LASER SCANNER SYSTEM
FIG1 is a front cross-sectional view to show a laser scanner according to a first embodiment of the present invention
First, in FIG1, a description will be given on a laser scanner according to a first embodiment of the present invention. According to the second embodiment, in a state where the positions of the mobile station 19 and the second fixed station 25 are unknown, a positioning of the mobile station 19 is performed at every predetermined angle while horizontally rotating a frame unit 6 (see FIG1) by 360° around an axis 7a (see FIG1).
front cross-sectional view
7
horizontal rotation shaft
14
vertical rotation motor
12
vertical rotation shaft
17
operation panel
11
horizontal angle encoder
19
station
18
antenna
22
storage module
23
distance measuring module
20
recessed part
21
arithmetic control module
16
scanning mirror
15
vertical angle encoder
3
scanner main body
13
vertical rotation bearing
['1. A laser scanner system comprising a laser scanner (1) which has a mobile station (19) and for acquiring three-dimensional point cloud data, and at least three fixed stations (24, 25, 26), wherein said laser scanner comprises a mobile station (19) which is offset to a known position from a mechanical point on a horizontal rotation axis (7a) of said laser scanner, a horizontal angle detecting module (11) for detecting a relative horizontal angle of said laser scanner and an arithmetic control module (21) for controlling a horizontal rotation of said laser scanner, wherein said fixed stations are configured to emit pulses to said mobile station and to measure distances to said mobile station by receiving the pulses from said mobile station, and wherein said arithmetic control module is configured to calculate a two-dimensional fixed station coordinate system formed each of said fixed stations, to calculate coordinates of intersections of at least three circles, which have said fixed stations as their centers and the distances between each of said fixed stations and said mobile station as their radii, at every predetermined angle as each positioning result of said mobile station while horizontally rotating said laser scanner by 360° around said mechanical point, to average each of the positioning results corresponding to 360° and to calculate approximate mechanical point coordinates in said fixed station coordinate system.']