| 主权项 |
1. A method for optically scanning and measuring an object in an environment with a laser scanner, the method comprising:
providing the laser scanner having integral components that include a light emitter, a light receiver, a first angle measuring device, a second angle measuring device, a control and evaluation unit, and a sensor unit, the sensor unit including at least an accelerometer and a gyroscope; moving the laser scanner to a first position and a first orientation in the environment; for each of a plurality of first object points:
measuring a first angle with the first angle measuring device;measuring a second angle with the second angle measuring device;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 and obtaining a first electrical signal in response;determining with the control and evaluation unit a distance based at least in part on the first electrical signal and on a speed of light in air; determining with the control and evaluation unit first three-dimensional (3D) coordinates of the first object points in a first instrument frame of reference, the 3D coordinates based at least in part on the first angles, the second angles, and the distances to the plurality of object points on the object; determining a preferred displacement value and a displacement tolerance; taking initial readings from the sensor unit; moving the laser scanner from the first position to a second position by incremental steps, at each incremental step:
taking current readings of the sensor unit;calculating a measured sensor displacement based at least in part on the current readings of the sensor unit and the initial readings of the sensor unit;stopping movement of the laser scanner at the second position when the measured sensor displacement is within the displacement tolerance of the preferred displacement value; for each of a plurality of second object points:
measuring the first angle with the first angle measuring device;measuring the second angle with the second angle measuring device;emitting with the light emitter the emission light beam;reflecting the emission light beam from the object to produce the reception light beam;receiving with the light receiver the reception light beam and obtaining the first electrical signal in response;determining with the control and evaluation unit the distance based at least in part on the first electrical signal and on a speed of light in air; determining with the control and evaluation unit second 3D coordinates of the object in a second instrument frame of reference, the 3D coordinates based at least in part on the first angles, the second angles, and the distances to the plurality of object points on the object; registering the first 3D coordinates and the second 3D coordinates into a common set of 3D coordinates in a common frame of reference based at least in part on the first 3D coordinates, the second 3D coordinates, and the measured sensor displacement; and storing the common set of 3D coordinates. |
