Riegl LMS-Q280i Guide

LASER MIRROR SCANNER
LMS-Q280i
TECHNICAL DOCUMENTATION AND USER’S INSTRUCTIONS
Version 07/2004 CE
Rev. 25-03-2004 (V5.63)
Rev. 01-07-2004 (V5.64)
(c) 2004 RIEGL Austria
All rights reserved.
This manual has been compiled with care. However, should you discover any
error, we would be grateful if you would let us know.
RIEGL Laser Measurement Systems GmbH
A-3580 Horn, Riedenburgstrasse 48, AUSTRIA
Tel.: [phone], Fax.: [phone]
e-mail: off[email protected].at
www.riegl.com

I m p o r t a n t N o t e:
The LMS-Q280i makes use of a high power laser source and an extremely high
sensitive optical receiver. As a result of this powerful signal detection
electronics, the LMS-Q280i works with non-cooperative targets (natural
reflecting targets like trees, stones etc.) as well as with cooperative targets
(reflecting targets). The following reflecting target materials can be used:
o Reflecting paint
o Reflecting foil
Due to the high power level of the laser transmitter, high quality glass
retro-reflectors must not be used as a target !!! Using such retro-
reflectors can permanently damage the instrument.

C O N T E N S
1GENERAL ................................................................................................... 1
1.1 System Configuration.............................................................................. 1
1.1.1 Rangefinder System............................................................................1
1.1.2 Scanner Mechanism............................................................................ 2
1.1.3 True Color Channel (optional) .............................................................3
1.1.4 Interfaces............................................................................................. 4
2DESIGN OF LASER SCANNER LMS-Q280I.............................................. 5
2.1 Mechanical Design................................................................................... 5
2.2 Mechanical Drawings .............................................................................. 6
3SAFETY INSTRUCTIONS........................................................................... 9
3.1 General Safety.......................................................................................... 9
3.2 Electromagnetic Compatibility ............................................................. 11
3.3 Laser Safety............................................................................................ 14
4OPERATING INSTRUCTIONS.................................................................. 15
4.1 Preparing the Power Supply................................................................. 15
4.1.1 Fuses................................................................................................. 16
4.2 Connectors and Pin Assignments........................................................ 17
4.2.1 Plug for Power Supply....................................................................... 18
4.2.2 Plug for Serial Interface (RS232)....................................................... 19
4.2.3 Plug for Parallel Interface .................................................................. 20
4.2.4 Plug for Ethernet Interface................................................................. 21
4.3 Cables..................................................................................................... 22
4.3.1 Power Supply Cable.......................................................................... 22
4.3.2 Parallel Data Cable............................................................................ 23
4.3.3 Serial Data Cable .............................................................................. 24
4.3.4 LAN-TCP/IP Data Cable.................................................................... 25
4.4 Mounting the LMS-Q280i....................................................................... 26
4.5 Instrument Cooling................................................................................ 27
4.6 General System Set Up and Cabling.................................................... 27
4.7 Laser Setup and Test Procedure.......................................................... 29
5SPECIFICATIONS..................................................................................... 30
5.1 Technical data........................................................................................ 30
5.2 Definition of axes................................................................................... 32
5.3 LMS-Q280i Timing Characteristic......................................................... 34
5.4 External Synchronization and Internal Reference Timer.................... 35
6DATA COMMUNICATION AND INTERFACES ........................................ 36
6.1 Programming Mode / Measurement Mode for Serial Interface................. 36
6.2 Data Format for Serial Interface............................................................ 37
6.2.1 Data Format for Serial Interface in Programming Mode.................... 37
6.2.2 Data Format for Serial Interface in Measurement Mode.................... 38
6.3 Parameters and Controlling Commands ............................................. 41
6.3.1 Parameter Data Types in Programming Mode .................................. 41
6.3.2 Several Basic Commands ................................................................. 42

6.3.3 Basic Measurement Parameters ....................................................... 46
6.3.4 Adjusting Parameters for Serial Interface.......................................... 48
6.3.5 Definition of Scan Pattern.................................................................. 50
6.3.6 Several Additional Commands.......................................................... 54
6.3.7 Control Commands in Measurement Mode....................................... 55
6.3.8 Additional Low Level Commands ...................................................... 56
6.4 ECP Data Output.................................................................................... 59
6.4.1 Reading Data via ECP....................................................................... 59
6.4.2 Configuring the ECP Data Output...................................................... 70
6.5 LAN interface.......................................................................................... 72
6.5.1 Overview............................................................................................ 72
6.5.2 Activation........................................................................................... 72
6.5.3 Configuring the LAN Interface ........................................................... 73
6.6 Errors and Error Handling..................................................................... 75
6.7 Status and Error Messages................................................................... 77

Page 1 of 79
Technical Documentation and
User Instructions
Laser Mirror Scanner LMS-Q280i
1 General
The Laser Mirror Scanner LMS-Q280i is a 2D laser scanner based upon
accurately measuring the distance by means of electro-optical pulsed time-of-
flight range measurement and upon fast scanning the laser beam by means of
an opto-mechanical scan mechanism. The high range performance, the fast line
scanning, and the overall system design makes the LMS-Q280i well suited for
airborne laser scanning applications.
1.1 System Configuration
The laser scanner LMS-Q280i consists mainly of two subsystems, an accurate
laser rangefinder electronics and a line scanning mechanism, installed in a
rugged housing.
1.1.1 Rangefinder System
The rangefinder system is based upon the principle of time-of-flight
measurement of short infrared laser pulses.
A laser source emits infrared light pulses, which are collimated by a transmitter
lens system. Via the receiver lens, part of the echo signal reflected by the target
hits a photodiode which generates an electrical receiver signal. The time
interval between transmitted and received pulses is counted by means of a
quartz-stabilized clock frequency. The measured time value is passed to the
internal microcomputer which processes the measured data and prepares it for
data output.
Fig. 1 Measurement principle of the pulsed range finder

Page 2 of 79
Technical Documentation and
User Instructions
Laser Mirror Scanner LMS-Q280i
1.1.2 Scanner Mechanism
The scanner mechanism deflects the laser beam for range measurement into a
precisely defined direction. Each scan line is composed of a number of pixels
(single laser measurements).
The angular deflection of the laser beam is realized by a rotating polygon mirror
wheel. The polygon-mirror is composed of flat reflective surfaces arranged
around the wheel perimeter. The wheel rotates continuously at a fixed speed to
provide repetitive unidirectional scans.
Scannedlaserbeam
Rotating
polygonal
mirror
Transmitter
Receiver
Fig. 2 Principle of beam deflection by a rotating mirror

Page 3 of 79
Technical Documentation and
User Instructions
Laser Mirror Scanner LMS-Q280i
Due to the finite aperture dimensions, only a fractional part of the polygon mirror
surfaces (excluding the edge areas) can be used for scanning (please refer to
chapter 5.3, LMS-Q280i Timing characteristic).
1.1.3 True Color Channel (optional)
Beside the laser transmitter and the laser receiver, the LMS-Q280i has
optionally an integrated true color channel which provides the color of the
target´s surface as an additional information to each laser measurement. Color
data are included in the binary data stream of the LMS-Q280i allowing
straightforward texturing of scanned surface model.

Page 4 of 79
Technical Documentation and
User Instructions
Laser Mirror Scanner LMS-Q280i
1.1.4 Interfaces
1.1.4.1 Electrical Interfaces
The laser scanner LMS-Q280i requires a single power supply with nominally 24V DC.
Supply voltage 24V DC
Permitted supply voltage range 18V DC to 32V DC
Current consumption
(scanning operation) typically 3A at 24V DC
1.1.4.2 Data Interfaces
LAN Interface Ethernet Network interface, using the
TCP/IP protocol
RS232 serial interface Bi-directional interface for scanner
configuration
Parallel interface ECP compatible, Uni-directional interface,
provides the scan data
The pin assignment of the interface connectors can be found in chapter 4.2,
Connectors and Pin Assignments.

Page 5 of 79
Technical Documentation and
User Instructions
Laser Mirror Scanner LMS-Q280i
2 Design of Laser Scanner LMS-Q280i
2.1 Mechanical Design
The housing of the LMS-Q280i laser scanner is designed to meet the
requirements for an installation on board of an airplane or helicopter. The slim
design and the scan direction perpendicular to the longitudinal axis of the laser
scanner allows straightforward integration also under narrow space conditions.
The housing consists of a very stable base plate, which carries 6 pcs. M6
mounting threads and the beam output aperture window.
The top plate provides 6 pcs. M6 mounting threads for the installation of an
inertial measurement unit or other additional equipment. This mounting threads
are firmly connected to the internal frame structure. Additionally, the top plate is
equipped with a heat-sink profile.
For adequate heat dissipation, the rear plate
For additional information about heat dissipation, please refer to chapter
is equipped with a heat-sink
profile. On this side of the laser scanner, there are the connectors for power
supply and data interface as well as the fuse holders located.
4.5,
Instrument Cooling
The front plate carries a desiccant cartridge and valve for nitrogen purging of
the instrument.
The side plates are made of aluminum profile shells.
All outer parts are colorless or black anodized.
The figures on the next pages show the mechanical dimensions of the LMS-
Q280i laser scanner.

Page 6 of 79
Technical Documentation and
User Instructions
Laser Mirror Scanner LMS-Q280i
2.2 Mechanical Drawings
24.5
262
505
75
156
95.5
560
132
200
135
6xM6
mounting
threads
depth 10 mm
scan
window
center of laser beam output
Fig. 3 Bottom view of LMS-Q280i (base plate side)