mobile mapping project - Zoller+Fröhlich

How we build realityZ+F PROFILER 6007 duo

Z+F PROFILER 6007 duoThe high-speed laser scanningsystem Z+F PROFILER 6007duo is one of Zoller + Fröhlich’smost innovative developmentsin the field of 2D laserscanning.The Z+F PROFILER 6007 duo is theperfect tool for high-precisionsurveying, inspection and analysisof short or long tracks with highresolutions at high velocities. It isspecially engineered and optimizedfor those applicationswhere gathering data fast andefficiently is required like forexample in the rail industry.Due to its high performance level,measurements can be made withouttaking possession of the track,impairing other rail traffic and jeopardizingpersonnel and equipment.Mounted onto a moving carriervehicle, accurate topographicmeasurements of whole railwaysystems can be captured within ashort space of time.The captured two-dimensionaldata can then be processed intoabsolute three-dimensional Cartesiancoordinates, using data ofadditional sensors such as GPS orInertial Navigation Sensors (INS).This highly accurate informationcan then be used for numerousfurther applications, like forexample clearance analysis orvirtual reality reviews.2

Fast, rugged, highly-accurateAreas of application Key characteristics Laser scanning principle· Clearance analysis- Analysing the whole infrastructureand thesurroundings of the driventrack axis- Analysing tunnels/tunnelwalls- Analysing platform edges- Detecting clearance infringements- Testing railroad clearanceswhen operating oversizedloads· Inventory survey (2D/2.5D/3D)· Documentation and analysis ofthe railroad network/system· Ballast profile documentation· Creating a planning basis forreconstruction work ordeployment of newtrains/vehicles· Full 360 ° field of view(no shadowing effects)· Doubled laser scanperformance due to theintegration of two laserscanningsystemssynchronized in a single casing("single device design"):- 500 rot./sec., i.e.cross-sections (effective)- Data acquisition rate of1,016,000 pixel/sec.(effective)· User-definable horizontal andvertical resolutions· Interfaces for synchronizationwith navigation sensors· Ethernet interface for datatransfer and communication· Extreme high ruggedness andstability due to its compactarchitecture· High security level (et al. safetycover for the rotating laserheads, emergency-stopmechanism, laser safety class3R)· System adaptable to customerrequirementsIn order to take measurementsalong a specified track, theZ+F PROFILER 6007 duo must bemounted onto a carrier platformof a moving vehicle. The twointegrated laser scanning systemsmeasure helix-shaped scanlines of the surrounding surface.A measurement consists of anangle and a distance which isdetermined recording the phasedifference between emitted andreflected laser beam.The rotation speed of the twolaser scanning systems and thevelocity of the carrier vehicledefine the density of measurements(vertical and horizontalspacing between scannedpoints).Source: Amberg Technologies3

Z+F PROFILER 6007 duoData acquisitionDue to the two laser scanningsystems, the overall systemperformance is doubled, allowingthe carrier vehicle to travel withhigh velocities on the railway net,still maintaining high scanresolutions and point densities.Both laser scanning systems aresynchronized to be able toachieve a data acquisition rateof 2 x 508,000 pixels per secondwith 2,048 points per capturedprofile.The horizontal and vertical resolutions between two consecutive crosssectionsdepend on the driven speed:Speed v[km/h]/[mp/h]Rotations persecond[rps]Max. no. ofpoints percross-sectionHorizontalresolution 1)[mm]50/31 500 2048 27,8 10,720/12 500 2048 11,2 10,710/6 500 2048 5,6 10,75/3 500 2048 2,8 10,71) distance between two consecutive measured cross-sectionsVertical resolution at adistance of 3.5 m tothe scanner-center 2)[mm]2) distance between two consecutive measured points within one cross-sectionon a surface which is perpendicular to the measuring direction of the laser beamSynchronization and absolutepositioningFor kinematic laser scanning thecarrier-vehicle's driven trajectoryneeds to be determined, usingexternal navigation sensors. Withthis information the capturedtwo-dimensional measurementscan be processed into georeferenced,absolute three-dimensionalCartesian coordinates.Since those external navigationsensors are not defined in acommon standard, they are notintegrated in the Z+F PROFILER6007 duo.Therefore suitable interfaces forexternal synchronisation signalsare provided.Sensor data as well as scan dataare recorded with unique identifiers(time stamps or distancestamps) to be able to synchronizeboth data streams.4

Mechanical system overviewThe Z+F PROFILER 6007 duo’sintegrated laser scanningsystems are each controlled by aseperate laser-PC. The bidirectionalcommunication, aswell as data storage ontoremovable HDD is realized viaLAN-/Ethernet-connection.External navigation sensors forlater data synchronisation caneither be connected to the laserscanner directly via a RS422interface or via Ethernet.In addition to the Z+F PROFILER6007 duo a suitable industrial PCfor Profiler-control is required.While the Z+F PROFILER 6007duo has to be mounted on a fixplatform outside the carriervehicle, the industrial PC isinstalled inside.High speed laser scanner andindustrial PC are both provided byZoller + Fröhlich.For power supply the high-speedlaser scanner is connected to thetrain’s power system.Z+F PROFILER 6007 duoLaser scanner 1Laser-PC 1Higher levelcustom controlunitEthernetLaser scanner 2Laser-PC 2AC-PowerEthernetRS422interface(footpulse,odometer...)Industrial PC(runs capturingsoftware)Navigation SensorsRemovable HDDSchematic system overview5

SoftwareZoller + Fröhlich offers already tailor-made capturing andprocessing software solutions. This software was developedin partnership with railway experts from Amberg Technologies(AT). They have intensive business know-how in the railwayindustry and offer various software-packages to process andevaluate laser scan data in this domain.Already during the scanningprocess, the captured local datais referenced to the centerlineof the running track usingautomatic railhead detectionand can be displayed on screenin realtime.CapturingThe Z+F PROFILER 6007 duo isoperated by a central capturingsoftware,which is required toforward commands and data tothe two laser scanning systemsand vice versa.In addition to the communicationwith the Z+F PROFILER 6007 duothe following tasks are performed:· Controlling the two laserscanning systems (parameters,etc.)· Continuous data transfer andstorage (e.g. onto USB-harddrives)· Real-time creation/calculationof composite cross-sections aswell as referencing them to thecenterline of the running track· Automatic railhead detection· Regularly checking and loggingthe status of the scannersystemProcessingThe entire data processing isperformed in the office. Beforeviewing, analyzing and exportingthe captured laser scan data,suitable software is used forpreprocessing:· Combining the scanner rawdata of both laser scanners andconverting it to the trackcenterline aligned point clouds· Storing the scanned data in astandardized data format.For the actual processing,Amberg’s software products canbe used for:· Filing of processed scan data inproject-format· Extensive functions andpossibilities to process, view,evaluate and analyse the data· Interfaces for data import andexportBoth capturing as well as processing software can be customizedindividually. Relevant interfaces for synchronization and customerspecificworkflows can be respected.6

ResultsResults· Extraction of local and/or globalcoordinates:- Raw scan data- Scan data, synchronizedand referenced to thecenterline of the runningtrack- Absolute 3D scan data· Profile-extraction- Extraction and storage ofprofiles and cross-sections(minimum profiles in predefinedintervals)· Clearance-analysis- Calculation of single profiles(numeric information)- Clearance-analysis on thebasis of the absoluterail geometry/driven 3D-trajectoryAmberg Rail: Visual Tunnel Map, OffboardAmberg Rail: Combined View (Clearence Map and Cross-Cut), Offboard7

Power supplyInput voltagePower consumption2 x 3 x 400 V AC, 15 A (per scanner)2 x 24 V, 10 A DC (per measurement and control unit)24 V, 20 A DC (cooling system)5 kVAAmbient conditionsOperating temperature -10 °C ... +45 °CStorage temperature -20 °C ... +50 °CHumidity/airIlluminationNon-condensing, no rain/snow/hail/visible dust in the airScanning possible during day and nightDimensions and weightScanner (w/d/h)Weight775 mm x 470 mm x 750 mm140 kg1) Detailed explanation on request - please contact info@zf-laser.com2) Max. data aquisition rate: 508,000 pixel/sec., 2 sigma range noise3) Lambertian retro reflector11

Head office – GermanyZoller + Fröhlich GmbHSimoniusstraße 2288239 Wangen im AllgäuGermanyPhone: +49 7522 9308-0Fax: +49 7522 9308-252www.zf-laser.cominfo@zf-laser.comSubsidiary – UKZF UK Laser Limited9 Avocado CourtCommerce WayTrafford ParkManchester M17 1HWUnited KingdomPhone: +44 161 8717 050Fax: +44 161 3125 063www.zf-uk.cominfo@zf-uk.comSubsidiary – USAZ+F USA, Inc.700 Old Pond RoadSuite 606Bridgeville, PA 15017USAPhone: +1 412 2578 575Fax: +1 412 2578 576www.zf-usa.cominfo@zf-usa.com05/2012 | www.zf-laser.com© 2011 Copyright Zoller + Fröhlich GmbH. All rights reserved. The information contained herein may not be reproduced – in whole or in part – withoutprior written permission from Zoller + Fröhlich GmbH. Subject to errors and technical amendments.