Copyright ZEB-REVO RT™ User’s Manual © 2017 GeoSLAM Ltd ...

[Pages:80]Copyright ZEB-REVO RTTM User's Manual ? 2017 GeoSLAM Ltd. All rights reserved.

? 2017 GeoSLAM Ltd

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ZEB-REVO RT User's Manual v1.0.1

? 2017 GeoSLAM Ltd

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ZEB-REVO RT User's Manual v1.0.1

CONTENTS

Introduction ................................................................................................................. 5 1.1 Specification .......................................................................................................... 5 1.2 Principal of operation ............................................................................................ 6 1.3 List of parts ............................................................................................................ 7

Safety ........................................................................................................................... 9 2.1 General safety ....................................................................................................... 9 2.2 Laser Safety ........................................................................................................... 9 2.3 Electromagnetic compatability.............................................................................. 9 2.4 Battery safety ...................................................................................................... 10 2.5 System Disposal ................................................................................................... 10 2.6 Installation........................................................................................................... 10 2.7 Further help and information .............................................................................. 10

Data capture .............................................................................................................. 11 3.1 Connecting the hardware .................................................................................... 11 3.2 Connecting To The data processing unit ............................................................. 11 3.3 Collecting Data .................................................................................................... 14 3.4 Downloading the Scan Data ................................................................................ 17 3.5 Deleting data sets ................................................................................................ 19

Usage Guidelines........................................................................................................ 21 4.1 The environment ................................................................................................. 21 4.2 Loop closure ........................................................................................................ 21 4.3 Transitioning between environments ................................................................. 22 4.4 Walking speed ..................................................................................................... 22 4.5 Minimum and maximum range ........................................................................... 22 4.6 Duration of scanning ........................................................................................... 23 4.7 Survey areas with restricted or difficult access ................................................... 23 4.8 Moving objects in the environment .................................................................... 23

Post Processing .......................................................................................................... 25 5.1 GeoSLAM Hub Software ...................................................................................... 25 5.2 Flag for Support ................................................................................................... 27

Output and Processing Options Tab........................................................................... 29 6.1 Output Options Tab ............................................................................................. 29 6.2 Output File Configuration .................................................................................... 29 6.3 Point Colouriser ................................................................................................... 31 6.4 Processing Options Tab ....................................................................................... 33

GeoSLAM Viewer ....................................................................................................... 37 7.1 2D Mode.............................................................................................................. 37 7.2 3D Mode.............................................................................................................. 38 7.3 Viewer Annotation .............................................................................................. 39

Results folder ............................................................................................................. 41

More Files .................................................................................................................. 45

Data Set Merger ......................................................................................................... 47 10.1 Selecting data sets to merge ............................................................................... 47 10.2 Manual coarse alignment .................................................................................... 48

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ZEB-REVO RT User's Manual v1.0.1

GeoSLAM Draw .......................................................................................................... 53

Advanced settings ? GeoSLAM Hub ........................................................................... 57 12.1 Setup page........................................................................................................... 57 12.2 Virtual Machine Optimization ............................................................................. 59 12.3 Further help and information.............................................................................. 62

Advanced Settings ? ZEB-REVO RT ............................................................................. 63

Battery ....................................................................................................................... 65 14.1 Specification ........................................................................................................ 65 14.2 Recharging ........................................................................................................... 65 14.3 Capacity and run-time display ............................................................................. 65 14.4 Battery care ......................................................................................................... 66 14.5 Transportation..................................................................................................... 67

APPENDICES ............................................................................................................... 69 15.1 Appendix 1 ? GeoSLAM Data Set Flagging........................................................... 69 15.2 Appendix 3 ? Dimensional drawings ................................................................... 72 15.3 Appendix 4 ? End User License Agreement ......................................................... 75

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ZEB-REVO RT User's Manual v1.0.1

INTRODUCTION

The ZEB-REVO RT portable laser scanner provides a rapid and simple means of capturing 3D point cloud data. Data is captured as the user walks through the area of interest. The ZEB-REVO negates the need for time consuming scanner set-ups and data registration associated with traditional terrestrial laser scanning methods.

Provided the simple guidelines set out in this manual are adhered to accurate 3D point clouds can be generated in a fraction of the time taken with traditional terrestrial laser scanning methods.

1.1 SPECIFICATION

Maximum range

Points per scan line Field of view Scan rate

Scan range noise Laser safety classification

Laser wavelength Operating conditions

Power supply Weight

Dimensions

Battery life

Up to 30m in optimal conditions Typical max range 15-20m 432 (0.625o interval) 270o x 360o 100 lines/s 43200 points/s ?30mm CLASS I Laser Product (21 CFR 1040.10 and 1040.11) 905nm Temperature 0o C to +35o C Humidity ? non condensing 14.8VDC, approx. 5.0A Scanning head 1.0kg Carry case and contents 4.1kg Scanning head 80x113x140mm (287mm incl handle) Carry case and contents 470x220x180mm Approximately 90 minutes continuous use

Table 1-1: Specification

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ZEB-REVO RT User's Manual v1.0.1

1.2 PRINCIPAL OF OPERATION

The ZEB-REVO RT consists of a 2D time-of-flight laser range scanner rigidly coupled to an inertial measurement unit (IMU) mounted on a motor drive. The motion of the scanning head on the motor drive provides the third dimension required to generate 3D information. A novel 3D simultaneous localization and mapping (SLAM) algorithm is used to combine the 2D laser scan data with the IMU data to generate accurate 3D point clouds.

The ZEB-REVO scanning head captures raw laser range measurement and inertial data. This data is registered into a homogenous 3D point cloud in near real time by the ZEB-REVO RT Data Processing Unit. The resulting point cloud data can be downloaded from the Data Processing Unit and imported into the GeoSLAM Hub desktop application for further processing and/or export in a range of standard point cloud file formats.

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ZEB-REVO RT User's Manual v1.0.1

1.3 LIST OF PARTS

Part no. 1 GS_610042 2 GS_610070 3 GS_610008 4 PAG_9307V 5 PAG_ 9710 6 MUS_40_1_5 7 RS_832-347 8 GS_610073 9 GS_510072 10 GS_SW_LICENSE 11 GS_610071

Description ZEB-REVO hand held laser scanner ZEB-REVO RT Processing Unit ZEB-REVO main cable ZEB-REVO RT battery ZEB-REVO RT battery charger Shoulder strap Ethernet cable ZEB-CAM cable (compatible with RT Processing Unit) Heavy Duty Carry case GeoSLAM HUB license dongle and USB memory stick Magnetic mount for tablet or cell phone

Table 1-2: List of parts

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ZEB-REVO RT User's Manual v1.0.1

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