US 9,752,863 B2 · Calibration method for a device having a scan function

Abstract

A device having a scan function comprising an electro-optical distance measuring element having a laser axis as the target axis, a motorized optical deflection unit, which deflects the target axis by a deflection angle, and an angle measuring element for determining at least one angular position of the deflection unit. First measurement of angle coordinates of a reticle in a first angular position of the deflection unit as the first position, and second measurement of angle coordinates of the reticle in a second angular position of the deflection unit as the second position. The first and second measurements of the reticle are carried out on the basis of images taken with a camera, the optical axis of which is deflected by the deflection unit, and calibration parameters are determined on the basis of the angular positions and the angular coordinates in the first and second positions.

Claims21

Dependent claims

A field calibration method for a 3D scanner device having a scan function, the 3D scanner device including:

an electro-optical distance measuring device with a laser axis as the target axis;
a motorized optical deflection unit, which independently deflects the target axis by a variable deflection angle about a fast axis with respect to the distance measuring device;
and
an angle measurement device for determining an angular position of the deflection unit, the method comprising the following steps:
a first survey of angle coordinates of a target mark in a first angular position of the deflection unit as the first face;
and
a second survey of angle coordinates of the target mark in a second angular position of the deflection unit as the second face;
the first face and second face differ;
and
wherein the first and second surveys are carried out using images, which is carried out with a camera, the optical axis of which is deflected by the deflection unit with respect to the camera, and
wherein a determination of calibration parameters is carried out on the basis of the angular positions and the angle coordinates in the first and second faces using an adjustment calculation.

8 more elements

A 3D scanner device for spatially surveying an object in the form of a point cloud, the 3D scanner being configured to measure in polar coordinates, the 3D scanner device comprising:

an electro-optical distance measuring device for ascertaining a distance in the direction of a target axis;
a motorized deflection unit for the variable angular independent deflection of the target axis with respect to the distance measuring device, having at least one mirror which is movable about a fast axis by way of a motor relative to the target axis;
a measurement device for ascertaining the angular deflection of the deflection unit;
a control unit for the at least partially automated execution of surveying tasks having a local or spatially separate user interface;
wherein the deflection unit deflects an optical axis of a camera with respect to the camera, and the camera and the control unit are configured such that the angle deflection of the 3D scanner is calibratable in the field on the basis of images of at least one target mark, captured by the camera in a plurality of different angle deflections, in each case in a first face of the deflection unit and in a second face, which is rotated in two axes with respect to the first face such that the target axis in both faces at least approximately points in the same spatial direction.

2 more elements

Dependencies are inferred from the claim text.

Calibration method for a device having a scan function

Life of this patent

Calibration method for a device having a scan function

Life of this patent

Abstract

Claims21