Patent ID: 9134339
Filing Date: 2015-09-15
Classification: G01B,G01C,G01P,G01S

Abstract:
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: 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: for each of a plurality of second object points: 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.