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The fast angular deflection (“line scan”) of the laser beam (2) is realized by a rotating polygon (3) with a number of 
reflective surfaces. It rotates continuously at adjustable speed to provide an undirectional scan within an angle of 80°. 
The slow scan (“frame scan”) is provided by rotating the complete optical head (4) up to 340°. 
The gained information of range, signal amplitude and angle is provided by an 8 bit parallel data output which can be 
connected directly to the ECP compatible LPT printer port (5) of a PC (6). This PC has to be equipped with specific 
software (7) running under WIN95 or WINNT for data acquisition, real time display and post-processin g. The displayed 
3D range images can be zoomed and copied to the clipboard, while for further processing, the scanner data are logged 
to disk. 
In figure 3 the dimensional drawings are shown. In figure 4 the inner instrument reference system is shown. 
  
Figure 3 — Laser-scanner dimensional drawings 
     
Eitting for sitrogens purging 
Front parm 
Figure 1 — The LMS-Z210 laser-scanner 
3 i Scanning range 
] luntosi70tz340* 
       
me 
Somers rame 
340° s 80* (xod; 
  
Figure 2 - Laser-scanner operating principles 
Figure 4 - Inner instrument reference system 
The data provided by LMS-Z210 include ran ge, bearing angle, inclination angle and intensity information for each laser 
measurement. Measurement data are organized in the data file sequentially, line by line starting in the upper left corner 
of the image. Each measurement is represented by 8 bytes, 2 byte range, 2 byte bearing angle, 2 byte inclination angle 
and 2 byte intensity including housekeeping data. The precision units used are 8 mm for range, 0.01 gon for the angles, 
and 1 for the intensity data. The 3D image data are complemented by an header which states the number of bytes of the 
raw data (4 bytes integer), the number of lines of 3D data (2 bytes), and the number of measurements per line (2 bytes). 
In figure 5 an example of the image data is shown. 
In the following tables, technical data for LMS-Z210 laser-scanner are shown. 
  
Rangefinder performance 
Measurement range 350 m, reflectivity >=80% 
upper left corner of range imsge 
  
  
  
  
  
  
  
  
  
  
  
  
  
Minimum range 2m ines 2 
Measurement accuracy £.5 cm, 6<=20 ppm line $2 e 
Measurement resolution 2.5 cm 
Measurement rate 20000 Hz ined 
Laser wavelength 0.9 um line #4 
Beam divergence approx. 3 mrad 
Eye safety Class 1 
  
Table 1 — Rangefinder performances 
Figure 5 — Range image 
  
International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B5. Amsterdam 2000. 71