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How we build reality
Z+F PROFILER 6007 duo

Z+F PROFILER 6007 duo
The high-speed laser scanning
system Z+F PROFILER 6007
duo is one of Zoller + Fröhlich’s
most innovative developments
in the field of 2D laser
scanning.
The Z+F PROFILER 6007 duo is the
perfect tool for high-precision
surveying, inspection and analysis
of short or long tracks with high
resolutions at high velocities. It is
specially engineered and optimized
for those applications
where gathering data fast and
efficiently is required like for
example in the rail industry.
Due to its high performance level,
measurements can be made without
taking possession of the track,
impairing other rail traffic and jeopardizing
personnel and equipment.
Mounted onto a moving carrier
vehicle, accurate topographic
measurements of whole railway
systems can be captured within a
short space of time.
The captured two-dimensional
data can then be processed into
absolute three-dimensional Cartesian
coordinates, using data of
additional sensors such as GPS or
Inertial Navigation Sensors (INS).
This highly accurate information
can then be used for numerous
further applications, like for
example clearance analysis or
virtual reality reviews.
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Fast, rugged, highly-accurate
Areas of application Key characteristics Laser scanning principle
· Clearance analysis
- Analysing the whole infrastructure
and the surroundings
of the driven track axis
- Analysing tunnels/tunnel
walls
- Analysing platform edges
- Detecting clearance infringements
- Testing railroad clearances
when operating oversized
loads
· Inventory survey (2D/2.5D/3D)
· Documentation and analysis of
the railroad network/system
· Ballast profile documentation
· Creating a planning basis for
reconstruction work or deployment
of new trains/vehicles
· Virtual Reality (2.5D/3D)
· Full 360 ° field of view
(no shadowing effects)
· Doubled laser scan performance
due to the integration of
two laser scanning systems
synchronized in a single casing
("single device design"):
- 500 rot./sec., i.e.
cross-sections (effective)
- Data acquisition rate of
1,016,000 pixel/sec.
(effective)
· User-definable horizontal and
vertical resolutions
· Interfaces for synchronization
with navigation sensors
· Ethernet interface for data
transfer and communication
· Extreme high ruggedness and
stability due to its compact
architecture
· High security level (et al. safety
cover for the rotating laser
heads, emergency-stop mechanism,
laser safety class 3R)
In order to take measurements
along a specified track, the
Z+F PROFILER 6007 duo must be
mounted onto a carrier platform
of a moving vehicle. The two
integrated laser scanning systems
measure helix-shaped scan
lines of the surrounding surface.
A measurement consists of an
angle and a distance which is
determined recording the phase
difference between emitted and
reflected laser beam.
The rotation speed of the two
laser scanning systems and the
velocity of the carrier vehicle
define the density of measurements
(vertical and horizontal
spacing between scanned
points).
· System adaptable to customer
requirements
Source: Amberg Technologies
3

Z+F PROFILER 6007 duo
Data acquisition
Due to the two laser scanning
systems, the overall system
performance is doubled, allowing
the carrier vehicle to travel with
high velocities on the railway net,
still maintaining high scan
resolutions and point densities.
Both laser scanning systems are
synchronized to be able to
achieve a data acquisition rate
of 2 x 508,000 pixels per second
with 2,048 points per captured
profile.
The horizontal and vertical resolutions between two consecutive crosssections
depend on the driven speed:
Speed v
[km/h]/[mp/h]
Rotations per
second
[rps]
Max. no. of
points per
cross-section
Horizontal
resolution 1)
[mm]
50/31 500 2048 27,8 10,7
20/12 500 2048 11,2 10,7
10/6 500 2048 5,6 10,7
5/3 500 2048 2,8 10,7
1) distance between two consecutive measured cross-sections
Vertical resolution at a
distance of 3.5 m to
the scanner-center 2)
[mm]
2) distance between two consecutive measured points within one cross-section
on a surface which is perpendicular to the measuring direction of the laser beam
Synchronization and absolute
positioning
For kinematic laser scanning the
carrier-vehicle's driven trajectory
needs to be determined, using
external navigation sensors. With
this information the captured
two-dimensional measurements
can be processed into georeferenced,
absolute three-dimensional
Cartesian coordinates.
Since those external navigation
sensors are not defined in a
common standard, they are not
integrated in the Z+F PROFILER
6007 duo.
Therefore suitable interfaces for
external synchronisation signals
are provided.
Sensor data as well as scan data
are recorded with unique identifiers
(time stamps or distance
stamps) to be able to synchronize
both data streams.
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Mechanical system overview
The Z+F PROFILER 6007 duo’s
integrated laser scanning systems
are each controlled by a
seperate laser-PC. The bi-directional
communication, as well as
data storage onto removable
HDD is realized via LAN-
/Ethernet-connection.
External navigation sensors for
later data synchronisation can
either be connected to the laser
scanner directly via a RS422
interface or via Ethernet.
In addition to the Z+F PROFILER
6007 duo a suitable industrial PC
for Profiler-control is required.
While the Z+F PROFILER 6007
duo has to be mounted on a fix
platform outside the carrier
vehicle, the industrial PC is
installed inside.
High speed laser scanner and
industrial PC are both provided by
Zoller + Fröhlich.
For power supply the high-speed
laser scanner is connected to the
train’s power system.
Z+F PROFILER 6007 duo
Laser scanner 1
Laser-PC 1
Higher level
custom control
unit
Ethernet
Laser scanner 2
Laser-PC 2
AC-Power
Ethernet
RS422
interface
(footpulse,
odometer...)
Industrial PC
(runs capturing
software)
Navigation Sensors
Removable HDD
Schematic system overview
5

Software
Zoller + Fröhlich offers already tailor-made capturing and
processing software solutions. This software was developed
in partnership with railway experts from Amberg Technologies
(AT). They have intensive business know-how in the railway
industry and offer various software-packages to process and
evaluate laser scan data in this domain.
Already during the scanning
process, the captured local data
is referenced to the centerline
of the running track using
automatic railhead detection
and can be displayed on screen
in realtime.
Capturing
The Z+F PROFILER 6007 duo is
operated by a central capturingsoftware,
which is required to
forward commands and data to
the two laser scanning systems
and vice versa.
In addition to the communication
with the Z+F PROFILER 6007 duo
the following tasks are performed:
· Controlling the two laser
scanning systems (parameters,
etc.)
· Continuous data transfer and
storage (e.g. onto USB-hard
drives)
· Real-time creation/calculation
of composite cross-sections as
well as referencing them to the
centerline of the running track
· Automatic railhead detection
· Regularly checking and logging
the status of the scanner
system
Processing
The entire data processing is
performed in the office. Before
viewing, analyzing and exporting
the captured laser scan data,
suitable software is used for
preprocessing:
· Combining the scanner raw
data of both laser scanners and
converting it to the track centerline
aligned point clouds
· Storing the scanned data in a
standardized data format.
For the actual processing,
Amberg’s software products can
be used for:
· Filing of processed scan data in
project-format
· Extensive functions and possibilities
to process, view, evaluate
and analyse the data
· Interfaces for data import and
export
Both capturing as well as processing software can be customized
individually. Relevant interfaces for synchronization and customerspecific
workflows can be respected.
6

Results
Results
· Extraction of local and/or global
coordinates:
- Raw scan data
- Scan data, synchronized
and referenced to the
centerline of the running
track
- Absolute 3D scan data
· Profile-extraction
- Extraction and storage of
profiles and cross-sections
(minimum profiles in predefined
intervals)
· Clearance-analysis
- Calculation of single profiles
(numeric information)
- Clearance-analysis on the
basis of the absolute
rail geometry/driven 3D-trajectory
Amberg Rail: Visual Tunnel Map, Offboard
Amberg Rail: Combined View (Clearence Map and Cross-Cut), Offboard
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Results
Results
· Various display-possibilities
(depending on the available
information):
- 2D view of processed
composite cross-cuts,
including clearance profile
- 3D view of scan data
including clearance
information
- Unwrapped view of data
including clearance
information
· Virtual reality reviews, showing
the results of the measuring run
in a pseudo '3D view', based on
the available information:
- Reflectivity information
- 2.5D or 3D information
- Clearance information
· Data export in various standardized
formats (pts, ptx, dwg,
dxf, bmp, tif,…)
Amberg Rail: 3D-View, Offboard
8

Reference
Reference
Metropolitan Transportation
Authority (MTA), NY, USA
As the operator of the biggest
transportation network in North
America, MTA is responsible for
the whole public railway traffic in
New York City.
The total length of the NY subway
system covers approximately
more than 2,057 miles and it
serves more than 734 stations.
In 2009 the first tailor-made
Z+F PROFILER 6007 duo was
installed successfully at MTA.
Since then Z+F's high-speed
laser scanner has been used
regularly.
Main applications at MTA are
clearance analysis and 3D
inventory survey.
MTA symbol ® and Subway Map © Metropolitan Transportation Authority. Used with permission.
(In the picture the laser scanner system is the blue box.)
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Technical datasheet
Laser measurement system
Methode
Ambiguity interval
Min. range
Resolution range
Data acquisition rate
Linearity error up to 50 m 1
Z+F PROFILER 6007 duo
Phase-shift
79 m
1.3 m
0.1 mm
2 x ≤ 508,000 pixel/sec.
≤ 2 mm
Range noise black 10 % grey 20 % white 100 %
Range noise at 5 m 1,2,3 4.0 mm rms 2.5 mm rms 1.0 mm rms
Range noise at 10 m 1,2,3 6.0 mm rms 3.0 mm rms 1.5 mm rms
Range noise at 25 m 1,2,3 16.0 mm rms 9.0 mm rms 3.0 mm rms
Range drift over temperature
Negligible due to internal reference
Optical transceiver
Laser visible
Beam divergence
0.22 mrad
Beam diameter at 1 m distance 3 mm
Laser safety class 3R (ISO EN 60825-1)
Deflection unit
Laser deflection system
Rotating mirror
Field of view vertical 360°
Resolution vertical 0.18° (at 250 rps scanning speed)
Accuracy
± 0.07° rms
Max. scanning speed 2 x ≤ 250 rps
Miscellaneous
Data storage
Data interface
Communication interface
External HDD
Ethernet
Ethernet
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Power supply
Input voltage
Power consumption
2 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 kVA
Ambient conditions
Operating temperature -10 °C ... +45 °C
Storage temperature -20 °C ... +50 °C
Humidity/air
Illumination
Non-condensing, no rain/snow/hail/visible dust in the air
Scanning possible during day and night
Dimensions and weight
Scanner (w/d/h)
Weight
775 mm x 470 mm x 750 mm
140 kg
1) Detailed explanation on request - please contact info@zf-laser.com
2) Max. data aquisition rate: 508,000 pixel/sec., 2 sigma range noise
3) Lambertian retro reflector
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Head office – Germany
Zoller + Fröhlich GmbH
Simoniusstraße 22
88239 Wangen im Allgäu
Germany
Phone: +49 7522 9308-0
Fax: +49 7522 9308-252
www.zf-laser.com
info@zf-laser.com
Subsidiary – UK
Z+F UK Ltd.
5 Avocado Court
Commerce Way
Trafford Park
Manchester M17 1HW
UK
Phone: +44 161 8690 450
Fax: +44 161 8690 451
www.zf-uk.com
info@zf-uk.com
Subsidiary – USA
Z+F USA, Inc.
700 Old Pond Road
Suite 606
Bridgeville, PA 15017
USA
Phone: +1 412 2578 575
Fax: +1 412 2578 576
www.zf-usa.com
info@zf-usa.com
02/2011 | 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 – without prior written permission
from Zoller + Fröhlich GmbH. Subject to errors and technical amendments.