3D Laser Scanner Registration Using Sensor Unit
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Solution Overview
Problem
Current 3D scanning technologies face challenges in accurately determining scanner movement, especially in the helical mode, where direct measurement of movement along the scanning direction is not possible, leading to inefficiencies in data registration and post-processing requirements.
Innovation Solution
Incorporating a sensor unit with accelerometers and gyroscopes into the laser scanner, which measures angular and translational movements, allowing for real-time displacement tracking and registration of 3D coordinates across different positions, thereby improving accuracy and reducing post-processing time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a laser scanner is moved to different positions for scanning, then multiple regions can be measured, but the movement between positions cannot be directly measured, leading to inaccurate registration
Solution Approach 1:
The patent introduces an intermediary measurement system consisting of a reference marker and a camera. The reference marker is placed at known positions in the environment, and the camera captures images of these markers to indirectly determine the scanner's position and orientation. This intermediary approach enables accurate measurement of scanner movement without requiring direct measurement capabilities on the moving scanner itself.
Solution Approach 2:
The patent replaces direct mechanical measurement of scanner movement with an optical measurement system. Instead of using mechanical sensors or encoders on the scanner to measure its position, the system uses a camera to capture reference markers and computationally determines position and orientation through image processing and coordinate transformation.
2Reliability
If registration is performed in post-processing, then scan data can be processed, but the process is time-consuming and reduces productivity
Solution Approach 1:
The patent performs preliminary actions by capturing images of reference markers during the scanning process itself, rather than waiting until post-processing. The camera continuously captures marker images as the scanner moves between positions, and the control unit simultaneously computes position and orientation data in real-time. This preliminary capture and computation enables registration to be performed during data collection rather than afterward, significantly improving productivity while maintaining accuracy.
3Area of stationary object
If the scanner moves continuously in helical mode, then scanning coverage is improved, but dimensional information along the movement direction cannot be obtained
Solution Approach 1:
The patent uses reference markers as intermediaries to provide dimensional information about the scanner's movement path. The markers are positioned at known locations in the environment, and by capturing images of these markers during continuous helical movement, the system can computationally determine the scanner's position and orientation at each moment, thereby recovering the lost dimensional information along the movement direction.
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 enhances the accuracy of scanner movement determination and reduces post-processing time by enabling real-time registration of 3D coordinates, improving the efficiency of data collection and processing in both spherical and helical scanning modes.
Implementation Method 1
the sensor unit including at least an accelerometer and a gyroscope
Implementation Method 2
the sensor unit including at least an accelerometer and a gyroscope
Implementation Method 3
emitting with the light emitter an emission light beam; reflecting the emission light beam from the object to produce a reception light beam; receiving with the light receiver the reception light beam
Implementation Method 4
a time-of-flight (TOF) scanner that determines distance to an object based at least in part on a speed of light in air
Data Source
AI summary
A laser scanner measures 3D coordinates from a first position and a second position and uses a sensor unit that includes at least an accelerometer and gyroscope to register the 3D coordinates, the registration based at least in part on comparison to a measured sensor displacement to a preferred displacement value.