Laser Scanner Point Cloud Registration via GNSS Positioning
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Solution Overview
Problem
Conventional laser scanner systems require complex and time-consuming processes for installing and combining point cloud data from multiple points, necessitating known machine reference points, instrument heights, and back sight points, which complicates the installation and registration of point cloud data.
Innovation Solution
A laser scanner system incorporating a distance measuring light emitting unit, a scanning unit, a leveling unit, a directional angle detecting unit, and a GNSS device, where the system rotates horizontally to acquire point cloud data over a total circumference, converts data to a global coordinate system, and performs shape matching by relative rotation, eliminating the need for known directional angles and simplifying the system configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional laser scanner systems use machine reference points, instrument heights, and back sight points for combining point cloud data, then the point cloud data can be combined with known coordinate values, but the installation and registration process becomes complicated and time-consuming
Solution Approach 1:
The patent extracts and eliminates the requirement for back sight points and machine reference points from the measurement process. By using only the GNSS device to obtain installation position coordinates, the system removes the need for additional reference infrastructure, thereby simplifying the installation process while maintaining coordinate accuracy through direct GNSS positioning of the laser scanner at each measurement point
Solution Approach 2:
The GNSS device serves multiple functions: it provides the installation position coordinates for coordinate system transformation and enables direct positioning without requiring separate reference point measurements. This multi-functionality reduces the number of required components and simplifies the overall measurement system
2Reliability
If multiple back sight points and instrument height measurements are performed, then the point cloud data can be registered with known reference points, but the work process becomes complicated
Solution Approach 1:
The system uses the laser scanner's own GNSS device to determine its installation position coordinates directly, without requiring external reference points or additional measurement instruments. This self-service approach eliminates the need for separate back sight point measurements and instrument height measurements, reducing process complexity while maintaining registration accuracy through direct coordinate obtention
3Measurement precision
If the laser scanner requires known directional angles and multiple reference points, then the point cloud data can be precisely registered, but the system configuration becomes complex
Solution Approach 1:
The patent removes the requirement for known directional angles and machine reference points from the system configuration. By relying solely on GNSS-obtained installation position coordinates and performing shape matching through relative rotation, the system simplifies its configuration while maintaining registration precision through automated coordinate transformation and iterative optimization
4Measurement precision
If conventional methods are used to combine point cloud data from multiple installation points, then the data can be integrated with known coordinates, but the processing time increases
Solution Approach 1:
The patent replaces the mechanical measurement process (physical measurement of back sight points and instrument heights) with an electronic/GNSS-based system that automatically obtains installation position coordinates. This substitution eliminates manual measurement steps and accelerates the data integration process while maintaining coordinate system integration accuracy through automated coordinate transformation
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach simplifies the installation and registration process by eliminating the need for known directional angles and reducing the complexity of combining point cloud data, thereby increasing processing speed and simplifying system configuration.
Implementation Method 1
a GNSS device, and a control arithmetic unit wherein the laser scanner is installed at an installation point A and then moved to an installation point B, and the frame unit is levelled by the levelling unit at each of the installation points, and wherein the control arithmetic unit obtains global coordinates of the installation positions of the laser scanner from the GNSS device respectively
Implementation Method 2
a distance measuring unit for receiving a reflection light from an object to be measured and performing a distance measurement
Data Source
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AI summary
The invention provides a laser scanner system, which comprises a laser scanner which includes a distance measuring unit for receiving a reflection light of a distance measuring light from an object to be measured and performing a distance measurement, a scanning unit for rotatably irradiating the distance measuring light, a directional angle detecting unit for detecting an irradiating direction of the distance measuring light, a GNSS device, and a control arithmetic unit, wherein the laser scanner is installed at two points, and wherein the control arithmetic unit obtains global coordinates of installation positions of the laser scanner from the GNSS device respectively, scans the distance measuring light over a total circumference at each of the installation positions, acquires point cloud data of the total circumference, performs a shape matching of the two point cloud data and combines the two point cloud data.