Three-dimensional laser scanning measurement method and device

Abstract

The embodiment of the invention provides a three-dimensional laser scanning measurement method and a three-dimensional laser scanning measurement device. The method mainly comprises the following steps of: measuring the distance between each measurement point in a neighboring region of an initial measurement point and a rotary measurement head of a three-dimensional laser scanner respectively, calculating a next angle increment of the rotary measurement head by a set algorithm according to the distance between the each measurement point and the rotary measurement head of the three-dimensional laser scanner, obtaining a next measurement point according to the angle increment, and measuring the distance between each measurement point in the neighboring region of the next measurement point and the rotary measurement head of the three-dimensional laser scanner respectively. The method and the device can realize dynamic adjustment of the angle increment of the three-dimensional laser scanner when implementing scanning on the surface of a measured object, further realize equal resolution scanning on the surface of the measurement object, and improve the measurement efficiency and spatial measurement precision of the three-dimensional laser scanner.

Description

technical field [0001] The invention belongs to the field of laser measurement, and in particular relates to a three-dimensional laser scanning measurement method and device. Background technique [0002] A three-dimensional laser scanner is a device that obtains the distance between the three-dimensional laser scanner and each measurement point on the surface of the measured target through a laser ranging sensor, and then obtains the three-dimensional space shape of the measured target. The 3D laser scanner can realize high-precision non-destructive measurement, and has important application value in many fields such as 3D modeling of buildings, digitization of underground structures in mines, and protection of cultural relics. [0003] The measurement accuracy of a 3D laser scanner mainly includes two parts: distance resolution accuracy and spatial resolution accuracy. Among them, the distance resolution accuracy refers to the accuracy of the distance between the 3D laser...

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Problems solved by technology

However, from figure 1 It can be seen from the figure that when the rock wall in the goaf is very close to the 3D laser scanner, the method of measuring with a fixed step angle will lead to oversampling, which seriously reduces the measurement efficiency of the 3D laser scanner; When the 3D laser scanner is far away, the method of measuring with a fixed step angle will lead to undersampling and low spatial resolution; when the angle between the normal direction of the rock wall in the goaf and the 3D laser scanner is large, use Measuring with a fixed step angle will also reduce the spatial resolution; when the rock wall in the goaf is uneven or there are gaps, a high-resolution scanning method is needed, and the traditional equal step angle method There is no way to do this by taking measurements

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