Environmental scanning and image reconstruction thereof

A method of measuring a shaft, the method comprising:

• disposing a scanning system within the shaft, the scanning system comprising a support structure, a scanner mounted to the support structure, at least one fixed guide, wherein the support structure is configured to move along the at least one fixed guide, at least one positional guide, wherein the at least one positional guide is connected to the support structure to guide movement of the scanner along the at least one fixed guide, and an encoder operably coupled to the at least one positional guide and configured to measure, at least, a distance from the encoder to the support structure;
• moving the scanner along the shaft;
• obtaining measurements of the shaft using the scanner as the scanner moves along the shaft;
• and
• minimizing a relative tilt between the scanner and the support structure using at least one stabilizer arranged between the scanner and the support structure.

A scanning system, comprising:

• a support structure;
• a scanner mounted to the support structure;
• a buffer extending from the support structure to prevent contact of the scanner with an external structure, the buffer comprising an extension rod attached to the support structure, a biasing element, and a roller configured to contact the external structure, the biasing element and the roller arranged at an end of the extension rod;
• a fixed guide along which the support structure moves;
• a positional guide connected to the support structure to guide movement of the scanner along the fixed guide;
• and
• an encoder coupled to the positional guide for measuring a distance from the encoder to the support structure.