Laser scanner assembly

A laser scanner system for providing at least one three-dimensional cloud of data describing at least one submerged surface, the system comprising:

• at least one laser scanner assembly comprising:
• a housing subassembly comprising at least one body element defining at least one cavity therein and comprising at least one window element therein at least partially defining said at least one cavity;
• a light-generating subassembly positioned in said at least one cavity comprising:
• a laser source for generating laser light;
• means for configuring the laser light into a fan configuration;
• at least one optical sensor positioned in said at least one cavity;
• the means for configuring the laser light into the fan configuration and said at least one optical sensor being spaced apart by a predetermined baseline distance defining a substantially straight baseline therebetween;
• the laser light fan configuration being transmittable through said at least one window element toward said at least one submerged surface, to illuminate a plurality of selected points thereon successively;
• means for moving the light-generating assembly relative to said at least one submerged surface, for illuminating the illuminated points on said at least one submerged surface respectively;
• the laser light fan configuration being directed through said at least one window element to each said illuminated point respectively at a first angle relative to the baseline for each said illuminated point respectively;
• each said illuminated point being respectively detectable through said at least one window element by said at least one optical sensor, each said illuminated point and said at least one optical sensor defining a reflection path therebetween respectively, the reflection path and the baseline defining a second angle therebetween for each said illuminated point respectively;
• means for determining data for locating each said illuminated point respectively utilizable for generating said at least one three-dimensional cloud of data by using the baseline distance and the first and second angles for each said illuminated point respectively;
• means for transmitting the data;
• means for receiving the transmitted data;
• and
• means for utilizing the data to generate said at least one three-dimensional cloud of data describing said at least one submerged surface.

A method of providing at least one three-dimensional cloud of data describing at least one submerged surface, the method comprising:

• (a) providing a laser scanner assembly comprising:
• a housing subassembly comprising at least one body element defining at least one cavity therein and comprising at least one window element therein at least partially defining said at least one cavity;
• a light-generating subassembly positioned in said at least one cavity comprising:
• a laser source for generating laser light;
• means for configuring the laser light into a fan configuration;
• at least one optical sensor positioned in said at least one cavity;
• the means for configuring the laser light into the fan configuration and said at least one optical sensor being spaced apart by a predetermined baseline distance defining a substantially straight baseline therebetween;
• (b) transmitting the laser light configuration through said at least one window element toward said at least one submerged surface, to illuminate a plurality of selected points thereon successively;
• (c) moving the light-generating subassembly relative to said at least one submerged surface, for illuminating the illuminated points on said at least one submerged surface respectively;
• (d) directing the laser light fan configuration toward said at least one submerged surface at a first angle relative to the baseline for each said illuminated point respectively;
• (e) utilizing said at least one optical sensor to detect each said illuminated point respectively, each said illuminated point and said at least one optical sensor defining a reflection path therebetween, the reflection path and the baseline defining a second angle therebetween for each said illuminated point respectively;
• (f) determining data locating each said illuminated point respectively for generating said at least one three-dimensional cloud of data by triangulation using the baseline distance and the first and second angles for each said illuminated point respectively;
• (g) transmitting the data to means for generating said at least one three-dimensional cloud of data describing said at least one submerged surface based on the data;
• and
• (h) generating said at least one three-dimensional cloud of data describing said at least one submerged surface based on the data.