US 11,703,597 B2
Laser scanner
Simon Mark, Thal (CH); Klaus Bereuter, Alberschwende (AT); Benjamin Müller, St. Gallen (CH); Roman Steffen, Rebstein (CH); Burkhard Böckem, Jonen (CH); Jürgen Dold, Sempach (CH); Jochen Scheja, Heerbrugg (CH); Lukas Heinzle, Dornbirn (AT); and Charles Leopold Elisabeth Dumoulin, Balgach (CH)
Assigned to LEICA GEOSYSTEMS AG, Heerbrugg (CH)
Appl. No. 16/348,842
Filed by LEICA GEOSYSTEMS AG, Heerbrugg (CH)
PCT Filed Nov. 10, 2016, PCT No. PCT/EP2016/077372
§ 371(c)(1), (2) Date May 9, 2019,
PCT Pub. No. WO2017/042402, PCT Pub. Date Mar. 16, 2017.
Prior Publication US 2020/0209394 A1, Jul. 2, 2020
Int. Cl. G01S 17/89 (2020.01); G01S 17/42 (2006.01); G01B 11/00 (2006.01); G01B 11/22 (2006.01); G01S 17/894 (2020.01); G06T 11/00 (2006.01); G01S 7/481 (2006.01); G01S 7/497 (2006.01); G01S 7/48 (2006.01); G01B 11/02 (2006.01)
CPC G01S 17/89 (2013.01) [G01S 7/4813 (2013.01); G01S 7/4817 (2013.01); G01S 7/4972 (2013.01); G01S 17/42 (2013.01); G01B 11/00 (2013.01); G01B 11/002 (2013.01); G01B 11/024 (2013.01); G01B 11/22 (2013.01); G01S 7/4808 (2013.01); G01S 7/4811 (2013.01); G01S 7/4814 (2013.01); G01S 17/894 (2020.01); G06T 11/00 (2013.01); G06T 2207/10028 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A laser scanner for optical measurement of an environment, the laser scanner comprising:
an optical distance measuring device for detecting distance measurement data, the optical distance measuring device having:
a transmitter unit for emitting a distance measurement radiation; and
a receiver unit for receiving parts of the distance measurement radiation returning from the environment;
a support;
a beam steering unit for performing the distance measurement radiation, the beam being fixed to the support such that it can rotate around a beam axis of rotation, and wherein the beam steering unit comprises a mirrored surface for a deflection of the distance measurement radiation; and
an angle encoder for recording angle data with respect to a rotation of the beam steering unit about the beam axis of rotation, wherein the distance measurement data and the angle data, together comprising 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 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, wherein:
a receiving optics for parts of the distance measurement radiation returning via the mirrored surface is arranged on the support with respect to the beam axis of rotation;
an outlet area for the emission of the distance measurement radiation 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 emitted by the outlet area is emitted onto the mirrored surface parallel to the optical axis of the receiving optics,
wherein a compensation algorithm is provided in order to compensate for compensation parameters dependent on the angle data for a parallax effect with respect to outgoing and returning parts of the distance measurement radiation, during the continuous rotation of the beam steering unit about the beam axis of rotation and induced by the lateral offset of the outlet area with respect to the beam axis of rotation.