenuating the input signal, for example by a variable gain amplifier (VGA). Receiver circuit 37 also includes comparator stage 42 for determining the signal amplitude of the detected received signal, here arranged after amplifier unit 41, wherein comparator stage 42 may alternatively be arranged before amplifier unit 41. Circuit 37 also has first analog-to-digital conversion stages 43A and second analog-to-digital conversion stages 43B, and a control unit 44, such as a microprocessor or FPGA (Field Programmable Gate Array).

[0263] Comparator stage 42, amplifier unit 41, and first 43A and second 43B analog-to-digital converter stages are arranged such that a continuous distance measurement sequence includes a first distance measurement by means of the first analog-to-digital converter stage 43A, for example, based on a first packet of a continuously received signal, and a second distance measurement by means of the second analog-to-digital converter stage 43B, for example, based on a second packet of a continuously received signal. This process involves alternating use of the first 43A and second 43B analog-to-digital converter stages, wherein the first received signal is used as a test signal and the second signal is used as a measurement signal. The test signal is fed to comparator stage 42, by means of which the signal amplitude of the test signal is derived, wherein the digital amplitude derived from the test signal is used to adjust at least a portion of the received signal containing the measurement signal using amplifier unit 41, such that at least the measurement signal exists as an input signal within the control range of the analog-to-digital converter stages 43A and 43B.

[0264] In the example shown, the receiver circuit 37 also includes an activation unit 45, by means of which, for example, a setting is applied to further consider or discard the test signal to determine the distance to the target object. Specifically, the activation unit 45 can be configured to define a range of available signal amplitude values ​​for the test signal, for example, using appropriate storage of the detected received signal, and to compare the signal amplitude of the sample signal obtained by the comparator stage with the range of values; wherein the activation unit 45 is controlled based on the comparison of the signal amplitude with the range of values, such that if the signal amplitude of the test signal is within the range of values, the test signal is considered to determine the distance to the target object, and if the signal amplitude of the test signal is outside the range of values, the test signal is discarded to determine the distance to the target object.

[0265] Figure 11 The receiver circuit 37 according to the present invention is shown (see Figure 10 An example diagram of the pulse packet 46 used as the transmit signal 47 and receive signal 48 for test and measurement signals, which has two analog-to-digital conversion stages 43A and 43B (see...). Figure 10Each analog-to-digital converter stage has a sampling stage 49 for receiving an input signal and an output stage 50 for evaluating the input signal. As part of the alternating use of the first analog-to-digital converter stage 51A and the second analog-to-digital converter stage 51B, the output stage 50 of the first analog-to-digital converter stage occurs simultaneously or almost simultaneously with the sampling stage 49 of the second analog-to-digital converter stage.

[0266] This means that, for example, as part of a single distance measurement of the second analog-to-digital converter (ADC), the first ADC can use the received signal 52 of the receiving packet of the immediately preceding distance measurement as the current test signal 53 for the distance measurement of the second ADC (and vice versa). As a result, the appropriate input signal in the control range of the ADC can be set after only a few iterations, where the alternating use of the ADC allows for a high distance measurement rate.

[0267] Figure 12 A laser scanner according to the invention is shown, which has a “passive” base 5’ for scanning and data acquisition, here having a short axial vertical axis 54 compared to the radial range and a motor 55 integrated in the support 4 for rotation of the support 4.

[0268] The base 5' is passive, so that all the active electronics required for the motorization of rotation about the support rotation axis 3 - such as for direct drive, piezoelectric drive or friction wheel drive - are arranged only in the support 4 and rotate together with the support about the support rotation axis 3, wherein, for example, the active drive element 55 for the rotation of the support 4 about the support rotation axis 3 (here a rotary motor with a drive shaft 56 connected to the motor) and the power supply unit for the active drive element 55 are each completely arranged in the support 4.

[0269] In the example shown, the driver for rotating the support 4 about the support rotation axis 3 is designed as a friction wheel driver, wherein the drive shaft 56 of the rotary motor 55 extends parallel to the base 5' of the support rotation axis 3 and has an offset relative to the support rotation axis 3, wherein, on the output portion of the drive shaft 56, for example, a freewheel 57 implemented with a rubber ring is provided, which rolls along the circular symmetrical bearing surface 58 of the base 5'.

[0270] Due to the compact design, particularly the short axial vertical shaft 54, the radial extension 59 of the vertical shaft is chosen to be as large as possible, and the drive shaft 56 or idler wheel 57 runs on a bearing surface 58 defined by the interior of the base ring. Alternatively, the drive may be designed such that the drive shaft 56 is arranged outside the base ring, allowing it to roll on the outer side of the base ring of the base.

[0271] In one embodiment, the laser scanner has only one power supply unit in total, namely the power supply unit for the active drive element 55, which is arranged in the support 4, wherein the base 5' is permanently and irreversibly electrically disconnected from the support 4, and no power transmission occurs between the support 4 and the base 5'.

[0272] Figure 13a , Figure 13b Two embodiments of the mounting of the axially compact vertical shaft according to the invention are shown; in other words, the axial vertical shaft is shorter than the radial extension 59. In each example, the laser scanner is placed, for example, on a table 18.

[0273] Due to its compact (short) axial design, there is only a short, overall effective stabilizing region 15 along the vertical axis of the supporting rotation axis 3, by means of which the stability of the support 4 is achieved with respect to the tilt of the support 4 relative to the base 5 or the supporting rotation axis 3. Therefore, in order to prevent the support 4 from tilting relative to the base 5, according to the invention, the substantially radially symmetrical extension 59 perpendicular to the vertical axis of the supporting rotation axis 3 is greater than its axial extension.

[0274] According to one aspect of the invention, the support 4 is also mounted on the stabilization region 15 of the base 5 and has a single bearing rim, which allows it to rotate about the support rotation axis, with stability achieved solely by the single bearing rim.

[0275] The bearing rim can be designed as a single-row four-point roller bearing 60 with rolling elements 66. Figure 13a ) or has an outer 62A and an inner 62B ( Figure 13b A single-row sliding bearing 61 is provided, wherein the outer ring having an inner ring forms two contact bearings 63A, 63B that are axially spaced relative to the supporting rotating shaft 3. For example, one contact bearing 63A can be elastically arranged 67 to ensure sufficient clearance for rotation about the supporting rotating shaft 3.

[0276] Stability can then be achieved, for example, by the spring tension acting radially on the bearing rim relative to the supporting rotation axis 3.

[0277] Another aspect of the invention aims to ensure that bearing lubricant does not escape from the bearing into other parts of the laser scanner. This is important, for example, in the drive unit according to the invention, a rotary motor 55 is designed, wherein the drive shaft 56 is offset relative to the supporting rotation shaft 3 and has a freewheel 57 implemented with a rubber ring (see...). Figure 12 (Description) is used for the rotation of the support 4 about the support rotation axis 3, because the adhesion of the lubricant, such as the idler wheel 57, to the base ring 58 is reduced (see description). Figure 12 ).

[0278] On the one hand, this can be achieved, for example, by installing a four-point roller bearing in the form of a dry running ring bearing with ceramic roller elements.

[0279] On the other hand, for example, a lubricant-protectant emulsion can be applied along a boundary region substantially parallel to the contact bearing, such that any lubricant dispersion caused by the surface tension of the lubricant-protectant emulsion is substantially limited by the boundary region.

[0280] Figure 14a , Figure 14b A compact drive unit for the mounting element 13 according to the invention and the beam steering unit 7 according to the invention is shown, which rotates about a fast axis via a bell-shaped element 68.

[0281] Figure 14a A beam steering unit 7 is shown, which is connected along the beam rotation axis to a shaft 69 mounted on a support 4. Specifically, the shaft 69 penetrates the beam steering unit 7 to a predetermined penetration depth or is designed integrally with the beam steering unit 7. The shaft 69 is also connected to a bell-shaped element 68, which defines a bell-shaped body 70 and a bell-shaped back 71 (see [link to diagram]). Figure 14b A passive magnetic element 72 is arranged in the bell-shaped body 70 and connected to the bell-shaped element 68, and an active drive element 73 is arranged on the support 4 to generate electromagnetic interaction with the passive magnetic element 72 (e.g., an electric coil element), wherein the active drive element 73 protrudes at least partially into the bell-shaped body 70, such that the beam steering unit 7 can be configured to perform a predetermined rotational motion about the beam rotation axis through the radial interaction between the active drive element 73 and the passive magnetic element 72.

[0282] For the most compact design, at least a portion of the entire active drive element 73 and the mounting bushing 74 for mounting the shaft 69 in the support member 4 are arranged in the bell-shaped body 70, particularly where the bearing is implemented as a roller bearing and the rolling elements 66 of the roller bearing at least partially protrude into the bell-shaped body 70. Furthermore, a portion of the mounting bushing 74 may protrude into the beam steering unit 7, particularly where a portion of the rolling elements 66 of the roller bearing at least partially protrudes into the beam steering unit 7.

[0283] Another aspect of the invention relates, for example, to a shaft 69 comprising a single effective stabilizing region 15' axially along the beam rotation axis, which is used to stabilize the support against tilting of the shaft 69 relative to the support 4 or the beam rotation axis, wherein the beam steering unit 7, the bell element 68 and the shaft 69 are designed and arranged relative to each other (e.g., including by means of balancing elements) such that their common center of gravity 75 axially along the beam rotation axis is located in the stabilizing region 15', particularly wherein stability is achieved solely by bearings that are substantially axially symmetrical about the center of gravity 75.

[0284] Figure 15 Another embodiment of the bell element 68' of the present invention is shown, wherein here the encoder disk 76 is arranged on the back of the bell, particularly integrated with or forming a single piece with the bell element 68', for recording angle encoder data of rotation of the angle encoder 12' arranged in the support 4 about the beam rotation axis of the beam steering unit 7.

[0285] Figure 16a , Figure 16b The creative connection of the beam steering unit 7 to the shaft 69 along the beam rotation axis by means of a compressible stabilizing element 77 is shown in both connected and disconnected states.

[0286] Figure 16a An unconnected beam steering unit 7 is shown, which includes a mirror 14 for deflecting the distance measurement radiation, particularly a mirror tilted relative to the beam rotation axis. Typically, the mirror 14 is integrated with the beam steering unit due to the high centrifugal force caused by the rapid rotation of the beam steering unit 7.

[0287] The beam steering unit 7 has a closed region 78 for penetrating the shaft 69 during connection between the beam steering unit 7 and the shaft 69, thereby creating a gap 79 of a defined width between the shaft 69 and the closed region 78 of the beam steering unit 7a in the connected state (see Figure 16b The diagram shows the beam steering unit 7 in its connected coupled state to the shaft 69. The enclosed region 78 also has a stabilizing element 77, which can be compressed in the gap 79 for tolerance compensation and for stable connection between the beam steering unit 7 and the shaft 69. In the unconnected state, the stabilizing element 77 has a thickness greater than the width of the gap 79 and, in the connected state, surrounds the shaft 69, for example, in a continuous annular manner.

[0288] According to one aspect of the invention, the beam steering unit 7, the shaft 69, and the stabilizing element 77 are designed to interact such that during the connection of the beam steering unit 7 and the shaft 69, the stabilizing element 77, arranged between the closed region 78 and the shaft 69, is compressed and exists in the gap 79 in such a deformed state in the connected state, particularly wherein at least a portion of the stabilizing element 77 is plastically deformable, with only a small residual elastic force acting on the beam steering unit 7 and the shaft 69 radially to the beam rotation axis; and the beam steering unit 7 and the shaft 69 are stabilized relative to each other in the axial direction relative to the beam rotation axis, the beam steering unit 7 is stabilized to prevent tilting relative to the shaft 69 in the stable region 15” defined by the length of the transmission region, and the residual elastic force does not act on the mirror 14 except within a specified tolerance range, such that the residual elastic force on the mirror 14 is small enough to maintain a high surface accuracy of the mirror 14 angle.

[0289] The stabilizing element 77 may be implemented, for example, in an annular shape and made of a material with uniform plastic properties (e.g., uniform plastic flow range), wherein the stabilizing element 77 is integrated into the beam deflecting unit 7, for example, injection molded onto the beam deflecting unit 7.

[0290] Additionally, the beam steering unit 7 and the shaft 69 are typically bonded together 80 as part of their connection, wherein a prescribed opening 81 or access port is provided in the beam steering unit 7 for excess adhesive or for applying adhesive.

[0291] Figure 17a , Figure 17b The arrangement of a laser scanner according to the invention using a skeleton, three-part support 4' and base 5 is shown, wherein the support 4' is formed here by a skeleton structure consisting of three separate detachable support structures 82, 83A, 83B, for example by connection based on common pins. Figure 17a The various components of the support 4' and the base 5 are shown, while Figure 17b The assembled components are shown.

[0292] The central support structure 82 is coaxially mounted on the base 5 with the support rotation axis 3, and two additional separate support structures 83A and 83B are connected to the central support structure 82 but not to the base 5, wherein the beam steering unit 7 is arranged in only one of the other support structures 83A. In particular, the central support structure 82 defines a vertical axis 84 with an effective stabilization region 15”', by means of which the stability of the additional support structures 83A and 83B is obtained to prevent the support structures 83A and 83B from tilting relative to the vertical axis 84 and therefore relative to the support rotation axis 3. The vertical axis 84 also includes two retainers 85A and 85B for receiving and connecting the additional, especially plate-shaped, support structures 83A and 83B.

[0293] This design of the support 4' allows for modular deployment, particularly regarding maintenance—in other words, the maintenance or replacement of individual modular components—or the upgrade capability of the laser scanner. For example, the support structure can be designed such that one support structure 83A receives the beam steering unit while another support structure 83B receives the distance measuring device 10, making these two core components of the laser scanner interchangeable in a modular manner.

[0294] Despite the presence of a skeleton structure, to ensure sufficient axial positional stability, especially regarding the tilt of the support structure 83A carrying the beam steering unit 7 relative to the support rotation axis 3, support structures 82, 83A, and 83B, particularly the other two support structures 83A and 83B, are constructed, for example, through all-aluminum housings 86A and 86B. Figure 17b(As shown by the dashed line in the diagram) are formed, and the all-aluminum housings 86A and 86B are, for example, placed directly on the horizontal surface 87 of the central support structure 82.

[0295] Figure 18 A typical reference element 88 in support 4” is shown for adjusting and / or calibrating distance measuring devices, for example, for intensity, contrast, and / or distance reference. Typically, the reflectivity and / or color of the reference element 88 can vary with the beam rotation direction defined by the rotating beam steering unit 7, for example, to achieve dynamic distance and intensity calibration. In the example shown, the reflectivity of the reference element 88 varies at three fixed levels. Alternatively, reference element units with reflectivity gradients and / or color gradients can also be used.

[0296] The range measurement unit and scanning can be based on a single range measurement beam or multiple range measurement beams emitted simultaneously.

[0297] Figure 19a and Figure 19b A laser scanner according to the invention is shown, wherein the distance measuring unit and scanning are based on multi-beam scanning patterns 89, 89', such as multiple distance measuring beams emitted simultaneously. This has the advantage of achieving a higher point rate and / or higher point density, for example, at a lower rotational speed of the optical axis steering unit about the fast axis. For example, instead of a single distance measuring beam, a beam fan 9' can be used, comprising, for example, four adjacently arranged individual beams, each with a small divergence.

[0298] For example, each beam is generated by an electronic distance measurement module arranged in the support 4, having multiple transmission beams and an aiming beam steering unit 7, for example, with a divergence of less than 15 degrees between the individual beams. For example, the beams are aligned in such a way that during scanning, in the scanning area near the horizontal scanning plane (a plane perpendicular to the beam rotation axis 3 and the support rotation axis 6), substantially similarly oriented scanning patterns 89, 89' are generated in each case by the individual beams, for example, scan lines, especially smooth horizontal scan lines 89 (…). Figure 19a Or basically - in Figure 19b The horizontal scan line is formed by six scan points (89'). Figure 19b It has alternating vertically offset scan points. Alternatively, the individual beams can be emitted in such a way that they form a complex two-dimensional scan pattern.

[0299] At least within a defined scanning area, such as near the horizontal plane, beam fans 89, 89' can be emitted in such a manner that complementary or overlapping scan lines are generated, for example, during the rotation of the support 4 and the beam steering unit 7. The point density increases towards the zenith, where, for example, the individual scan points or scan lines become increasingly overlapping. For example, through appropriate data reduction and / or data selection, the rotation of the scan pattern (relative to a 90-degree rotation aligned with the horizon) and the over-determination of the 3D point cloud in the zenith can be permitted. Furthermore, the rotational speeds of the support 4 about the support rotation axis 3 and the beam steering unit 7 about the beam rotation axis 6 can be synchronized, for example, to optimize scanning relative to the scan trajectory.

[0300] Figure 20a , Figure 20b A receiving element 90 for receiving a laser scanner is shown, for example for attaching the laser scanner to a tripod, wherein the receiving element 90 can be detached from the base 5” by a latching device. Figure 20a The receiving element 90 is shown in a state where it is not connected to the base 5". Figure 20b The receiving element 90 is shown in a state of being connected to the base 5”.

[0301] The latching device includes a cutout portion 91 on the base 5”, into which a ring 92 is embedded. The ring 92 has a circumferentially continuous cavity inside and includes a sleeve 93 on the receiving element 90. The sleeve 93 includes at least three latching bodies 94, which, in the basic position of the release device, include a radial pin 95A, an axial pin 95B, and a radially outwardly pushing spring 96, for example by means of a tension spring, to prevent the receiving element 90 from being removed from the base 5”, since the latching bodies 94 engage in the cavity of the ring 92. To release the receiving element 90 from the base 5”, the release device is activated, causing the latching bodies 94 to radially enter the plug 93.

[0302] It goes without saying that the accompanying drawings are merely schematic representations illustrating possible exemplary embodiments. Different methods may also be combined with methods of the prior art.

Claims

1. A laser scanner for optically measuring the environment, the laser scanner comprising: An optical distance measuring device for detecting distance measurement data, the optical distance measuring device having: A transmitter unit, used for transmitting distance measurement radiation, and A receiver unit for receiving the return portion of the distance measurement radiation; Base; A support member fixed to the base, enabling the support member to rotate about a support rotation axis; A beam steering unit for the distance measurement radiation is fixed to the support, such that the beam steering unit can rotate about a beam rotation axis that is substantially perpendicular to the rotation axis of the support. A first angle encoder is used to record first angle data regarding the rotation of the support member about the support rotation axis; and A second angle encoder is used to record second angle data regarding the rotation of the beam steering unit about the beam rotation axis. Wherein, the distance measurement data, hereinafter referred to as measurement data, along with the first angle data and the second angle data, are detected during the measurement process, which includes: Using the distance measuring device, scanning and sensing are performed through the following steps: The support member rotates gradually about the support rotation axis in a predetermined manner. The beam steering unit rotates gradually about the beam rotation axis according to a specified procedure, and The distance measuring radiation is continuously emitted and the return portion of the distance measuring radiation is continuously received. Its features The base includes only one overall effective stabilizing region along the axis of rotation of the support, which is used to stabilize the support member and prevent it from tilting relative to the base. The stable region has a first axial extension along the supporting rotation axis and a second extension perpendicular to the supporting rotation axis and substantially radially symmetrical with respect to the supporting rotation axis. The second extension is greater than the first extension.

2. The laser scanner according to claim 1, Its features The second extension is at least twice as large as the first extension.

3. The laser scanner according to claim 1 or 2, Its features The support is mounted by means of a single bearing rim, such that the support can pivot about the support rotation axis relative to the base, wherein stability is achieved solely by the single bearing rim.

4. The laser scanner according to claim 3, Its features The bearing rim is designed as a single-row four-point roller bearing, or The bearing rim is designed as a single-row sliding bearing with an outer ring and an inner ring, the outer ring and the inner ring forming two contact bearings axially spaced apart relative to the supporting rotation axis.

5. The laser scanner according to claim 3, Its features Stability is achieved by means of a spring load acting radially on the bearing rim relative to the supporting rotation axis.

6. The laser scanner according to claim 3, Its features A lubricant-protectant emulsion is applied along a boundary region substantially parallel to the contact bearing, such that the dispersion of the lubricant on the bearing rim due to the surface tension of the lubricant-protectant emulsion is substantially limited by the boundary region.

7. The laser scanner according to claim 3, Its features The bearing rim is designed as a four-point roller bearing in the form of a dry running ring bearing with ceramic roller elements.

8. The laser scanner according to claim 1, Its features During the measurement process, the beam steering unit rotates about the beam rotation axis at a speed of at least 50 Hz, and / or During the measurement process, the base rotates about the support rotation axis at a speed of at least 0.01 Hz.

9. The laser scanner according to claim 1, Its features Regarding the rotation of the support member about the support rotation axis, the base is designed as a passive component. In this sense, all active electronics required for the motorization of rotation about the support rotation axis are located only in the support member and rotate together with the support member about the support member's rotation axis.

10. The laser scanner according to claim 9, Its features Each of the following components is fully arranged within the support and rotates together with the support about the support's rotation axis. An active drive element for rotating the support member about the support rotation axis, and Power supply unit for the active drive element.

11. The laser scanner according to claim 9 or 10, Its features In order for the support member to rotate about the support rotation axis, a rotary motor arranged in the support member is designed to have a drive shaft connected to the motor. The drive shaft extends substantially parallel to the axial direction of the support rotation shaft, offset relative to the support rotation shaft. The base includes a circularly symmetrical bearing surface about the supporting rotation axis. A freewheel is arranged on the drive shaft and is operatively connected to the bearing surface, such that during rotation of the drive shaft, the freewheel rotates along the bearing surface, thus causing the support member to rotate relative to the base about the support rotation axis. The bearing surface defines a virtual circle, and the idler wheel is arranged within the circle.

12. The laser scanner according to claim 10, Its features In addition, the following components are fully arranged in the support and operate by means of the power supply unit: The optical distance measuring device Surface sensor, Monitoring and control units, and The electronic components of the first angle encoder and the second angle encoder, The base and the support are designed such that no power transmission or electrical signal transmission occurs between the base and the support during the measurement process.

13. The laser scanner according to claim 10, Its features The laser scanner includes a single power supply unit, namely the power supply unit for the active drive element, which is arranged in the support member. The base is permanently and irreversibly electrically separated from the support, so that no power transmission occurs between the support and the base.

14. The laser scanner according to claim 9, Its features The laser scanner includes a wireless signal transmission unit, wherein the signal transmission unit is integrally arranged within the support member, wherein... A two-way exchange of control signals is provided between the laser scanner and the external monitoring unit, and / or A portion of the measurement data is transferred from the laser scanner to an external computing and / or storage unit, wherein bidirectional transmission of measurement data and / or auxiliary data is provided between the laser scanner and the external computing and / or storage unit.

15. The laser scanner according to claim 14, Its features The transmission of the measurement data and / or auxiliary data is carried out substantially in parallel with the measurement process via a data stream of a portion of the measurement data, which begins simultaneously with, or at least nearly simultaneously with, the start of the measurement process.

16. The laser scanner according to claim 1, Its features The support member is fixed to the base, allowing the support member to rotate about a slow rotation axis.

17. The laser scanner according to claim 1, Its features The beam steering unit is fixed to the support member, enabling the beam steering unit to rotate about a fast rotation axis.

18. The laser scanner according to claim 10, Its features The active drive element is a rotary motor having a drive shaft coupled to a motor or an electric coil element for radial interaction between the electric coil element and a passive magnetic element in the base relative to the supporting rotation shaft.

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