LASERSCANNER

Description

[0001] The invention relates to laser scanners for optical measurement and for displaying an environment, in particular for generating and displaying a colored 3D point cloud.

[0002] Three-dimensional measurement of rooms and environments is of great interest to tradespeople and architects, for example, because it allows them to quickly record the current status and / or construction progress of rooms or a construction site and plan upcoming work. Using a point cloud visualization, for example, in combination with multiple timescales using augmented reality and / or virtual reality, various options for further steps or expansion possibilities can then be examined and, if necessary, easily presented to an employee or customer.

[0003] An environment can be optically scanned and measured using a laser scanner. A common approach involves scanning the environment using pulsed electromagnetic radiation, such as laser light. An echo is received from a backscattering surface point in the environment. Based on the propagation time, shape, and / or phase of the pulse, a distance to the surface point is derived. This distance is then linked to the spatial position of the surface point, for example, using angular information at the time of measurement and the known location of the laser scanner.

[0004] Significant differences in the design of a laser scanner arise in particular from whether the laser scanner is intended for optical scanning in the form of a raster scan or in the form of a scanning scan, whereby the present invention mainly relates to scanning laser scanners, in particular to laser scanners with a beam deflection unit rotating at high speed.

[0005] In raster scanning, the optical scanning is carried out, for example, by means of a specific individual scanning of several surface points, e.g. based on a predetermined scanning grid for the environment to be scanned, i.e. by specifically targeting individual predefined grid points.

[0006] In a scanning process, a plurality of measurement points are typically captured and spatially measured using at least one rotating beam deflection element for varying the orientation of the emission direction of the distance measuring beam, e.g., a plane mirror tilted with respect to a rotation axis. A desired point-to-point resolution is achieved, for example, by adjusting the pulse rate of the distance measuring beam and / or by adjusting the rotation speed of the beam deflection element. Subsequently, the environment can be analyzed and / or displayed differently based on the plurality of measurement points using common data processing steps and / or display options, particularly as a 3D point cloud.

[0007] Typically, scanning laser scanners have one or two mutually orthogonal axes of rotation, for example, a vertical axis of rotation for a comparatively slow rotation of the entire laser scanner, often called the "azimuth axis" or "slow axis," and a perpendicular horizontal axis of rotation for a high-speed rotating beam deflection element. Due to the often used high rotation speed of the beam deflection element, the second axis is also referred to as the "fast axis."

[0008] For scanning linear or linearly traversable structures and environments, such as railway tracks, roads, tunnel systems, or airfields, a translational movement of the entire laser scanner is often used instead of rotation around the azimuth axis, for example, by mounting the laser scanner on a vehicle. Such laser scanners, which only have the fast axis, are also called profilers.

[0009] Such laser scanners with a fast axis, and possibly with an azimuth axis or in combination with a translational movement, enable a user to scan large surfaces and objects in a relatively short time.

[0010] For additional information, the information and scanning data can be combined and processed with camera data, for example, in particular RGB camera data or infrared data.

[0011] Distance measurement modules used in laser scanners for spatial surveying may exhibit intensity sensitivity but not color sensitivity, which is why the generated 3D point cloud is displayed in grayscale without the aid of additional data. By referencing the "gray" 3D point cloud with RGB data from a color camera, for example, a "color" 3D point cloud can be generated, which makes it significantly easier for the human eye to visualize. Referencing different data and data sets, for example, from measurement campaigns that vary in time and location, is becoming increasingly standardized these days.

[0012] Laser scanners can also be equipped with a positioning and orientation system, for example by means of an inertial system, tilt sensors or a receiver for a global satellite navigation system, for example where local scanning data is automatically referenced with a global 3D coordinate system.

[0013] Publication EP 2 998 778 A2 shows an example of a laser scanner according to the prior art. Another example is known from DE 10 2015 105263 A1.

[0014] It is an object of the invention to provide an improved laser scanner and an improved system for measuring and displaying an environment by means of a laser scanner.

[0015] This problem is solved by realising the characterising features of the independent claim.

[0016] Features which further develop the invention in an alternative or advantageous manner can be found in the dependent patent claims.

[0017] The invention relates to a surveying system for optical surveying and for displaying an environment, comprising a laser scanner for recording measurement data, a processing unit for processing parts of the measurement data into processed measurement data and a display for displaying parts of the processed measurement data, which represent at least a partial area of the environment; wherein the laser scanner comprises an optical distance measuring device for recording distance measurement data, with a transmitting unit for transmitting a distance measurement radiation and a receiving unit for receiving returning parts of the

[0018] Distance measuring radiation, a planar sensor for capturing area sensor data, in particular at least one color camera for capturing image data, wherein the sensor defines an optical axis of the sensor and a viewing direction of the sensor along the optical axis, a base, a support which is rotatably mounted on the base about a support rotation axis, in particular a slow rotation axis, a beam steering unit for the distance measuring radiation, which is rotatably mounted on the support about a beam rotation axis substantially orthogonal to the support rotation axis, in particular a fast rotation axis, a first angle encoder for capturing first angle data relating to a rotation of the support about the support rotation axis and a second angle encoder for capturing second angle data relating to a rotation of the beam steering unit about the beam rotation axis, wherein the distance measuring data, the area sensor data and the first and second angle data,hereinafter referred to as measurement data (wherein the distance measurement data in combination with the first and second angle data are often referred to as scanning measurement data), are acquired as part of a measuring process, which comprises a scanning scan by means of the distance measuring device with a defined continuous, in particular continuous, rotation of the support about the support axis of rotation, a defined continuous, in particular continuous rotation of the beam steering unit about the beam axis of rotation, and a continuous emission of the distance measurement radiation and a continuous reception of returning parts of the distance measurement radiation, and a repeated reading of the planar sensor with respect to different viewing directions of the sensor.

[0019] An optional aspect relates, for example, to the processing unit being arranged on a computing device separate from the laser scanner, in particular a computer or tablet, and the laser scanner and the computing device being configured in such a way that the measurement data is transmitted from the laser scanner to the computing device, in particular wirelessly, specifically by means of a WLAN or Bluetooth connection, the measurement data is transmitted during the measuring process by means of a data streaming of parts of the measurement data that is started simultaneously or at least promptly with the start of the measuring process, at least initial processing of the parts of the measurement data with regard to linking the area sensor data with the distance measurement data and the first and second angle data is carried out during the measuring process, and the representation of parts of the processed measurement data is carried out during the measuring process and continuously, in particular continuously,is updated, in particular supplemented and / or renewed, based on the processed measurement data, in particular wherein a display coupled to or integrated with the computing device is provided for the representation.

[0020] One embodiment relates, for example, to a scanning plane of the distance measuring radiation being defined by a fictitious 360-degree rotation of the beam steering unit around the beam rotation axis, and the planar sensor being arranged on the support and aligned such that its azimuthal viewing direction and the azimuthal alignment of the scanning plane differ, i.e., a fictitious rearward extension of the optical axis of the planar sensor intersects the scanning plane at a defined intersection angle, in particular wherein the intersection angle is at least 45 degrees, in particular wherein the scanning plane is not detected by the field of view of the planar sensor, wherein a first preprogrammed measuring process is carried out with defined steps according to the following chronological sequence: Providing area sensor data comprising ∘ rotating the support about the support rotation axis, ∘ reading the planar sensor to capture area sensor data, and ∘ data streaming of a portion of the captured area sensor data to the computing device, in particular wherein initial processing and display of the captured area sensor data takes place based on the data streaming, Providing scanning measurement data, namely distance measurement data and associated first and second angle data, comprising ∘ rotating the support about the support rotation axis, ∘ rotating the beam steering unit about the beam rotation axis, ∘ emitting the distance measurement radiation and receiving returning portions of the distance measurement radiation to capture distance measurement data, wherein associated first and second angle data are captured as part of the capture of the distance measurement data, and ∘ data streaming of a portion of the captured scanning measurement data to the computing device,initial processing of the parts of the area sensor data and scanning measurement data transmitted via data streaming, and representation of the linked parts of the area sensor data and scanning measurement data transmitted via data streaming in the form of a colored 3D point cloud.

[0021] A further embodiment relates to the fact that a second pre-programmed measuring process is carried out with a defined temporal sequence of the following steps: Providing a first set of area sensor data, in particular area sensor data with reduced resolution, comprising ∘ rotating the support about the support rotation axis, ∘ reading the area sensor to capture area sensor data, and ∘ data streaming of a portion of the captured area sensor data to the computing device, in particular wherein, based on the data streaming, initial processing and representation of the first set of area sensor data takes place, deriving a set of area sensor exposure times based on the first set of area sensor data, and providing a second set of area sensor data based on the set of area sensor exposure times, comprising ∘ rotating the support about the support rotation axis, ∘ reading the area sensor to capture area sensor data, and ∘ data streaming of a portion of the captured area sensor data to the computing device,in particular, wherein an initial processing and display of the second set of area sensor data is carried out based on the data streaming. ,

[0022] A further embodiment relates to the fact that a third pre-programmed measuring process is carried out with a defined temporal sequence of the following steps: Providing area sensor data comprising ∘ rotation of the support about the support rotation axis, ∘ reading the planar sensor to capture area sensor data, in particular wherein the capture of the area sensor data comprises data processing of exclusively read, namely unprocessed, area sensor raw data, and ∘ data streaming of a portion of the captured area sensor data to the computing device, in particular wherein initial processing and display of the captured area sensor data takes place based on the data streaming, Providing scanning measurement data comprising ∘ rotation of the support about the support rotation axis, ∘ rotation of the beam steering unit about the beam rotation axis, ∘ emitting the distance measurement radiation and receiving returning portions of the distance measurement radiation to capture distance measurement data,wherein, as part of the acquisition of the distance measurement data, associated first and second angle data are acquired, and the acquisition of the distance measurement data comprises data processing of exclusively received, namely unprocessed, raw distance measurement data, and ∘ data streaming of a portion of the acquired scanning measurement data to the computing device, initial processing of the portions of the area sensor data and scanning measurement data transmitted via data streaming, and representation of the linked portions of the area sensor data and scanning measurement data transmitted via data streaming in the form of a colored 3D point cloud, , in particular, wherein the data processing of the raw distance measurement data comprises taking into account parameters dependent on the first and / or second angle data within the framework of referencing the measurement data with respect to a common coordinate system.

[0023] A further embodiment relates to the fact that the laser scanner and the computing device are configured in such a way that control signals can be transmitted to the laser scanner by means of a control and monitoring unit on the computing device, in particular wirelessly, in particular by means of a WLAN or Bluetooth connection.

[0024] A further embodiment relates to the computing device being equipped with an inertial measurement system and / or inclination sensors, so that based on a position of the computing device, in particular a position and / or orientation, an adjustment of a rotational position of the support about the support rotation axis and / or an adjustment of a rotational position of the beam steering unit about the beam rotation axis takes place, in particular substantially synchronously with a change in the position of the computing device, in particular wherein by adjusting at least a first position of the computing device at least one area of interest of the environment can be defined, in particular wherein defined settings for the acquisition of measurement data and / or defined settings for the display of parts of the processed measurement data can be made for the at least one area of interest,in particular, wherein the defined setting for the acquisition of measurement data comprises a measurement resolution of the area sensor and / or a measurement accuracy of the distance measuring device and / or a scanning resolution of the distance measuring device, and / or the defined setting for the display of parts of the processed measurement data comprises a display resolution and / or a color setting and / or a gray value setting and / or a defined highlighting with respect to a sub-area within the area of interest.

[0025] A further embodiment relates to the computing device being configured such that auxiliary data can be accessed for processing the measurement data and / or for displaying parts of the processed measurement data, in particular wherein the auxiliary data are used for visualization in the form of an augmented reality and / or in the form of a virtual reality.

[0026] A further embodiment relates to the laser scanner comprising an attitude determination unit for providing referencing data, in particular position and / or orientation of the laser scanner, with at least one element from the following group: an inertial measuring system, an inclination sensor for detecting at least one inclination relative to the direction of gravity, a receiver for a global satellite navigation system and / or for a pseudo-satellite navigation system, a compass, in particular an electronic compass, and a barometer, wherein the measurement data also comprise the referencing data, and / or the data processing is based on a method for simultaneous localization and mapping (SLAM).

[0027] A further optional aspect relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for acquiring distance measurement data, with a transmitting unit for emitting a distance measurement radiation and a receiving unit for receiving returning parts of the distance measurement radiation, a planar sensor for acquiring planar sensor data, in particular at least one color camera for recording image data, wherein an optical axis of the sensor and a viewing direction of the sensor along the optical axis are defined by the sensor, a base, a support which is rotatably mounted on the base about a support rotation axis, in particular a slow rotation axis, a beam steering unit for the distance measurement radiation, which is rotatably mounted on the support about a beam rotation axis substantially orthogonal to the support rotation axis, in particular a fast rotation axis,a first angle encoder for detecting first angle data relating to a rotation of the support about the support's axis of rotation, and a second angle encoder for detecting second angle data relating to a rotation of the beam steering unit about the beam's axis of rotation, wherein the distance measurement data, the area sensor data, and the first and second angle data, hereinafter referred to as measurement data, are detected as part of a measuring process, which comprises a scanning scan by means of the distance measuring device with a defined continuous, in particular continuous, rotation of the support about the support's axis of rotation, a defined continuous, in particular continuous rotation of the beam steering unit about the beam's axis of rotation, and a continuous emission of the distance measurement radiation and a continuous reception of returning portions of the distance measurement radiation, and a repeated reading of the area sensor with respect to different viewing directions of the sensor.

[0028] This optional aspect is characterized in that a scanning plane of the distance measuring radiation is defined by a virtual 360-degree rotation of the beam steering unit around the beam rotation axis, and the planar sensor is arranged on the support and aligned such that its azimuthal viewing direction and the azimuthal alignment of the scanning plane differ, in that a fictitious rearward extension of the optical axis of the planar sensor intersects the scanning plane at a defined intersection angle, in particular wherein the intersection angle is at least 45 degrees, in particular wherein the scanning plane is not detected by the field of view of the planar sensor, wherein a fully automated first pre-programmed measuring process is carried out with defined steps according to the following chronological sequence: Recording of area sensor data comprising ∘ rotation of the support about the support axis of rotation, and ∘ reading out the planar sensor to record area sensor data, in particular wherein an initial processing and representation of the recorded area sensor data takes place, recording of scanning measurement data, namely distance measurement data and associated first and second angle data, comprising ∘ rotation of the support about the support axis of rotation, ∘ rotation of the beam steering unit about the beam axis of rotation, and ∘ emitting the distance measurement radiation and receiving returning parts of the distance measurement radiation to record distance measurement data, wherein associated first and second angle data are recorded as part of the recording of the distance measurement data.

[0029] One embodiment relates to the fact that a second pre-programmed measuring process is carried out with defined steps according to the following chronological sequence: Providing a first set of area sensor data, in particular area sensor data with reduced resolution, comprising ∘ rotation of the support about the support axis of rotation, and ∘ reading out the area sensor to capture area sensor data, deriving an area sensor exposure time based on the first set of area sensor data, and providing a second set of area sensor data based on the area sensor exposure time, comprising ∘ rotation of the support about the support axis of rotation, and ∘ reading out the area sensor to capture area sensor data.

[0030] A further embodiment relates to the fact that at least initial processing of parts of the measurement data takes place during the measurement process, in particular a linking of the scanning measurement data and the area sensor data, in particular wherein the representation of parts of the processed measurement data takes place during the measurement process and is continuously, in particular continuously, updated based on the processed measurement data, in particular supplemented and / or renewed, in particular wherein a display coupled to or integrated with the laser scanner is provided for the representation.

[0031] A further embodiment relates to the fact that at least one area of interest of the environment can be defined based on the area sensor data, in particular wherein defined settings for the acquisition of measurement data and / or defined settings for the display of parts of the processed measurement data can be made for the at least one area of interest.

[0032] A further embodiment relates to the fact that, within the scope of the measuring process, a complete acquisition of all area sensor data required for the measuring process takes place before the acquisition of scanning measurement data begins, in particular wherein, based on the acquired area sensor data, a 2D panoramic representation of at least a partial area of the environment is generated or a 2D full-dome representation is generated.

[0033] A further optional aspect relates to a surveying system for optically surveying an environment, comprising a laser scanner for acquiring measurement data, a processing unit for processing parts of the measurement data into processed measurement data, and a display unit for a defined display of parts of the processed measurement data, which represent at least a partial area of the environment, wherein the laser scanner comprises an optical distance measuring device for acquiring distance measurement data, with a transmitting unit for emitting a distance measuring radiation and a receiving unit for receiving returning parts of the distance measuring radiation, a support, a beam steering unit for the distance measuring radiation, which is rotatably mounted on the support about a beam rotation axis, in particular a fast rotation axis, an angle encoder for acquiring angle data relating to a rotation of the beam steering unit about the beam rotation axis,where the measurement data includes the distance measurement data and the angle data.,

[0034] This optional aspect is characterized in that a central reference point of the laser scanner is defined as the origin for distance and angle measurement, in particular by the intersection point of the beam rotation axis with a support rotation axis for rotation of the support around a base, an infrared sensor sensitive in the infrared wavelength range is arranged integrated on the support, wherein an optical axis of the infrared sensor and a viewing direction of the infrared sensor along the optical axis are defined by the infrared sensor, and a position of the infrared sensor and an orientation of its optical axis with respect to the beam steering unit and the central reference point are known, the measurement data comprise infrared data acquired with the infrared sensor, and the measurement data are linked to the infrared data, in particular so that temperature information is taken into account for the representation of parts of the processed measurement data.

[0035] One embodiment relates to the fact that the representation of parts of the processed measurement data is generated in the form of a colored 3D point cloud and the temperature information is stored in the 3D point cloud and / or is displayed with a defined color coding.

[0036] A further optional aspect relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for acquiring distance measurement data, with a transmitting unit for emitting a distance measurement radiation and a receiving unit for receiving returning parts of the distance measurement radiation, a support, a beam steering unit for the distance measurement radiation, which is rotatably mounted on the support about a beam rotation axis, in particular a fast rotation axis, and an angle encoder for acquiring angle data relating to a 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 acquired as part of a measuring process which comprises a scanning scan by means of the distance measuring device with a defined ongoing, in particular continuous, rotation of the beam steering unit about the beam rotation axis,and a continuous emission of the distance measuring radiation and a continuous reception of returning parts of the distance measuring radiation.,

[0037] This optional aspect is characterized in that the laser scanner has only a single integrated control element (e.g. a single button, also known as a touch screen button or a single switch), the control element has only a single activated and a single inactivated state and can be switched via an external effect to assume the activated or inactivated state, a set of defined measuring programs and / or actions of the laser scanner is stored, and individual measuring programs and / or actions from the set of defined measuring programs and / or actions are triggered based on at least one element of the following group: Change of the state of the control element from the inactive to the active state, change of the state of the control element from the active to the inactive state, switching of the control element by means of a continuous external effect during a defined period of time, a coded sequence of state changes of the control element between the active and inactive states, and a coded sequence of temporally continuous external effects on the control element over defined periods of time.

[0038] One embodiment relates, for example, to the set of defined measuring programs and / or actions of the laser scanner comprising activating the laser scanner, as well as at least one element from the following group: deactivating the laser scanner, starting the measuring process, interrupting the measuring process, aborting the measuring process, and restarting the measuring process; in particular, wherein a set of different settings for the measuring process is stored and / or can be defined and the set of defined measuring programs and / or actions of the laser scanner further comprises at least one element from the following group: setting a setting from the set of settings for the measuring process, starting the measuring process with a setting from the set of settings for the measuring process, and restoring a default setting of the laser scanner, in particular a default start configuration of the laser scanner.

[0039] A further embodiment relates, for example, to the fact that the coded sequence of state changes of the control element is defined by a defined number of state changes during a defined time interval between the active and inactive state, and / or the coded sequence of temporally lasting external effects is defined by one or more differently defined time periods for maintaining the external effect.

[0040] A further optional aspect relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for capturing distance measurement data, with a transmitting unit for emitting a distance measurement radiation and a receiving unit for receiving returning parts of the distance measurement radiation, a planar sensor for capturing area sensor data, in particular at least one color camera for recording image data, wherein an optical axis of the sensor and a viewing direction of the sensor along the optical axis are defined by the sensor, a support, a beam steering unit for the distance measurement radiation, which is attached to the support so as to be rotatable about a beam rotation axis, in particular a fast rotation axis, an angle encoder for capturing angle data relating to a rotation of the beam steering unit about the beam rotation axis, wherein the distance measurement data, the area sensor data and the angle data, hereinafter referred to as measurement data,are recorded as part of a measuring process, which comprises a scanning scan by means of the distance measuring device with a defined continuous, in particular continuous, rotation of the beam steering unit around the fast axis of rotation, and a continuous emission of the distance measuring radiation and a continuous reception of returning parts of the distance measuring radiation, and a repeated readout of the planar sensor with respect to different viewing directions of the sensor.

[0041] This optional aspect is characterized in that a central reference point of the laser scanner is defined as the origin for distance and angle measurement, in particular by the intersection point of the beam rotation axis with a support rotation axis for a rotation of the support around a base, the planar sensor is fixedly arranged on the support with a field of view that is fixed relative to the support and looks away from the support, insofar that the field of view of the sensor changes during the measuring process only when the support moves, in particular when the support rotates around the beam rotation axis, and a fictitious rearward extension of the optical axis of the planar sensor runs through the central reference point.

[0042] One embodiment relates, for example, to a plurality of planar sensors being arranged on the support, wherein for each individual one of the plurality of planar sensors the fictitious rearward extension of its optical axis runs substantially through the central reference point.

[0043] A further embodiment relates, for example, to the fact that a scanning plane of the distance measuring radiation is defined by a fictitious 360-degree rotation of the beam steering unit about the beam rotation axis, and one of the plurality of planar sensors is arranged such that its field of view cone intersects the scanning plane, in particular wherein the support is rotatably mounted on a base about a support rotation axis, in particular a slow rotation axis, and the field of view cone of the planar sensor with the steepest elevational alignment of the optical axis intersects with a fictitious extension of the support rotation axis.

[0044] A further embodiment relates, for example, to the support being mounted on a base so as to be rotatable about a support rotation axis, in particular a slow rotation axis, the laser scanner comprising a further angle encoder for detecting further angle data as measurement data relating to a rotation of the support about the support rotation axis, the measuring process further comprising a repeated reading of the plurality of planar sensors with respect to different azimuthal viewing directions of the individual sensors, and the plurality of planar sensors being arranged such that they enable a full-dome measurement within the scope of the measuring process, in particular wherein the field of view cone of the planar sensor with the steepest elevational alignment of the optical axis intersects with a fictitious extension of the support rotation axis, wherein a minimum detection radius for the full-dome measurement is defined by the plurality of planar sensors in such a way thatthat a spherical surface with the central reference point in the center is defined by the central reference point and the minimum detection radius, and within the scope of the measuring process, at least one hemispherical surface defined by the spherical surface can just be scanned by the plurality of planar sensors, in particular wherein a partial surface of the sphere that is larger than the hemispherical surface can be scanned by the plurality of planar sensors.

[0045] A further optional aspect relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for capturing distance measurement data, with a transmitting unit for emitting a distance measurement radiation and a receiving unit for receiving returning parts of the distance measurement radiation, a planar sensor for capturing area sensor data, in particular at least one color camera for recording image data, wherein an optical axis of the sensor and a viewing direction of the sensor along the optical axis are defined by the sensor, a support, a beam steering unit for the distance measurement radiation, which is attached to the support so as to be rotatable about a beam rotation axis, in particular a fast rotation axis, an angle encoder for capturing angle data relating to a rotation of the beam steering unit about the beam rotation axis, wherein the distance measurement data, the area sensor data and the angle data, hereinafter referred to as measurement data,are recorded as part of a measuring process, which comprises a scanning scan by means of the distance measuring device with a defined continuous, in particular continuous, rotation of the beam steering unit around the beam rotation axis, and a continuous emission of the distance measuring radiation and a continuous reception of returning parts of the distance measuring radiation, and a repeated readout of the planar sensor with respect to different viewing directions of the sensor.

[0046] This optional aspect is characterized in that a central reference point of the laser scanner is defined as the origin for distance and angle measurement, in particular by the intersection point of the beam rotation axis with a support rotation axis for a rotation of the support about a base, a plurality of planar sensors with different elevational alignment of the optical axes are fixedly arranged on the support, insofar as the fields of view of the sensors change during the measuring process only when the support is moved, in particular when the support is rotated about the beam rotation axis, and for each individual one of the plurality of planar sensors, the fictitious rearward extension of its optical axis runs essentially through the central reference point.

[0047] One embodiment relates, for example, to the fact that the plurality of planar sensors are arranged with the same azimuthal direction, in particular wherein a scanning plane of the distance measuring radiation is defined by a fictitious 360-degree rotation of the beam steering unit about the beam rotation axis and the optical axes of the plurality of planar sensors are arranged in a plane outside the scanning plane.

[0048] A further embodiment relates, for example, to the fact that the field of view cone of the planar sensor with the steepest elevational alignment of the optical axis intersects with the scanning plane at a distance of between 0.25 and 7 m from the central reference point.

[0049] A further optional aspect relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for capturing distance measurement data, with a transmitting unit for emitting a distance measurement radiation and a receiving unit for receiving returning parts of the distance measurement radiation, a planar sensor for capturing area sensor data, in particular at least one color camera for recording image data, wherein an optical axis of the sensor and a viewing direction of the sensor along the optical axis are defined by the sensor, a support, a beam steering unit for the distance measurement radiation, which is attached to the support so as to be rotatable about a beam rotation axis, in particular a fast rotation axis, an angle encoder for capturing angle data relating to a rotation of the beam steering unit about the beam rotation axis, wherein the distance measurement data, the area sensor data and the angle data, hereinafter referred to as measurement data,are recorded as part of a measuring process, which comprises a scanning scan by means of the distance measuring device with a defined continuous, in particular continuous, rotation of the beam steering unit around the beam rotation axis, and a continuous emission of the distance measuring radiation and a continuous reception of returning parts of the distance measuring radiation, and a repeated readout of the planar sensor with respect to different viewing directions of the sensor.

[0050] This optional aspect is characterized in that the laser scanner comprises a light illuminating the field of view of the area sensor, in particular one or more LEDs, wherein the light defines an optical axis of the light and an illumination direction of the light along the optical axis of the light, and the light is used for a specifically controllable illumination directed essentially towards the field of view of the area sensor.

[0051] One embodiment relates, for example, to the fact that the planar sensor is arranged on the support and the luminaire is arranged directly next to the planar sensor on the support, in particular with a maximum lateral offset between the optical axis of the luminaire and the optical axis of the planar sensor of 4 cm.

[0052] A further embodiment relates, for example, to the fact that the luminaire emits essentially white light, that is to say broadband light in the visible wavelength range, in particular in that the luminaire is designed as a dual LED, namely as an LED pair with two individual LEDs that differ in terms of their emitted spectral range.

[0053] A further embodiment relates, for example, to a plurality of planar sensors being arranged on the support, wherein each individual one of the plurality of planar sensors is assigned lights that can be specifically controlled for this sensor and essentially illuminate the field of view of this sensor.

[0054] A further embodiment relates, for example, to a first set of area sensor data being acquired, in particular area sensor data with reduced resolution, a set of lighting settings for the luminaire being derived based on the first set of area sensor data, and a second set of area sensor data being recorded based on the set of lighting settings, in particular wherein the first set of area sensor data is acquired without using the luminaire or using uniform illumination by the luminaire.

[0055] A further optional aspect relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for acquiring distance measurement data, with a transmitting unit for emitting a distance measurement radiation and a receiving unit for receiving returning parts of the distance measurement radiation, a base, a support which is rotatably mounted on the base about a support rotation axis, in particular a slow rotation axis, a beam steering unit for the distance measurement radiation, which is rotatably mounted on the support about a beam rotation axis substantially orthogonal to the support rotation axis, in particular a fast rotation axis, a first angle encoder for acquiring first angle data relating to a rotation of the support about the support rotation axis, and a second angle encoder for acquiring second angle data relating to a rotation of the beam steering unit about the beam rotation axis,wherein the distance measurement data and the first and second angle data, hereinafter referred to as measurement data, are acquired within the scope of a measuring process, which comprises a scanning scan by means of the distance measuring device with a defined continuous, in particular continuous, rotation of the support about the support axis of rotation, a defined continuous, in particular continuous, rotation of the beam steering unit about the beam axis of rotation, and a continuous emission of the distance measurement radiation and a continuous reception of returning parts of the distance measurement radiation.

[0056] This optional aspect is characterized in that the base comprises exclusively an overall effective stabilization region axially along the support rotation axis, by means of which stabilization of the support with respect to a tilting of the support with respect to the base is achieved, the stabilization region has 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, and the second extension is greater than the first extension.

[0057] One embodiment relates, for example, to the support being mounted rotatably relative to the base by a single bearing ring about the support rotation axis, wherein the stabilization is achieved exclusively by the single bearing ring.

[0058] A further embodiment relates, for example, to the fact that the bearing ring is designed as a single-row four-point rolling bearing, or the bearing ring is designed as a single-row plain bearing with an outer and inner ring and the outer ring forms two contact races, in particular two race lines or two race surfaces, which are axially spaced apart with respect to the support axis of rotation.

[0059] A further embodiment relates, for example, to the stabilization being generated by means of a preload on the bearing ring acting radially to the support axis of rotation.

[0060] A further embodiment relates, for example, to the second extent being at least a factor of two greater than the first extent, in particular wherein the second extent is at least a factor of five greater than the first extent, in particular wherein the second extent is at least a factor of ten greater than the first extent.

[0061] A further embodiment relates, for example, to the fact that a lubricant-repellent emulsion is applied along a boundary region substantially parallel to a contact run, so that a spreading of a lubricant for the bearing ring is substantially limited by the boundary region by the surface tension of the lubricant-repellent emulsion, or the bearing ring is designed as a four-point rolling bearing in the form of a dry-running ring bearing with ceramic rolling elements.

[0062] A further optional aspect relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for acquiring distance measurement data, with a transmitting unit for emitting a distance measurement radiation and a receiving unit for receiving returning parts of the distance measurement radiation, a base, a support which is rotatably mounted on the base about a support rotation axis, in particular a slow rotation axis, a beam steering unit for the distance measurement radiation, which is rotatably mounted on the support about a beam rotation axis substantially orthogonal to the support rotation axis, in particular a fast rotation axis, a first angle encoder for acquiring first angle data relating to a rotation of the support about the support rotation axis, and a second angle encoder for acquiring second angle data relating to a rotation of the beam steering unit about the beam rotation axis,wherein the distance measurement data and the first and second angle data, hereinafter referred to as measurement data, are acquired within the scope of a measuring process, which comprises a scanning scan by means of the distance measuring device with a defined continuous, in particular continuous, rotation of the support about the support axis of rotation, a defined continuous, in particular continuous, rotation of the beam steering unit about the beam axis of rotation, and a continuous emission of the distance measurement radiation and a continuous reception of returning parts of the distance measurement radiation.

[0063] This optional aspect is characterized in that the base is designed exclusively as a passive element with respect to a rotation of the support about the support axis of rotation, insofar as all active electronics required for motorizing the rotation about the support axis of rotation are arranged exclusively in the support and rotate with the support about the support axis of rotation, in particular wherein the following components are each arranged as a whole in the support and rotate with the support about the support axis of rotation: an active drive element for rotating the support about the support axis of rotation, in particular a rotary motor with a drive shaft coupled to the motor or an electrical coil element for a radial interaction with respect to the support axis of rotation between the electrical coil element and a passive magnetic element in the base, and a power supply unit for the active drive element.

[0064] One embodiment relates, for example, to the fact that for the rotation of the support about the support axis of rotation, a rotary motor is arranged in the support with a drive shaft coupled to the motor, the drive shaft runs axially substantially parallel to the support axis of rotation with an offset to the support axis of rotation, the base comprises a running surface that is circularly symmetrical about the support axis of rotation, an impeller is arranged on the drive shaft, in particular with a rubber ring, which is operatively connected to the running surface in such a way that when the drive shaft rotates, the impeller runs along the running surface and thus the support rotates relative to the base about the support axis of rotation, in particular wherein the running surface defines a fictitious circle and the impeller is arranged within the circle.

[0065] A further embodiment relates, for example, to the fact that the following components are each arranged as a whole in the support and are operated by means of the energy supply unit: the optical distance measuring device, the planar sensor, a monitoring and control unit, and electronics of the first and second angle encoders, in particular wherein the base and the support are designed such that no electrical power transmission and no electrical signal transmission takes place between the base and the support during the measuring process.

[0066] A further embodiment relates, for example, to the fact that the laser scanner as a whole comprises only one energy supply unit, namely the energy supply unit for the active drive element, which is arranged in the support, in particular wherein the base is permanently and insurmountably electrically decoupled from the support, so that no electrical power transmission takes place between the support and the base.

[0067] A further embodiment relates, for example, to the laser scanner comprising a wireless signal transmission unit, in particular based on a WLAN or Bluetooth connection, wherein the signal transmission unit is arranged as a whole in the support, wherein a two-way exchange of control signals is provided between the laser scanner and an external control unit and / or a transmission of part of the measurement data from the laser scanner to an external computing and / or storage unit is provided, in particular wherein a two-way transmission of measurement data and / or auxiliary data is provided between the laser scanner and the external computing and / or storage unit.

[0068] A further embodiment relates, for example, to the fact that the transmission of the measurement and / or auxiliary data takes place essentially parallel to the measurement process by means of a data streaming of parts of the measurement data that is started simultaneously or at least promptly with respect to the start of the measurement process.

[0069] A further optional aspect relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for acquiring distance measurement data, with a transmitting unit for emitting a distance measurement radiation and a receiving unit for receiving returning parts of the distance measurement radiation, a base, a support which is rotatably mounted on the base about a support rotation axis, in particular a slow rotation axis, a beam steering unit for the distance measurement radiation, which is rotatably mounted on the support about a beam rotation axis substantially orthogonal to the support rotation axis, in particular a fast rotation axis, a first angle encoder for acquiring first angle data relating to a rotation of the support about the support rotation axis, and a second angle encoder for acquiring second angle data relating to a rotation of the beam steering unit about the beam rotation axis,wherein the distance measurement data and the first and second angle data, hereinafter referred to as measurement data, are acquired as part of a measuring process, which comprises: a scanning scan by means of the distance measuring device with a defined continuous, in particular continuous, rotation of the support about the support rotation axis, a defined continuous, in particular continuous, rotation of the beam steering unit about the beam rotation axis, and a continuous emission of the distance measurement radiation and a continuous reception of returning parts of the distance measurement radiation.

[0070] This optional aspect is characterized in that for the rotation of the support about the support axis of rotation, a rotary motor is arranged in the support with a drive shaft coupled to the motor, the drive shaft runs axially substantially parallel to the support axis of rotation with an offset to the support axis of rotation, the base comprises a running surface that is circularly symmetrical about the support axis of rotation, an impeller is arranged on the drive shaft, in particular with a rubber ring, which is operatively connected to the running surface in such a way that when the drive shaft rotates, the impeller runs along the running surface and thus the support rotates relative to the base about the support axis of rotation, in particular wherein the running surface defines a fictitious circle and the impeller is arranged within the circle.

[0071] A further optional aspect relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for recording distance measurement data, with a transmitting unit for emitting a distance measuring radiation and a receiving unit for receiving returning parts of the distance measuring radiation, a support, a beam steering unit for the distance measuring radiation, which is attached to the support so as to be rotatable about a beam rotation axis, in particular a fast rotation axis, and an angle encoder for recording angle data relating to a rotation of the beam steering unit about the beam rotation axis.

[0072] This optional aspect is characterized in that the beam steering unit is connected to a shaft mounted in the support along the beam rotation axis, in particular wherein the shaft penetrates into the beam steering unit with a defined penetration depth or is formed integrally with the beam steering unit, a bell element is arranged on the shaft, in particular wherein the bell element is fixedly attached to the shaft or is formed integrally with the shaft, wherein a bell belly and a bell back are defined by the bell element, passive magnetic elements of a drive for rotating the shaft are arranged in the bell belly, active drive elements of the drive for generating an electromagnetic interaction with the passive magnetic elements are arranged anchored in the support, in particular electrical coil elements, wherein the active drive elements protrude at least partially into the bell belly,and the shaft and thus the beam steering unit experience a defined rotational movement around the beam rotation axis through a radial interaction between the active drive elements and the passive magnetic elements.

[0073] One embodiment, for example, involves the active drive elements being completely submerged in the bell belly.

[0074] A further embodiment relates, for example, to the fact that at least one ring of the bearing for supporting the shaft in the support protrudes into the bell belly.

[0075] A further embodiment relates, for example, to the fact that the ring of the bearing projecting into the bell belly is designed as a rolling bearing ring and rolling elements of the rolling bearing ring project at least partially into the bell belly.

[0076] A further embodiment relates, for example, to the fact that at least one ring of the bearing for supporting the shaft in the support protrudes into the jet steering unit, in particular wherein the ring protruding into the jet steering unit is designed as a rolling bearing ring and rolling elements of the rolling bearing ring protrude at least partially into the jet steering unit.

[0077] A further embodiment relates, for example, to the shaft axially along the beam rotation axis exclusively comprising a single effective stabilization region, by means of which a stabilization of the shaft with respect to a tilting of the shaft relative to the support is achieved, wherein the beam steering unit, the bell element and the shaft are designed and arranged with respect to one another such that their common center of gravity lies axially along the beam rotation axis in the stabilization region, in particular wherein the stabilization is achieved exclusively by a bearing for supporting the shaft in the support, which bearing essentially axially symmetrically encompasses the center of gravity.

[0078] A further embodiment relates, for example, to the fact that a coding element for the angle encoder is arranged on the back of the bell, in particular wherein the coding element is formed in one piece with the bell element.

[0079] A further embodiment relates, for example, to at least one of the following connections being made exclusively by means of gluing and / or pressing: a connection of the shaft to the stabilization element, a connection of the shaft to the bell element, a connection of the passive magnetic element to the bell element, and a connection of the coding element to the bell element.

[0080] A further optional aspect relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for recording distance measurement data, with a transmitting unit for emitting a distance measuring radiation and a receiving unit for receiving returning parts of the distance measuring radiation, a support, a beam steering unit for the distance measuring radiation, which is attached to the support so as to be rotatable about a beam rotation axis, in particular a fast rotation axis, and an angle encoder for recording angle data relating to a rotation of the beam steering unit about the beam rotation axis.

[0081] This optional aspect is characterized in that the beam steering unit is mounted in the support via a shaft axially along the beam rotation axis, wherein the beam steering unit comprises a mirror surface for deflecting the distance measuring radiation, in particular a plane or tilted parabolic mirror surface tilted by 45° with respect to the beam rotation axis, the shaft has a penetration region at one end, the beam steering unit has a surrounding region for surrounding the penetration region of the shaft within the framework of a coupling of the beam steering unit to the shaft, the surrounding region has a shape that is suitable for surrounding the shaft within the framework of the coupling over a length of the penetration region such that, in the coupled state, a gap of a defined width is present between the shaft and the surrounding region of the beam steering unit,the surrounding area comprises a stabilizing element that can be pressed into the gap for tolerance compensation and for stable connection of the jet steering unit to the shaft, the stabilizing element in an uncoupled state has a thickness that is greater than the width of the gap, and the jet steering unit, in particular the surrounding area, the shaft and the stabilizing element are designed and interact in such a way that, as part of the coupling of the jet steering unit to the shaft, the stabilizing element arranged between the surrounding area and the shaft is pressed into the gap and, in the coupled state, is deformed in the gap, in particular wherein at least a part of the stabilizing element is plastically deformed such that defined residual elastic forces act radially to the jet rotation axis on the jet steering unit and the shaft,that the beam steering unit and the shaft are axially stabilized relative to each other with respect to the beam rotation axis, the beam steering unit is stabilized with respect to tilting relative to the shaft over a stabilization range defined by the length of the penetration area, and the residual elastic forces do not act on the mirror surface except for a defined tolerance range.

[0082] One embodiment relates, for example, to the stabilization element and the shaft being glued to each other during the coupling process.

[0083] A further embodiment relates, for example, to the fact that the surrounding area comprises at least two stabilization elements spaced apart in the axial direction with respect to the beam rotation axis.

[0084] A further embodiment relates, for example, to the stabilization element being annular.

[0085] A further embodiment relates, for example, to the stabilization element being made of a material with homogeneous plastic properties, in particular with a homogeneous plastic flow range.

[0086] A further embodiment relates, for example, to the stabilization element being integrated into the jet steering unit, in particular wherein the stabilization element is injection-molded onto the jet steering unit or the jet steering unit and the stabilization element are formed in one piece.

[0087] A further embodiment relates, for example, to the fact that the defined tolerance range for an effect of the residual elastic forces on the mirror surface is selected such that a surface accuracy of the mirror surface of plus / minus 5µm, in particular of plus / minus 3µm, in particular of plus / minus 1µm or of plus / minus 300 nm with respect to a defined ideal design for the mirror surface is ensured.

[0088] The main aspect of the invention relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for acquiring distance measurement data, with a transmitting unit for emitting a distance measurement radiation and a receiving unit for receiving portions of the distance measurement radiation returning from the environment, a support, a beam steering unit for the distance measurement radiation, which is rotatably mounted on the support about a beam rotation axis, in particular a fast rotation axis, wherein the beam steering unit comprises a mirror surface tilted with respect to the beam rotation axis for deflecting the distance measurement radiation, in particular a flat mirror surface or a parabolic mirror surface, and an angle encoder for acquiring angle data relating to a 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 acquired as part of a measuring process,which comprises a scanning scan by means of the distance measuring device with a defined continuous, in particular continuous, rotation of the beam steering unit around the beam rotation axis, and a continuous emission of the distance measuring radiation and a continuous reception of returning parts of the distance measuring radiation.

[0089] The main aspect of the invention is characterized in that a receiving optic for parts of the distance measuring radiation returning via the mirror surface is arranged on the support, in particular wherein the optical axis of the receiving optic is aligned, in particular coaxial, with the beam rotation axis, an exit region for emitting the distance measuring radiation in the direction of the mirror surface is arranged on the support and the exit region has a lateral offset with respect to the optical axis of the receiving optic and the distance measuring radiation emitted by the exit region is emitted onto the mirror surface parallel to the optical axis of the receiving optic.

[0090] According to the invention, a compensation algorithm is provided to compensate for a parallax effect caused by the continuous rotation of the beam steering unit about the beam rotation axis and by the lateral offset of the exit region to the beam rotation axis with respect to outgoing and returning parts of the distance measuring radiation, wherein compensation parameters dependent on the angle data are taken into account in the context of referencing the measurement data with respect to a common coordinate system, based on an angular position of the beam steering unit stored at the time of detection of the distance measuring radiation and a detected distance.

[0091] One embodiment relates, for example, to the receiving optics having a recess or a window, in particular a flat glass window, into which the exit region is located or which forms the exit region.

[0092] A further embodiment relates, for example, to the exit region being arranged next to the receiving optics, in particular directly adjacent to the receiving optics.

[0093] A further embodiment relates, for example, to the fact that the exit region is designed in such a way that the geometry and orientation of the exit region essentially encompasses the maximum beam diameter of the outgoing distance measuring radiation at the exit region, in particular wherein the geometry and orientation of the exit region essentially corresponds to the geometry and orientation of the beam waist (the beam cross section) of the outgoing distance measuring radiation at the exit region.

[0094] A further embodiment relates, for example, to the fact that the transmitting unit comprises a laser diode for generating the distance measuring radiation as laser radiation and the beam cross section of the outgoing distance measuring radiation at the level of the exit region has an oval shape, in particular an elliptical shape, in particular with a short semi-axis aligned in the direction of the lateral offset.

[0095] A further embodiment relates, for example, to the receiving optics further comprising a correction optics for taking into account a parallax effect caused by the lateral offset of the exit region to the beam rotation axis for parts of the distance measuring beams returning from a distance shorter than a defined near-field distance, in particular wherein the correction optics is designed as a cylindrical lens.

[0096] A further embodiment relates, for example, to the fact that the exit area and the compensation algorithm are designed in such a way that, within the framework of a defined measurement tolerance for referencing the measurement data with respect to the common coordinate system for compensating the parallax effect in addition to the compensation algorithm, no further adjustment of the laser scanner is required.

[0097] A further embodiment relates, for example, to the fact that the exit region and the receiving optics are arranged such that there is a lateral offset of at least 0.5 cm between a fictitious extension of the optical axis of the receiving optics and a central propagation axis of the distance measuring radiation at the level of the impact of the distance measuring radiation on the beam steering unit.

[0098] A further embodiment relates, for example, to the fact that the transmitting unit and the receiving unit are arranged on a common circuit board.

[0099] A further optional aspect relates to an electronic laser distance measuring module for measuring the distance to a target object, in particular for use in a laser scanner, wherein the laser distance measuring module comprises a transmitting unit for generating transmitted signals, in particular wherein the transmitted signals are generated by pulsed laser measuring radiation, a receiving unit for receiving parts of the transmitted signals returning from the target object as received signals, a receiving circuit for conditioning and digitizing the received signals so that ultimately a distance to the target object can be derived based on the signal propagation time method, and a controller for the transmitting unit and the receiving circuit.

[0100] This optional aspect is characterized in that the receiving circuit comprises a comparator stage for deriving a signal strength of a received signal, an amplifier stage for adjusting a signal strength, in particular by amplifying or attenuating an input signal, a first and a second analog-digital conversion stage, wherein the receiving circuit and the transmitting unit are controlled by the controller in such a way that a continuous sequence of distance measurements with alternating use of the first and second analog-digital conversion stages comprises a first distance measurement by means of the first analog-digital conversion stage, in particular based on a first signal packet of successive received signals, a second distance measurement by means of the second analog-digital conversion stage, in particular based on a second signal packet of successive received signals, use of a first received signal as a test signal,Using a second received signal as a measurement signal, feeding the sample signal to the comparator stage and deriving a signal strength of the sample signal by the comparator stage, adjusting the amplifier stage for at least parts of the received signals containing the measurement signal based on the derived signal strength of the sample signal, so that at least the measurement signal is present as an input signal in the control range of the first and / or second analog-to-digital conversion stage connected downstream of the amplifier unit.

[0101] One embodiment relates, for example, to the receiving circuit further comprising an activation unit, by means of which a first setting is made, wherein the test signal is taken into account for deriving the distance to the target object, and a second setting is made, wherein the test signal is discarded for deriving the distance to the target object, in particular wherein a value range for a usable signal strength of the test signal is defined, a comparison of the signal strength of the test signal derived by the comparator stage with the value range is made, and a control of the activation unit is carried out based on the comparison of the signal strength with the value range, such that if the signal strength of the test signal lies within the value range, the test signal is taken into account for deriving the distance to the target object, and if the signal strength of the test signal lies outside the value range,the sample signal for deriving the distance to the target object is discarded.,

[0102] A further embodiment relates, for example, to the fact that the setting of the amplifier unit and the derivation of the distance to the target object within the scope of a single distance measurement is based on a signal packet consisting of a maximum of three consecutive received signals.

[0103] A further embodiment relates, for example, to the fact that in each case a received signal of an immediately preceding distance measurement from the plurality of distance measurements is used as a current test signal for a current distance measurement from the plurality of distance measurements, in particular wherein in each case the temporally last received signal of the immediately preceding distance measurement is used as the current test signal.

[0104] A further optional aspect relates to an electronic laser distance measuring module for measuring the distance to a target object, in particular for use in a laser scanner, wherein the laser distance measuring module comprises a transmitting unit for generating transmitted signals, wherein the transmitted signals are generated by pulsed laser measuring radiation, a receiving unit for receiving parts of the transmitted signals returning from the target object as received signals, a receiving circuit for conditioning and digitizing the received signals so that ultimately a distance to the target object can be derived based on the signal propagation time method, and a controller for the transmitting unit and the receiving circuit.

[0105] This optional aspect is characterized in that the receiving circuit comprises a plurality of, and at least a first and a second, analog-to-digital conversion stages, wherein the controller is configured to control the receiving circuit and the transmitting unit in such a way that a continuous sequence of distance measurements comprises an alternating, staggered and mutually alternating use of the plurality of analog-to-digital conversion stages for a respective distance measurement, wherein each analog-to-digital conversion stage of the plurality of analog-to-digital conversion stages per distance measurement has a self-contained sampling phase for sampling an incoming signal, in particular a pulse packet, and then a self-contained output phase for outputting values sampled during the sampling phase,wherein, within the scope of the alternating use, the respective output phases of the first analog-to-digital conversion stage are temporally located in the respective sampling phases of at least the second analog-to-digital conversion stage, and the respective output phases of the second analog-to-digital conversion stage are temporally located in the respective sampling phases of the first or a further of the plurality of analog-to-digital conversion stages.

[0106] A further optional aspect relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for acquiring distance measurement data, with a transmitting unit for emitting a distance measurement radiation and a receiving unit for receiving returning parts of the distance measurement radiation, a base, a support which is rotatably mounted on the base about a support rotation axis, in particular a slow rotation axis, a beam steering unit for the distance measurement radiation, which is rotatably mounted on the support about a beam rotation axis substantially orthogonal to the support rotation axis, in particular a fast rotation axis, a first angle encoder for acquiring first angle data relating to a rotation of the support about the support rotation axis, and a second angle encoder for acquiring second angle data relating to a rotation of the beam steering unit about the beam rotation axis,wherein the distance measurement data and the first and second angle data, hereinafter referred to as measurement data, are acquired within the scope of a measuring process which comprises a scanning scan by means of the distance measuring device with a defined continuous, in particular continuous, rotation of the support about the support rotation axis, a defined continuous, in particular continuous, rotation of the beam steering unit about the beam rotation axis, and a continuous emission of the distance measurement radiation and a continuous reception of returning parts of the distance measurement radiation.

[0107] This optional aspect is characterized in that the support has a skeletal structure consisting of at least two separately detachable support structures as skeletal parts, a first of the two support structures is rotatably mounted relative to the base, a second support structure is only coupled to the first support structure, in particular based on a connection by means of standard pins, the first support structure has a superstructure extending in the support rotation axis, by means of which a stable fastening of the second support structure with respect to a tilting of the second support structure relative to the support rotation axis can be achieved, and the beam steering unit is mounted exclusively in and rotatably relative to the second support structure.

[0108] For example, one embodiment relates to the first support structure being based on an upside-down T-shape, namely wherein a circular disc connected to the base or an annular disc connected to the base forms the transverse T-line, and the superstructure forms the longitudinal T-line.

[0109] A further embodiment relates, for example, to the fact that the support comprises a third support structure as a further skeleton part, which is separately detachably fastened to the superstructure of the first support structure, the second and third support structures are each essentially based on a plate shape with a flat side, and the superstructure with two opposite contact sides facing away from each other forms a receptacle on the one hand for the flat side of the second support structure and on the other hand for the flat side of the third support structure.

[0110] A further embodiment relates, for example, to the fact that the laser scanner comprises a planar sensor for capturing planar sensor data, in particular at least one color camera for recording image data, wherein an optical axis of the sensor and a viewing direction of the sensor along the optical axis are defined by the sensor, the distance measuring device is arranged in the second support structure, the planar sensor is arranged in the third support structure, and that the distance measuring device and / or the planar sensor is modularly interchangeable, in particular wherein the first or second or third or a further support structure comprises a power supply unit for the distance measuring device and / or the planar sensor.

[0111] A further optional aspect relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for acquiring measurement data comprising distance measurement data, with a transmitting unit for emitting a distance measurement radiation and a receiving unit for receiving returning parts of the distance measurement radiation, a base, a support which is rotatably mounted on the base about a support rotation axis, in particular a slow rotation axis, a beam steering unit for the distance measurement radiation, which is rotatably mounted on the support about a beam rotation axis substantially orthogonal to the support rotation axis, in particular a fast rotation axis, and a first angle encoder for acquiring first angle data relating to a rotation of the support about the support rotation axis, and a second angle encoder for acquiring second angle data relating to a rotation of the beam steering unit about the beam rotation axis, wherein the distance measurement data,the area sensor data and the first and second angle data, hereinafter referred to as measurement data, are acquired as part of a measuring process which comprises a scanning scan by means of the distance measuring device with a defined continuous, in particular continuous, rotation of the support about the support rotation axis, a defined continuous, in particular continuous, rotation of the beam steering unit about the beam rotation axis, and a continuous emission of the distance measuring radiation and a continuous reception of returning parts of the distance measuring radiation.

[0112] This optional aspect is characterized in that the laser scanner comprises a status display for displaying a device status, in particular for displaying a status of the measuring process, the status display is arranged on the support, i.e. rotates when the support rotates about the support axis of rotation, the status display is designed such that it appears substantially uniform in all azimuthal directions with respect to the support axis of rotation, so that regardless of a rotational position of the support about the support axis of rotation, the same information provided by the status display is visible and readable for a user of the laser scanner from all horizontal user perspectives.

[0113] One embodiment relates, for example, to the status display being formed by means of individual lights which are arranged - in particular directly - adjacent to the support with a substantially identical elevation all the way around.

[0114] A further embodiment relates, for example, to the status display being formed by means of continuously and uninterruptedly arranged illumination means which substantially completely enclose the support and the support rotation axis, in particular wherein the illumination means are designed as an LED ring.

[0115] A further embodiment relates, for example, to the status display being formed by means of a light guide ring with at least one coupling of light, in particular by means of two or four couplings, wherein with increasing distance from the coupling position along the light guide ring the quotient of radiation, namely the radial light coupling out, to the forwarding of the light along the light guide ring increases.

[0116] A further embodiment relates, for example, to the status display being designed such that the device status is revealed to a user by means of a visual coding, in particular by means of a defined color coding of the status display and / or by means of a defined flashing coding of the status display.

[0117] A further optional aspect relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for recording distance measurement data, with a transmitting unit for emitting a distance measurement radiation and a receiving unit for receiving returning parts of the distance measurement radiation, a planar sensor for recording area sensor data, in particular at least one color camera for recording image data, wherein an optical axis of the sensor and a viewing direction of the sensor along the optical axis are defined by the sensor, a support, a beam steering unit for the distance measurement radiation, which is attached to the support so as to be rotatable about a beam rotation axis, in particular a fast rotation axis, and an angle encoder for recording angle data relating to a rotation of the beam steering unit about the beam rotation axis.

[0118] This optional aspect is characterized in that the support is formed by means of a skeleton-like structure, the support comprises a cover as a shell element which is carried by the skeleton-like structure and can be removed therefrom, and the planar sensor is attached to the shell element and is carried by the shell element.

[0119] One embodiment relates, for example, to the laser scanner comprising a plurality of planar sensors, each of which is individually fastened to the casing element and is individually carried by the casing element, in that each planar sensor of the plurality of planar sensors is carried separately and on its own by the casing element, in particular wherein the casing element is formed with aperture openings for the planar sensors, the individual planar sensors of the plurality of planar sensors are fastened to the inside of the casing element, and the individual planar sensors of the plurality of planar sensors each look through one of the aperture openings of the casing element.

[0120] A further optional aspect relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for acquiring distance measurement data, with a transmitting unit for emitting a distance measurement radiation and a receiving unit for receiving returning parts of the distance measurement radiation, a base, a support which is rotatably mounted on the base about a support rotation axis, in particular a slow rotation axis, a beam steering unit for the distance measurement radiation, which is rotatably mounted on the support about a beam rotation axis substantially orthogonal to the support rotation axis, in particular a fast rotation axis, a first angle encoder for acquiring first angle data relating to a rotation of the support about the support rotation axis, and a second angle encoder for acquiring second angle data relating to a rotation of the beam steering unit about the beam rotation axis,wherein the distance measurement data and the first and second angle data, hereinafter referred to as measurement data, are acquired within the scope of a measuring process, which comprises a scanning scan by means of the distance measuring device with a defined continuous, in particular continuous, rotation of the support about the support axis of rotation, a defined continuous, in particular continuous, rotation of the beam steering unit about the beam axis of rotation, and a continuous emission of the distance measurement radiation and a continuous reception of returning parts of the distance measurement radiation.

[0121] This optional aspect is characterized in that the distance measuring device is designed such that a measuring beam ensemble formed from a plurality of individual distance measuring beams is emitted, in particular wherein the measuring beam ensemble is deflected during the measuring process via a mirror surface of the beam steering unit which is common to the plurality of distance measuring beams.

[0122] One embodiment relates, for example, to the maximum divergence between adjacent individual beams of the measuring beam ensemble being less than 15 degrees, in particular less than 1 degree.

[0123] A further embodiment relates, for example, to the fact that the individual beams of the measuring beam ensemble are emitted from the support in the direction of the beam steering unit as beam fans, forming a single-beam row, in particular wherein the single-beam row extends along a direction perpendicular to the beam rotation axis and perpendicular to the support rotation axis, in particular wherein the beam fan consists of a maximum of ten individual beams.

[0124] A further optional aspect relates to a laser scanner for optically measuring an environment, comprising an optical distance measuring device for acquiring distance measurement data, with a transmitting unit for emitting a distance measurement radiation and a receiving unit for receiving returning parts of the distance measurement radiation, a support, a beam steering unit for the distance measurement radiation, which is rotatably mounted on the support about a beam rotation axis, in particular a fast rotation axis, and an angle encoder for acquiring angle data relating to a rotation of the beam steering unit about the beam rotation axis, wherein the measurement data comprise the distance measurement data and the angle data, which are acquired within the scope of a measuring process, which comprises a scanning scan by means of the distance measuring device with a defined ongoing, in particular continuous, rotation of the beam steering unit about the beam rotation axis,and a continuous emission of the distance measuring radiation and a continuous reception of returning parts of the distance measuring radiation.,

[0125] This optional aspect is characterized by a receiving element for receiving the base, wherein the receiving element is detachable from the base by means of a locking device, and wherein the locking device comprises an opening on the base into which a ring is let, which ring has a circumferentially continuous cavity on the inside, and a pin on the receiving element, wherein the pin comprises at least three locking bodies, wherein the locking bodies push radially out in a basic position of a release device in order to block the detachability of the receiving element from the base by the locking bodies engaging in the cavity, and the locking bodies are allowed to escape radially into the pin by actuating the release device in order to ensure the detachability of the receiving element from the base.

[0126] One embodiment relates, for example, to the recess being cylindrical.

[0127] A further embodiment relates, for example, to the fact that the receiving element is a tripod head or is designed to be attached to a tripod head.

[0128] A further embodiment relates, for example, to a locking body being designed as a rotational body, in particular as a sphere or an ellipsoid, a trapezoid, a pyramid, a trapezoid having rounded portions, or a pyramid having rounded portions.

[0129] A further embodiment relates, for example, to the fact that the locking bodies and the cavity are designed and matched to one another in such a way that the engagement of the locking bodies in the cavity results in self-centering of the base, in particular self-centering with respect to the support axis of rotation.

[0130] A further embodiment relates, for example, to the release device being arranged in the pin and having at least one radial pin for actuating the release device, an axial pin for blocking or ensuring releasability, and a preload spring for maintaining the basic position, wherein the radial pin, the axial pin and the preload spring are operatively connected in such a way that in the basic position of the release device, the axial pin urges the locking bodies radially outwards, and upon actuation of the release device, a displacement of the radial pin displaces the axial pin against the preload spring, and the axial pin, by its displacement, releases space and thus enables the radial escape of the locking bodies into the pin.

[0131] A further embodiment relates, for example, to the axial pin in the basic position pressing the locking bodies into the cavity of the ring by means of a preload force from the preload spring.

[0132] A further embodiment relates, for example, to each locking body having at least two contact points with the cavity, in particular having at least one contact line with the cavity.

[0133] A further optional aspect relates to a laser scanner, wherein an axis position calibration process is provided for deriving axis position calibration parameters which are taken into account as part of referencing the measurement data in a common coordinate system, in particular wherein the axis position calibration process comprises a measurement of an already known environment and / or known objects in the environment to be measured, in particular wherein the laser scanner for the axis position calibration process is arranged in a hollow test body with known spatial dimensions, and / or a set of test objects with known positioning and / or dimensions relative to one another are mounted in a test environment and / or in the environment provided as part of the effective measuring process and are measured as part of the axis position calibration process.

[0134] A further optional aspect relates to a laser scanner, wherein the beam steering unit rotates around the beam rotation axis at a rotation speed of at least 50 Hz, in particular of at least 100 Hz, in particular of at least 250 Hz, during the measuring process, and / or the base rotates around the support rotation axis at a rotation speed of at least 0.01 Hz, in particular of at least 0.02 Hz, in particular of at least 0.03 Hz, during the measuring process.

[0135] Another optional aspect relates to a laser scanner, wherein, during the measuring process, a minimum scanning point density of at least 3 points per 1° angle of rotation is set based on the rotation speed of the beam steering unit around the beam rotation axis and based on a pulse frequency of the distance measuring radiation.

[0136] The system and laser scanner according to the invention are described in more detail below purely by way of example with reference to exemplary embodiments schematically illustrated in the drawings. Identical elements are identified by identical reference numerals in the figures. The described embodiments are generally not drawn to scale and are not to be understood as limiting.

[0137] In detail Fig. 1: a typical laser scanner according to the prior art for measuring a room; Fig. 2: typical device components for scanning using a common laser scanner; Fig. 3: an inventive system for optical measurement with a laser scanner and a (wireless) control, processing, and display unit; Fig. 4: another embodiment of an inventive system for optical measurement with a laser scanner and a (wireless) control, processing, and display unit; Fig. 5: an exemplary camera arrangement of several cameras integrated in the laser scanner with respect to a central reference point; Fig. 6: an exemplary camera arrangement with specific lighting means for individual camera viewing directions; Fig.Fig. 7: an inventive use of the same rotating beam steering unit for the transmitted radiation and the received radiation by means of a biaxial arrangement of the beam exit with respect to the optical axis of the objective unit; Fig. 8: a further inventive use of the same rotating beam steering unit for the transmitted radiation and the received radiation by means of a window for the transmitted beam integrated in the objective unit; Fig. 9: an inventive objective unit with a window for the transmitted beam integrated in the objective unit and correction optics for a close-range measurement; Fig. 10: an exemplary receiving circuit with a comparator stage and two analog-to-digital conversion stages for adjusting the signal strength of a measurement signal and increasing the measurement rate; Fig. 11: exemplary representation of pulse packets and of sample and measurement signals within the framework of an inventive receiving circuit with two analog-to-digital conversion stages; Fig.12: an exemplary arrangement of a laser scanner with a base that is passive with respect to scanning and data acquisition, with a short vertical axis, and the integration of the motor into the support for rotating the support; Fig. 13a,b: exemplary integration of the motor for rotating the support into the support and bearing according to the invention based on a short vertical axis by means of a four-point roller bearing (a) or a plain bearing (b); Fig. 14a,b: an exemplary bearing and a compact drive according to the invention of the beam steering unit around the fast axis by means of a bell element; Fig. 15: a further exemplary embodiment of the bell element with an encoder disk for an angle encoder integrated in the bell element; Fig. 16a,b: an exemplary coupling of a beam steering unit to a shaft along the beam rotation axis by means of compressible stabilization elements; Fig.17a,b: an exemplary arrangement of a laser scanner using a skeletal, three-part support; Fig. 18: a typical use of a reference element in the support of a laser scanner; Fig. 19: an exemplary multi-beam arrangement of a laser scanner; Fig. 20: a laser scanner with an exemplary mounting element (quick release), for example, for attaching the laser scanner to a tripod.

[0138] Figure 1shows a typical laser scanner 1 according to the prior art, here with two axes of rotation, for example mounted on a tripod 2, wherein the laser scanner 1 comprises a slow (vertical) axis of rotation - also called support axis of rotation 3 - for an azimuthal rotation of the laser scanner 1, or a rotation of a support 4 of the laser scanner about a base 5 of the laser scanner 1 and a fast (horizontal) axis of rotation - also called beam axis of rotation 6 - with respect to a fast-rotating beam deflection element 7, mounted in the support 4 of the laser scanner 1.

[0139] For scanning linear or linearly traversable structures and environments, such as railway tracks, roads, tunnel systems, or airfields, a base or azimuth rotation axis is often omitted and instead the laser scanner is mounted on a means of transport, such as a ground- or airborne carrier vehicle. Such laser scanners with only one beam rotation axis (6) are also called profilers.

[0140] Profilers in particular, but also two-axis laser scanners for continuous surveying of a large area, often also have a positioning and orientation system, for example directly integrated into the laser scanner, to automatically reference local scanning data with a global 3D coordinate system.

[0141] The laser scanner 1 also has a camera 8, for example, for capturing RGB data. The camera images of the surroundings can be linked to the scanning data generated by the rotating distance measuring beam 9 and associated angle encoder data for the direction of the distance measuring beam 9. The camera can, in particular, be individually movable, for example, to capture different fields of view and / or to orient the camera images and the scanning data with respect to a common reference surface or a common coordinate system.

[0142] Figure 2shows typical main components of a common laser scanner 1', here for example with two rotation axes, wherein the laser scanner 1' is based on a structure by means of a base 5 and a support 4, wherein the support 5 is mounted 13 on the base 5 so as to be rotatable about a support rotation axis 3, in particular a slow rotation axis. Often the rotation of the support 4 about the support rotation axis 3 is also azimuthal rotation called, regardless of whether the laser scanner 1', or the support rotation axis 3, are aligned exactly vertically.

[0143] The core of the laser scanner 1' is an optical distance measuring device 10 arranged in the support 4 for recording distance measurement data, with a transmitting unit for emitting a distance measuring radiation 9, for example pulsed laser radiation, and a receiving unit with receiving optics, in particular a lens 11, and a light-sensitive sensor for receiving returning parts of the distance measuring radiation 9, wherein an echo is received from a backscattering surface point of the environment and a distance to the surface point is derived, for example based on the travel time, the shape, and / or the phase of the pulse.

[0144] The surroundings are scanned by varying the orientation of the emission direction of the distance measuring beam 9 by means of a rotating beam steering unit 7 for the distance measuring radiation, which is mounted 13 in the support 4 so as to be rotatable about a beam rotation axis 6, in particular a fast rotation axis, that is essentially orthogonal to the support rotation axis 3. The emission direction of the distance measuring beam 9 is detected and linked to correspondingly detected distance measurement data by means of angle encoders 12 for detecting angle data, for example, fixed angle positions and / or relative angle changes, with respect to a rotation of the support 4 about the support rotation axis 3 and angle data with respect to a rotation of the beam steering unit 7 about the beam rotation axis 6.Thus, by using a plurality of such measuring points, essentially the entire environment can be spatially measured, whereby, for example, a desired point-to-point resolution is achieved by adjusting the pulse rate of the distance measuring beam 9 and / or by adjusting the rotation speed of the beam steering unit 7. A subsequent representation of the data can be based, for example, on common data processing steps and / or representation options, for example, for representing the acquired data in the form of a 3D point cloud.

[0145] The beam steering unit 7 has a mirror surface 14 for deflecting the distance measuring radiation 9, in particular a mirror surface tilted with respect to the beam rotation axis 6, for example a flat or parabolic mirror surface, which due to the rapid rotation of the beam steering unit 7 and the large centrifugal forces occurring in the process is typically designed integrally with the rotating body of the beam steering unit 7, less frequently by attaching a separate optical component such as a separate mirror.

[0146] A defined scanning movement of the distance measuring beam 9 with the smallest possible tolerance for guiding the distance measuring beam 9 with a high angular accuracy typically requires a bearing 13 of the support 4 and the beam steering unit 7 that is as free from play as possible, i.e. with the smallest possible tolerance for tilting of the support 4 with respect to the support rotation axis 3, or for tilting of the beam steering unit 7 with respect to the beam rotation axis 6. In addition, the mirror surface 14 typically has a high surface accuracy in order to ensure, for example, optimal beam collimation and intensity sensitivity.

[0147] In order to ensure a play-free bearing 13 with the least possible tilting of the beam steering unit 7 and the support 4, the bearing 13 is typically provided along an effective stabilization region 15 that is as axially extended as possible. Due to the weight of the support 4, the bearing 13 of the support 4 about the support rotation axis 3 in the prior art is typically based on a standing axis 16 that is as long (or high) as possible relative to the total volume of the support 4, which in combination with the bearing 13 of the support 4 defines the most extensive possible axial stabilization region 15.

[0148] Figure 3shows an inventive system 17 for optical measurement and for displaying an environment, here for example in the field of interior measurement, wherein a laser scanner 1" can be placed anywhere in the room, for example on a table 18 in the room, for example to minimize possible shadows and / or blind spots. The system 17 has the laser scanner 1" for acquiring measurement data, i.e. distance measurement data and angle data, provided by a distance measuring unit and angle encoder for determining the emission direction of the distance measurement beam. The measurement data further comprise area sensor data, provided by a sensor arranged on the support 4 and rotating with the support 4, for example a camera 8, in particular an RGB camera or an infrared camera.

[0149] The measurement data are acquired by the laser scanner 1" during a measurement process, defined by a scanning scan using the distance measuring device with a defined continuous rotation of the support 4 around the support rotation axis 3, a defined continuous rotation of the beam steering unit 7 around the beam rotation axis 6 and a continuous emission of the distance measuring radiation and a continuous reception of returning parts of the distance measuring radiation, as well as a repeated readout of the planar sensor 8 with respect to different azimuthal viewing directions of the sensor 8.

[0150] The inventive system 17 further comprises a processing unit, arranged on a computing device 19, in particular a computer or tablet, separate from the laser scanner 1", for processing parts of the measurement data with regard to a linking of the area sensor data with the distance measurement data and the angle data, wherein the inventive system 17 is designed such that, while the measurement data are still being acquired as part of the measuring process, at least an initial processing of parts of the measurement data with regard to a linking of the area sensor data with the distance measurement data and the angle data takes place, in particular as promptly as possible, i.e. essentially parallel to the data acquisition, and is continuously displayed for a user 20, for example as a continuously growing colored 3D point cloud, for example by means of a display coupled to or integrated with the computing device 19.

[0151] In particular, the laser scanner 1" and the computing device 19 are configured such that the transmission of the measurement data from the laser scanner 1" to the computing device 19, which transmission takes place essentially parallel to the data acquisition by means of data streaming started simultaneously or at least promptly with the measurement process, takes place by means of a wireless transmission, for example by means of a WLAN or Bluetooth connection. In particular, the laser scanner 1" and the computing device 19 are configured such that control and regulation signals are transmitted from the computing device 19 to the laser scanner 1" and the laser scanner 1" is thus controlled by the external computing unit 19 and, for example, a defined measurement process of the laser scanner 1" can be started, stopped, interrupted and / or adjusted from the computing device 19.

[0152] In laser scanners, scanning by means of the distance measuring device is central and, in the state of the art, camera data are therefore typically only recorded after a complete spatial scan (360 degree azimuth rotation) by the distance measuring device, for example as supplementary information and often only for selected areas of the environment, for example to improve the representation of an area of interest for a user.

[0153] Distance measurement modules used in laser scanners for spatial surveying typically lack color sensitivity, which is why the generated 3D point cloud is displayed in grayscale without the aid of additional data. As a result, many details remain hidden from the human eye due to the lack of color effect and the lack of color-enhanced depth perception. Using RGB data from a color camera, for example, a "color" 3D point cloud can be generated, which makes it significantly easier for the human eye to visualize. Such referencing of different data and data sets is increasingly standardized today, for example, using common data processing algorithms.

[0154] In the prior art, laser scanners are often designed such that the field of view of a camera, for example an RGB camera, essentially captures a scanning plane of the distance measurement beam defined by a fictitious 360-degree rotation of the beam steering unit around the beam rotation axis, for example by aligning the camera's optical axis parallel to the scanning plane or by coaxially coupling the camera's beam path into the beam path of the distance measurement device. This has the advantage, for example, that directly corresponding camera and distance measurement data can be captured, at least for the camera's field of view. This allows, for example, simultaneous capture of the camera data with distance measurement data corresponding to the camera's field of view, which can facilitate referencing of the camera data with the distance measurement data.For example, any interference effects in the environment that may occur during the measurement process can be identified in both the camera and distance measurement data.

[0155] However, such integration and alignment of the camera field of view often involves a certain amount of integration effort and is only possible to a limited extent, especially if the laser scanner is designed to be as compact as possible.

[0156] An optional aspect relates to an integration of the planar sensor 8, in particular an RGB camera, into the laser scanner 1", so that the viewing direction of the planar sensor differs significantly from the scanning plane, wherein, for example, a fictitious rearward extension of the optical axis of the planar sensor intersects the scanning plane at an intersection angle of at least 45 degrees, in particular at an angle of 90 degrees, in particular wherein the scanning plane is not captured by the field of view of the planar sensor.

[0157] This arrangement of the camera 8 in the laser scanner enables, for example, a compact design of the laser scanner 1", but has the disadvantage that simultaneous acquisition of the camera data with distance measurement data corresponding to the camera field of view may not be possible. The inventive arrangement, on the other hand, enables parallel reading of the planar sensor 8, e.g., the RGB camera, to the scanning with the distance measuring device, whereby, for example, a full-dome measurement can be carried out in one go by the scanning distance measuring device and the camera 8, i.e., is accelerated, wherein, for example, the distance measurement data, the angle data, and the camera data can subsequently be mathematically referenced with respect to one another.

[0158] A complete spatial scan (360-degree azimuth rotation) using the distance measuring device takes a relatively long time compared to a 360-degree acquisition of camera data. To ensure a representation of the environment, particularly as a colored 3D point cloud, that begins immediately with the measurement process, an optional aspect involves first capturing colored camera data of the environment, followed by scanning using the distance measuring device.At least initial processing is thus already carried out based on the comparatively quickly acquired camera data, which are displayed to a user 20, for example, as a 2D panoramic display; and a linking of the distance measurement data and the angle data with the acquired camera data can take place practically in real time with the acquisition of the distance measurement data, whereby, for example, a continuously growing colored 3D point cloud can be displayed to the user 20 essentially in real time. This enables, for example, a rapid assessment of the acquired data by the user 20 and, if necessary, an immediate adjustment or modification of settings of the laser scanner 1", for example, a defined measurement mode with different point densities.

[0159] Since the laser scanner 1" can be controlled within the framework of the system according to the invention by means of an external computing unit 19, in particular a tablet wirelessly connected to the laser scanner 1", which in particular also carries out the computationally intensive linking of the distance measurement data with the camera data and the angle data as well as the display of the measurement data, the laser scanner 1" can be constructed very compactly.

[0160] In particular, the laser scanner 1" itself requires only a minimal number of operating elements integrated in the laser scanner 1". For example, a laser scanner 1" according to the invention has only a single integrated operating element 21, which has an activated and an inactivated state and can be switched via an external effect in order to assume the activated or inactivated state. The two states, respectively a change in the state of the operating element 21 from the inactive to the active state, a change in the state of the operating element 21 from the active to the inactive state, a switching of the operating element 21 by means of a continuous external effect during a defined period of time (e.g.continuous pressing of an operating button), a coded sequence of state changes of the operating element 21 between the active and inactive state and / or a coded sequence of temporally continuous external effects on the operating element 21 over defined periods of time, for example individual measuring programs and / or actions of the laser scanner 1", e.g. activating / deactivating the laser scanner 1", starting a defined measuring process, or interrupting / cancelling / restarting a measuring process.

[0161] For example, the laser scanner 1" can also be equipped with a position and orientation system, for example by means of an inertial system, inclination sensors, or a receiver for a global satellite navigation system, which is set into an active state by the control element 21, after which the position and / or orientation of the laser scanner 1" is continuously determined and stored in the measurement data. In such a mode, the laser scanner 1" can then be moved in space and, for example, local scanning data can be automatically referenced with a global 3D coordinate system.

[0162] The laser scanner 1" can further be designed such that defined measuring programs and actions are stored on the laser scanner 1" and / or that new measuring programs and actions can be defined, for example via a corresponding input functionality of the external computing device 19, and assigned to the states / state changes of the control element 21.

[0163] A further optional aspect relates to a status display 22 for displaying a device status, for example, the status of a current measuring process, wherein the status display 22 is arranged on the support 4, i.e., rotates with the rotation of the support 4 about the support's axis of rotation 3. The status display 22 is designed such that it appears uniform in all azimuthal directions relative to the support's axis of rotation 3. For example, a user 20 of the laser scanner 1" can thus be provided with the same information regardless of their viewing direction towards the laser scanner 1" (seen from the scanner, regardless of the azimuth angle position of the user 20), in particular even when a measuring process is running and the scanner 1" is rotating.

[0164] For example, the status indicator 22 can be formed by means of a light guide ring with two opposing light couplings, wherein the quotient of radiation (radial coupling) to transmission increases with increasing distance from the coupling position along the light guide ring, wherein the device status is revealed to a user 20 by means of a visual coding, for example a defined color coding of the status indicator 22 and / or by means of a defined flashing coding of the status indicator 22.

[0165] Figure 4 shows a further embodiment of an inventive system 17' for optical measurement and for displaying an environment, here for example again in the field of interior measurement, wherein the laser scanner 1‴ is mounted on a tripod. As before (see Fig. 3) the laser scanner 1‴ is controlled wirelessly via an external computing device 19', here e.g. by a tablet, whereby data as well as control and control signals are transmitted in both directions (laser scanner 1‴ to tablet 19' and vice versa).

[0166] In this embodiment, the tablet 19' is also equipped with an inertial measuring system and / or inclination sensors, so that the laser scanner 1‴ can be controlled based on a position (position, orientation) of the computing device 19', for example, substantially synchronously with the change in position of the computing device 19'.

[0167] The tablet 19' also has a display 23, on which, for example, a current live stream from the camera 8 is shown, so that a user 20 can view the surroundings from the perspective of the position and orientation of the laser scanner 1' for different azimuth angle positions of the support 4 of the laser scanner 1'. This makes it possible, for example, to check prior to the measurement whether the current position of the laser scanner 1' in the room needs to be adjusted to avoid blind spots.

[0168] In addition, the user 20 can define different areas of interest 24 in the environment for different azimuth positions of the laser scanner 1‴, for example via the tablet 19', for example via a touch screen functionality, and assign to the areas of interest 24 settings defined prior to the measurement process for the acquisition of measurement data (e.g. camera resolution, distance measurement accuracy, scanning resolution) and / or defined settings for the display of parts of the processed measurement data (e.g. color setting, highlighting).

[0169] Furthermore, the tablet 19' (or the laser scanner 1‴) can, for example, access data for augmented reality, so that the user 20 can, for example, see further details of the environment hidden from the human eye from the perspective of the scanner 1‴, such as power or water pipes hidden in the walls, intended mounting points, furniture, etc.

[0170] Figure 5shows a laser scanner according to the invention with several cameras 8 integrated on the support, in particular wherein the cameras 8 are arranged such that their optical axes 25 all lie in the same azimuth plane - here, for example, perpendicular to the scanning plane of the distance measuring radiation defined by a fictitious 360-degree rotation of the beam steering unit 7 about the beam rotation axis 6 - and the cameras 8 thus each have the same azimuthal viewing direction.

[0171] The laser scanner has a central reference point 26 as the origin for the distance and angle measurement of the distance measuring device, for example the intersection point of the optical axis of the lens with the beam steering unit 7. Alternatively, the distance measurement data can also be corrected mathematically with respect to an otherwise defined central reference point.

[0172] The cameras 8 are now arranged on the support 4 in such a way that a fictitious rearward extension of their optical axes 25 each runs through the central reference point 26, so that the cameras 8 are arranged parallax-free with respect to the central reference point 26.

[0173] This makes it easier, for example, to reference the camera data with distance and angle data for displaying the measurement data as a 3D point cloud.

[0174] Furthermore, the parallax-free arrangement ensures that the optical axis 25 of the camera 8 is always essentially coaxial with an orientation (azimuth and elevation angle) of the distance measuring beam. This means that the camera 8 is sooner or later rotated into a past or future viewing direction of the distance measuring beam during the measuring process (as part of the azimuth rotation of the support 4), depending on whether the camera 8 is looking "ahead" or "back" with respect to the azimuth rotation direction and the azimuthally rotating scanning plane of the distance measuring beam. Due to the parallax-free arrangement, the camera 8 "sees" the same thing as the distance measuring beam and is subject to essentially the same shadowing and field of view blockages (generated by the environment) as the distance measuring device, thus essentially capturing the same scanning points as the distance measuring beam.As a result, for example, corners and edges are captured essentially similarly by the camera 8 and the distance measuring device, which in turn improves their referencing and / or modeling based on the camera and scanning data.

[0175] In the specific case, the cameras 8 can be designed and arranged such that they cover different elevational fields of view, for example three cameras, with their field of view cones 27 intersecting from a minimum radius 28 around the central reference point 26.

[0176] In particular, if the camera with the steepest elevational alignment of the optical axis is designed such that its field of view cone 27 intersects with the support axis of rotation 3, for example at a distance of the above minimum radius 28 from the central reference point 26, the arrangement of the cameras from the minimum radius 28 enables a full dome measurement (measurement of the hemisphere defined by the support axis of rotation 3 and the beam axis of rotation 6 above the plane which is spanned perpendicular to the support axis of rotation 3 and perpendicular to the beam axis of rotation 6).

[0177] Also shown in the figure is a camera 29 with parallax with respect to the central reference point 26, for example an infrared camera for recording thermal data.

[0178] Figure 6shows a further embodiment of a laser scanner according to the invention with parallax-free cameras 8 arranged in the support 4 with respect to a central reference point 26 of the laser scanner as the origin for the distance and angle measurement of the distance measuring device (see Fig. 5 ). The support 4 here additionally has a plurality of lights 30, each illuminating the field of view of individual cameras, wherein the lights 30 are designed and arranged such that they are used for specifically controllable illumination, essentially directed at the field of view of a specific camera.

[0179] Typically, the lights 30 are designed such that the divergence of their light cone 31 is smaller than the field of view of the cameras, with each camera being assigned, for example, two or four lights 30 arranged directly next to it. The lights 30 are designed, for example, as LEDs to emit white light, or as dual LEDs, i.e., as LED pairs with two LEDs that differ in their emitted spectral range, in order to achieve the most realistic color representations of the camera images for the human eye.

[0180] In order to achieve optimal (individual) illumination of the individual cameras, a 360-degree (azimuth rotation) pre-scan can be carried out using the cameras, for example with the lights switched off or with the lights set to a uniform intensity, in order to derive optimized exposure times and illumination intensities for different azimuth positions for the individual cameras, which are then taken into account in an effective measurement scan.

[0181] Figure 7shows a further embodiment of a laser scanner according to the invention with a biaxial arrangement with respect to the outgoing distance measuring beam 9 and the optical axis of the objective 11 or the receiver of the distance measuring device 10, wherein the outgoing distance measuring beam 9 and the returning parts 32 of the distance measuring beam are deflected into the environment via the same optical rotating element 7, or are directed into the objective 11, respectively. This enables, for example, a compact, simple, and robust design of the distance measuring device 10. In the example shown, the outgoing distance measuring beam 9 is arranged such that it exits directly next to the objective 11 of the receiving unit of the distance measuring device 10.

[0182] In contrast to the often used coaxial arrangement between the distance measuring beam and the lens, there is no central shadowing, for example, caused by a deflection mirror for the distance measuring beam located in the center of the lens. However, a parallax effect occurs, particularly for parts of the distance measuring beam returning from a near field, caused by the lateral offset of the beam exit from the optical axis of the lens. For example, this results in a vertical wall being scanned by the distance measuring beam with sinusoidal scanning sections instead of essentially vertical scanning sections.

[0183] However, this effect can be compensated on the one hand with suitable correction optics in the objective 11, for example a cylindrical lens and / or on the other hand, according to the invention, within the framework of referencing the measurement data with respect to a common coordinate system, computationally compensated by means of a compensation algorithm based on the angular position of the beam steering unit 7 stored at the time of detection of the distance measuring radiation and the detected distance.

[0184] Figure 8shows a further embodiment of an inventive laser scanner with a biaxial arrangement with respect to the outgoing distance measuring beam 9 and the optical axis of the objective 11 or the receiver of the distance measuring device 10, wherein here the distance measuring radiation 9 exits through an exit region 33 arranged in the objective 11, for example through a recess or a window in the objective 11. As a result, for example, on the one hand the parallax effect caused by the lateral offset between the outgoing distance measuring beam 9 and the optical axis of the receiving unit is reduced and on the other hand the effective light collecting area is better utilized by the beam steering unit 7 and the objective 11.

[0185] Figure 9shows a front view of an objective unit 11 for an inventive biaxial arrangement with respect to the outgoing distance measuring beam 9 and the optical axis of the objective 11 of the distance measuring device, wherein the distance measuring beam 9 exits through an exit region 33 arranged in the objective 11 (see Fig. 8 ), here, for example, arranged directly radially at the edge of the lens 11. Furthermore, a correction optics 34 is indicated for compensating the parallax effect for parts of the distance measuring radiation 9 returning from a near field.

[0186] The exit region 33 is typically dimensioned and oriented such that the geometry of the exit region 33 essentially just encompasses the minimum 35 and maximum 36 extent of the beam waist of the outgoing distance measuring radiation 9 - for example depending on the geometry, arrangement and orientation of a diode generating the distance measuring radiation 9 - in particular wherein the geometry and orientation of the exit region is adapted with respect to the geometry and orientation of the beam cross-section, e.g. in the form of an oval window.

[0187] Figure 10 shows a schematic representation of an exemplary receiving circuit 37 of a laser distance measuring module, suitable for deriving a distance to a target object based on the signal propagation time method, which is coupled here to a pulser 38.

[0188] For example, the receiving circuit 37 comprises a receiving element 39, such as a receiving diode, a transimpedance amplifier 40, and an amplifier unit 41 for adjusting a signal strength, in particular by amplifying or attenuating an input signal, for example, using a VGA (Variable Gain Amplifier). The receiving circuit 37 further comprises a comparator stage 42 for deriving a signal strength of a detected received signal, arranged here after the amplifier unit 41, whereby the comparator stage 42 can alternatively also be arranged before the amplifier unit 41. The circuit 37 also has a first 43A and a second 43B analog-to-digital conversion stage, as well as a control unit 44, for example, a microprocessor or an FPGA (Field Programmable Gate Array).

[0189] The comparator stage 42, the amplifier unit 41, and the first 43A and second 43B analog-to-digital conversion stages are arranged such that a continuous sequence of distance measurements comprises a first distance measurement by means of the first analog-to-digital conversion stage 43A, for example, based on a first signal packet of consecutive received signals, and a second distance measurement by means of the second analog-to-digital conversion stage 43B, for example, based on a second signal packet of consecutive received signals. The first 43A and second 43B analog-to-digital conversion stages are used alternately, with a first received signal being used as a sample signal and a second received signal being used as a measurement signal.The test signal is fed to the comparator stage 42, by means of which a signal strength of the test signal is derived, wherein an adjustment of the amplifier unit 41 for at least parts of the received signals containing the measurement signal is carried out based on the derived signal strength of the test signal, so that at least the measurement signal is present as an input signal in the control range of the analog-to-digital conversion stages 43A,B.

[0190] In the example shown, the receiving circuit 37 also has an activation unit 45, by means of which, for example, a setting is made according to which the test signal is either taken into account or rejected for the derivation of the distance to the target object.In particular, the activation unit 45 can be configured, for example, with appropriate storage of the detected received signals, such that a value range for a usable signal strength of the test signal is defined and the signal strength of the test signal derived by the comparator stage is compared with the value range; wherein the activation unit 45 is controlled based on the comparison of the signal strength with the value range, so that if the signal strength of the test signal lies within the value range, the test signal is taken into account for deriving the distance to the target object, and if the signal strength of the test signal lies outside the value range, the test signal for deriving the distance to the target object is discarded.

[0191] Figure 11shows an exemplary representation of pulse packets 46 of transmission signals 47 and reception signals 48 used as sample and measurement signals in the context of an exemplary reception circuit 37 (see Fig. 10 ) with two analog-digital conversion stages 43A,B (see Fig. 10 ), wherein each analog-to-digital conversion stage has a sampling phase 49 for receiving an incoming signal and an output phase 50 for evaluating the incoming signal, wherein, within the scope of the alternating use of the first 51A and second 51B analog-to-digital conversion stage, the output phase 50 of the first analog-to-digital conversion stage takes place in a timely manner or simultaneously with the sampling phase 49 of the second analog-to-digital conversion stage and the output phase 50 of the second analog-to-digital conversion stage takes place in a timely manner or simultaneously with the sampling phase 49 of the first analog-to-digital conversion stage.

[0192] As a result, for example, within the scope of a single distance measurement by the second analog-to-digital conversion stage, a received signal 52 of a received packet from an immediately preceding distance measurement by the first analog-to-digital conversion stage can be used as the current sample signal 53 for the distance measurement of the second analog-to-digital conversion stage (and vice versa). This allows a suitable input signal to be set within the control range of the analog-to-digital conversion stages after just a few iterations, with high distance measurement rates being achieved through the alternating use of the analog-to-digital conversion stages.

[0193] Figure 12 shows a laser scanner according to the invention with a base 5' that is "passive" with regard to scanning and data acquisition, here with a short axial vertical axis 54 compared to the radial extent and an integration of the motor 55 for rotating the support 4 in the support 4.

[0194] The base 5' is passive in that all active electronics required for motorizing the rotation about the support axis of rotation 3 - for example for a direct drive, piezo drive or friction wheel drive - are arranged exclusively in the support 4 and rotate with the support 4 about the support axis of rotation 3, wherein, for example, an active drive element 55 for rotating the support 4 about the support axis of rotation 3, here a rotary motor with a drive shaft 56 coupled to the motor, and a power supply unit for the active drive element 55 are each arranged as a whole in the support 4.

[0195] In the example shown, the drive for rotating the support 4 about the support rotation axis 3 is designed as a friction wheel drive, wherein a drive shaft 56 of a rotary motor 55 runs with an offset to the support rotation axis 3 parallel to the support rotation axis 3 to the base 5', wherein at the output area of the drive shaft 56, for example, a running wheel 57 formed with a rubber ring is arranged, which rolls along a circularly symmetrical running surface 58 of the base 5'.

[0196] Due to the compact design, particularly the short axial vertical axis 54, the radial extension 59 of the vertical axis is chosen to be as large as possible, and the drive shaft 56, or rather the impeller 57, runs on a running surface 58 defined by the inner side of a base ring. Alternatively, the drive can also be designed such that the drive shaft 56 is arranged outside of a base ring, i.e., rolls on an outer side of the base ring of the base.

[0197] In a special embodiment, the laser scanner has only one energy supply unit in total, namely the energy supply unit for the active drive element 55, which is arranged in the support 4, wherein the base 5' is permanently and insurmountably electrically decoupled from the support 4 and no electrical power transmission takes place between the support 4 and the base 5'.

[0198] The Figure 13a,b show two embodiments of an exemplary mounting of an axially compact vertical axis, i.e., a short axial vertical axis compared to the radial extension 59. In the examples shown, the laser scanner is positioned on a table 18, for example.

[0199] Due to the axially compact (short) design, the vertical axis has only a short, overall effective stabilization region 15 along the support rotation axis 3, by means of which a stabilization of the support 4 with respect to a tilting of the support 4 relative to the base 5, or to the support rotation axis 3, is achieved. In order to nevertheless prevent a tilting of the support 4 relative to the base 5, the essentially radially symmetrical extension 59 of the vertical axis perpendicular to the support rotation axis 3 is greater than its axial extension.

[0200] According to an optional aspect, the support 4 is further mounted on the stabilization region 15 of the base 5 with a single bearing ring so as to be rotatable about the support rotation axis, wherein the stabilization is achieved exclusively by the single bearing ring.

[0201] The bearing ring can be designed as a single-row four-point contact rolling bearing 60 with a rolling element 66 ( Fig. 13a) or as a single-row plain bearing 61 with an outer ring 62A and inner ring 62B ( Fig. 13b ), wherein the outer ring and the inner ring form two contact races 63A,B axially spaced apart with respect to the support rotation axis 3. For example, one contact race 63A can be arranged spring-loaded 67 in order to ensure sufficient play for rotation about the support rotation axis 3.

[0202] The stabilization can then be achieved, for example, by means of a preload on the bearing ring acting radially to the support axis of rotation 3.

[0203] Another optional aspect is to prevent bearing lubricant from leaking from the bearing into other parts of the laser scanner. This is important, for example, in a drive designed as a rotary motor 55 with a drive shaft 56 offset from the support rotation axis 3 and with an impeller 57 formed with a rubber ring (see description of Fig. 12) for the rotation of the support 4 around the support axis of rotation 3, since lubricants, for example, ensure the adhesion of the impeller 57 to the base ring 58 (see Fig. 12 ) is reduced.

[0204] On the one hand, this can be achieved by, for example, designing the bearing as a four-point contact rolling bearing in the form of a dry-running ring bearing with ceramic rolling elements.

[0205] On the other hand, for example, a lubricant-repellent emulsion can be applied along a boundary region leading to a contact run, so that the spreading of a lubricant is essentially limited by the boundary region due to the surface tension of the lubricant-repellent emulsion.

[0206] The Figure 14a , b show an exemplary bearing 13 and a compact drive of the beam steering unit 7 around the fast axis by means of a bell element 68.

[0207] Figure 14ashows the beam steering unit 7, which is connected to a shaft 69 mounted in the support 4 along the beam rotation axis, in particular wherein the shaft 69 penetrates into the beam steering unit 7 with a defined penetration depth or is formed integrally with the beam steering unit 7. The shaft 69 is further connected to a bell element 68, wherein a bell belly 70 and a bell back 71 (see Fig. 14b) is defined. A passive magnetic element 72 is arranged in the bell belly 70 and is connected to the bell element 68, and an active drive element 73 for generating an electromagnetic interaction with the passive magnetic element 72, for example an electrical coil element, is arranged on the support 4, wherein the active drive element 73 projects at least partially into the bell belly 70, so that the beam steering unit 7 can be set in a defined rotational movement about the beam rotation axis by a radial interaction between the active drive element 73 and the passive magnetic element 72.

[0208] For the most compact design possible, for example, the active drive element 73 is completely arranged and the bearing bush 74 for the bearing 13 of the shaft 69 in the support 4 is at least partially arranged in the bell belly 70, in particular wherein the bearing is designed as a rolling bearing and rolling elements 66 of the rolling bearing protrude at least partially into the bell belly 70. In addition, a part of the bearing bush 74 can protrude into the jet steering unit 7, in particular wherein parts of the rolling elements 66 of the rolling bearing protrude at least partially into the jet steering unit 7.

[0209] A further optional aspect relates to the fact that the shaft 69 axially along the beam rotation axis exclusively comprises a single effective stabilization region 15', by means of which a stabilization of the shaft 69 with respect to a tilting of the shaft 69 to the support 4, or to the beam rotation axis, is achieved, wherein the beam steering unit 7, the bell element 68 and the shaft 69 are designed and arranged with respect to one another (for example also with the aid of balancing elements) such that their common center of gravity 75 lies axially along the beam rotation axis in the stabilization region 15', in particular wherein the stabilization is achieved exclusively by a bearing that encompasses the center of gravity 75 in an essentially axially symmetrical manner.

[0210] Figure 15shows a further embodiment of the inventive bell element 68', wherein here an encoder disk 76 is arranged on the back of the bell, in particular integrated or integral with the bell element 68', for detecting angle encoder data relating to the rotation of the beam steering unit 7 about the beam rotation axis by means of an angle encoder 12' arranged in the support 4.

[0211] The Figure 16a,b show an exemplary coupling of a beam steering unit 7 with the shaft 69 along the beam rotation axis by means of compressible stabilization elements 77 in coupled and uncoupled state.

[0212] Figure 16ashows the uncoupled beam steering unit 7, which comprises a mirror surface 14 for deflecting the distance measuring radiation, in particular a mirror surface tilted relative to the beam rotation axis. Typically, the mirror surface 14 is formed integrally with the beam steering unit due to the high centrifugal forces caused by the rapid rotation of the beam steering unit 7.

[0213] The beam steering unit 7 has a surrounding area 78 for the penetration of the shaft 69 within the framework of a coupling of the beam steering unit 7 with the shaft 69, so that in the coupled state a gap 79 with a defined width is present between the shaft 69 and the surrounding area 78 of the beam steering unit 7 (see Fig. 16b ,which shows the beam steering unit 7 coupled to the shaft 69). The enclosing region 78 further comprises a stabilizing element 77 that can be pressed into the gap 79 for tolerance compensation and for the stable connection of the beam steering unit 7 to the shaft 69, wherein the stabilizing element 77 in the uncoupled state has a thickness that is greater than the width of the gap 79 and in the coupled state, for example, continuously encloses the shaft 69 in a ring-shaped manner.

[0214] According to an optional aspect, the beam steering unit 7, the shaft 69 and the stabilization element 77 are designed and interact in such a way that, as part of the coupling of the beam steering unit 7 to the shaft 69, the stabilization element 77 arranged between the surrounding area 78 and the shaft 69 is pressed and, in the coupled state, is deformed in the gap 79, for example, wherein at least a part of the stabilization element 77 is plastically deformed such that only small residual elastic forces act radially to the beam rotation axis on the beam steering unit 7 and the shaft 69;and the beam steering unit 7 and the shaft 69 are stabilized relative to one another in the axial direction with respect to the beam rotation axis, the beam steering unit 7 is stabilized with respect to tilting relative to the shaft 69 via a stabilization region 15'' defined by the length of the penetration region, and the residual elastic forces do not act on the mirror surface 14 except for a defined tolerance range, insofar as the residual elastic forces on the mirror surface 14 are so small that a high surface accuracy of the mirror surface 14 is maintained.;

[0215] The stabilization element 77 can, for example, be annular and made of a material with homogeneous plastic properties, for example a homogeneous plastic flow range, wherein the stabilization element 77 is integrated into the jet steering unit 7, for example injection-molded onto the jet steering unit 7.

[0216] In addition, the beam steering unit 7 and the shaft 69 are typically glued 80 to each other as part of their coupling, wherein defined openings 81 or accesses are provided for excess glue or for applying the glue in the beam steering unit 7.

[0217] The Figure 17a , b show an arrangement of a laser scanner by means of a skeletal, three-part support 4' and a base 5, wherein the support 4' here is formed by means of a skeletal structure consisting of three separately detachable support structures 82, 83A, B, which are coupled to one another, for example, by means of a connection based on standard pins. Figure 17a shows the individual elements of the support 4' and the base 5, whereas Figure 17b represents the composite elements.

[0218] A central support structure 82 is mounted coaxially to the support rotation axis 3 on the base 5, and two further separate support structures 83A,B are connected to the central support structure 82, but not to the base 5, wherein the beam steering unit 7 is arranged exclusively in one of the further 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 a stabilization of the further support structures 83A,B with respect to a tilting of the support structures 83A,B relative to the vertical axis 84 and thus to the support rotation axis 3 is achieved. Furthermore, the vertical axis 84 comprises two receptacles 85A,B for receiving and coupling the further, in particular plate-shaped, support structures 83A,B.

[0219] Such a structure of the support 4' allows, for example, modular use of the laser scanner, particularly with regard to service, i.e., maintenance or replacement of individual modular parts, or with regard to upgrade options for the laser scanner. For example, the support structures can be configured such that one support structure 83A accommodates the beam steering unit and another support structure 83B accommodates the distance measuring device 10, whereby these two core elements of the laser scanner are each modularly interchangeable.

[0220] In order to ensure sufficient axial position stability despite the skeletal structure, in particular with regard to tilting of the support structure 83A carrying the beam steering unit 7 relative to the support rotation axis 3, the support structures 82, 83A, B, in particular the two further support structures 83A, B, are each formed, for example, by means of a solid aluminum housing 86A, B (indicated by the dashed line in Fig. 17b ), which, for example, additionally rests directly on a horizontal surface 87 of the central support structure 82.

[0221] Figure 18 shows a typical reference element 88 in the support 4" for the adjustment and / or calibration of the distance measuring device, for example for an 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 enable dynamic distance and intensity calibration. In the example shown, the reflectivity of the reference element 88 varies in three fixed steps. Alternatively, a reference element with a reflectivity gradient and / or with a color gradient can also be used.

[0222] The distance measuring unit and the scanning can be based on a single distance measuring beam or on a plurality of simultaneously emitted distance measuring beams.

[0223] The Figure 19a and the Figure 19b shows a laser scanner, wherein the distance measuring unit and the scanning are based on a multi-beam scanning pattern 89, 89', for example, a plurality of simultaneously emitted distance measuring beams. This has the advantage, for example, that a higher point rate and / or a higher point density is achieved with a lower rotation speed of the beam steering unit around the fast axis. For example, instead of a single distance measuring beam, a beam fan 9' can be used, for example, consisting of four adjacent individual beams, each with a small divergence.

[0224] For example, the individual beams are generated by an electronic distance measuring module arranged in the support 4 with multiple transmit beams and directed onto the beam steering unit 7, for example with a divergence of less than 15 degrees between the individual beams. For example, the beams are aligned such that, during the scanning process, the individual beams generate essentially similarly aligned scanning patterns 89, 89' in a scanning area close to the horizontal scanning plane (the plane perpendicular to the beam rotation axis 3 and the support rotation axis 6), for example, a scanning line, in particular a horizontal scanning line 89 ( Fig. 19a ) or a substantially - in the Figure 19b formed by six scanning points - horizontal scanning line 89' ( Fig. 19b ) with alternating vertically offset scanning points. Alternatively, the individual beams can be emitted in such a way that they form complex planar scanning patterns.

[0225] At least in a defined scanning area, for example near the horizon plane, the beam fans 89, 89' can be emitted in such a way that, for example, complementary scanning lines or overlapping scanning lines are generated 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 scanning points or scanning lines increasingly overlap. The rotation of the scanning pattern (90-degree rotation with respect to the horizon alignment) and overdetermination of the 3D point cloud at the zenith can be taken into account, for example, by means of appropriate data reduction and / or data selection. In addition, the rotation speeds of the support 4 around the support rotation axis 3 and of the beam steering unit 7 around the beam rotation axis 6 can be synchronized, for example to optimize the scanning with regard to scan tracks.

[0226] The Figure 20a,bshows a receiving element 90 for receiving the base 5" of a laser scanner, for example for attaching the laser scanner to a tripod, wherein the receiving element 90 can be released from the base 5" by means of a locking device. Figure 20a shows the receiving element 90 in the uncoupled state with the base 5" and Figure 20b shows the receiving element 90 coupled to the base 5".

[0227] The locking device comprises an opening 91 on the base 5" into which a ring 92 is embedded. This ring 92 has a circumferentially continuous cavity on the inside and a pin 93 on the receiving element 90. The pin 93 has at least three locking bodies 94 which, in a basic position, push out a release device consisting of a radial pin 95A, an axial pin 95B and a spring 96 radially, for example by means of a prestressing spring, in order to block the releasability of the receiving element 90 from the base 5" by the locking bodies 94 engaging in the cavity of the ring 92. In order to release the receiving element 90 from the base 5", actuation of the release device enables the locking bodies 94 to escape radially into the pin 93.

[0228] It is understood that these figures only schematically illustrate possible embodiments. The various approaches can also be combined with each other and with prior art methods.

Claims

1. A laser scanner (1) for optical measurement of an environment, comprising: • an optical distance measuring device for detecting distance measurement data having: o a transmitter unit for emitting a distance measurement radiation (9), and o a receiver unit for receiving parts of the distance measurement radiation returning from the environment, • a support (4), • a beam steering unit (7) for performing the distance measurement radiation (9), the beam being fixed to the support such that it can rotate around a beam axis (9) of rotation, and wherein the beam steering unit (7) comprises a mirrored surface for a deflection of the distance measurement radiation, in particular a flat mirrored surface or a parabolic mirrored surface, and • an angle encoder for recording angle data with respect to a rotation of the beam steering unit (7) about the beam axis of rotation (6), wherein the distance measurement data and the angle data, hereinafter referred to as measurement data, are recorded as part of a measurement process, which comprises a scanning sensing by means of the distance measuring device with • a defined progressive rotation of the beam steering unit (7) about the beam axis of rotation (6), and • a continuous emission of the distance measurement radiation (9) and a continuous reception of returning parts of the distance measurement radiation, wherein • a receiving optics (11) for parts of the distance measurement radiation returning via the mirrored surface is arranged on the support (4) , in particular wherein the optical axis of the receiving optic is rectified, more particularly coaxially, with respect to the beam axis of rotation, • an outlet area for the emission of the distance measurement radiation (9) is arranged in the direction of the mirrored surface on the support, and • the outlet area has a lateral offset with respect to the optical axis of the receiving optics and the distance measurement radiation (9) emitted by the outlet area is emitted onto the mirrored surface parallel to the optical axis of the receiving optics, characterized in that a compensation algorithm is provided in order to compensate for a parallax effect caused by the continuous rotation of the beam steering unit (7) about the beam axis of rotation and by a lateral offset of the outlet area with respect to the beam axis of rotation with respect to outgoing and returning parts of the distance measurement radiation, wherein compensation parameters depend on the angle data are taken into account in the context of referencing the measurement data with respect to a common coordinate system, based on an angular position of the beam steering unit (7) stored at the time of detection of the distance measurement radiation and a detected distance.

2. Laser scanner according to claim 1, wherein the outlet area is designed in such a way that, due to the geometry and orientation of the outlet area, the maximum beam diameter at the outlet area of the outgoing distance measurement radiation is substantially enclosed by the outlet area, and wherein the transmitter unit comprises a laser diode for generating the distance measurement radiation as laser radiation and the beam cross-section of the outgoing distance measurement radiation at the level of the exit region has an oval shape, in particular an elliptical shape, with a short half-axis aligned in the direction of the lateral offset.

3. Laser scanner according to claim 1 or 2, wherein • the support (4) is mounted on the base so that I can rotate about a support rotation axis (3), as a slow rotation axis, • the beam axis of rotation (6) is designed as a fast axis or rotation, • the angle encoder is designed as a second angle encoder for detecting second angle data relating to a rotation of the beam steering unit about the beam rotation axis, • the laser scanner (1) has a first angle encoder for acquiring first angle data relating to a rotation of the support about the support axis of rotation, • the laser scanner is configured to capture the distance measurement data and the first and second angle data as part of the measurement process, wherein the scanning scan included in the measurement process is also performed with a defined progressive, in particular continuous, rotation of the support about the support axis of rotation.

4. Laser scanner according to any of claims 1 to 3, characterized in that the receiving optics (11) has a cutout or window, in particular a glass window, into which the outlet area (33) is placed or which forms the outlet area (33).

5. Laser scanner according to any of claims 1 to 3, characterized in that the outlet area is arranged next to the receiving optics (11), in particular directly adjacent to the receiving optics.

6. Laser scanner according to any of claims 1 to 5, characterized in that the receiving optics (11) also comprise a corrective optics to allow for a parallax effect caused by the lateral offset of the outlet area relative to the beam axis of rotation for parts of the distance measurement radiation returning from a distance which is shorter than a defined near-field distance, in particular wherein the corrective optics is embodied by a cylindrical lens.

7. Laser scanner according to any of claims 1 to 6, characterized in that the outlet area (33) and the receiving optics (11) are arranged in such a way that a lateral offset of at least 0.5 cm exists between a virtual extension of the optical axis of the receiving optics and a central propagation axis of the distance measurement radiation (9) at the height at which the distance measurement radiation impinges on the beam steering unit.

8. Laser scanner according to any of claims 1 to 7, characterized in that the transmitter unit and the receiver unit are arranged on a common printed circuit board.