A three-dimensional laser scanner calibration device

Abstract

The present invention provides a three-dimensional laser scanner calibration device, which belongs to the technical field of three-dimensional laser scanner calibration. The present invention includes a base, a connecting block, a rotating block, a first limiting mechanism and a second limiting mechanism. The connecting block is vertically slidably arranged above the base through a driving mechanism, a support rod is arranged on the connecting block, the rotating block is arranged at the upper end of the support rod, a third rotating shaft is rotatably arranged on the side of the rotating block, a second circular tube is arranged at the outer end of the third rotating shaft, a first target ball is arranged at one end of the second circular tube, a round rod is slidably arranged in the second circular tube, a second target ball is arranged at one end of the round rod, the first limiting mechanism can fix the round rod at the current position, and the second limiting mechanism can fix the second circular tube at the current angle. The present invention can calibrate the measurement accuracy of the three-dimensional scanner by changing the positions of the two target balls according to the measurement requirements, and the operation is simple.

Description

Technical Field

[0001] The invention belongs to the technical field of three-dimensional laser scanner calibration, and relates to a three-dimensional laser scanner calibration device. Background Art

[0002] 3D laser scanners are mainly used in the field of large-scale spatial coordinate measurement. They use the principle of laser ranging to accurately obtain the 3D point cloud data of the measured object. In order to determine whether the metrological performance of the 3D laser scanner meets the requirements, the measurement accuracy of the 3D laser scanner needs to be calibrated regularly.

[0003] Traditional calibration methods include symmetric test method, asymmetric test and relative distance test method, among which symmetric test and asymmetric test are mainly completed by target ball wall, which is fixed in a constant temperature room. The positions of target balls are calculated in advance by laser tracker. Several target balls need to be placed in designated positions, which increases the number of target balls and the test cost. In addition, the relative distance test method is mainly completed by long linear guide rails, and the target ball moves on the guide rails according to the set distance. At present, the above tests need to be completed by two different test devices at designated sites, which is cumbersome to operate and requires high precision in the manufacture and installation of the test devices, which greatly increases the cost of calibration. Summary of the invention

[0004] The purpose of the present invention is to address the above-mentioned problems in the existing technology and propose a three-dimensional laser scanner calibration device, which can change the positions of two target balls according to measurement requirements to calibrate the measurement accuracy of the three-dimensional scanner, meet the requirements of different tests, and is simple to operate.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A three-dimensional laser scanner calibration device comprises: a base, a first rotating shaft is rotatably provided on the lower side of the base, and track wheels are provided at both ends of the first rotating shaft;

[0007] A connecting block, which is arranged above the base through a driving mechanism, and the driving mechanism can drive the connecting block to move vertically up and down, and a supporting rod is arranged on the connecting block;

[0008] A rotating block, wherein the rotating block is arranged at the upper end of the supporting rod, a second rotating shaft is rotatably arranged on one side surface of the rotating block, a second round tube is arranged at the outer end of the second rotating shaft, a first target ball is arranged at one end of the second round tube, a round rod is slidably arranged in the second round tube, one end of the round rod extends out of the second round tube away from one end of the first target ball and a second target ball is arranged at the end;

[0009] A first limiting mechanism, wherein the first limiting mechanism is arranged in the second round tube, and the first limiting mechanism can fix the round rod at a specified position as required;

[0010] The second limiting mechanism is arranged on the rotating block, and the second limiting mechanism can fix the second round tube at a specified angle as needed.

[0011] Preferably, the driving mechanism comprises:

[0012] A first screw rod, the first screw rod is coaxially rotatably arranged on the lower side of the connecting block, and an internally threaded sleeve is threadedly connected to the first screw rod;

[0013] A driving assembly, wherein the driving assembly is disposed at the lower end of the first screw rod and can drive the first screw rod to rotate;

[0014] A plurality of supporting structures are provided along the circumferential direction on the outer side of the connecting block, and the supporting structures comprise: a first connecting rod, the upper end of which is hinged on the side of the connecting block, and the lower end of which is slidably provided on the base; and a second connecting rod, one end of which is hinged on the outer side of the internal threaded sleeve, and the other end of which is hinged on the first connecting rod.

[0015] Preferably, the drive assembly comprises:

[0016] A fixed block, the fixed block being fixed on the lower end of the first screw;

[0017] A plurality of handles are horizontally arranged on the outer side of the fixing block along the circumferential direction.

[0018] Preferably, the upper side surface of the base is provided with a plurality of first slide grooves along the circumference of the first screw rod, and two second slide grooves are horizontally provided on the two side walls of the first slide groove, and the plurality of first slide grooves correspond to the plurality of first connecting rods one by one, and the lower end of the first connecting rod is provided with a fixed shaft, and the two ends of the fixed shaft are respectively inserted into the two second slide grooves corresponding to the first slide groove, and two rollers are respectively rotatably provided on the fixed shafts located on both sides of the first connecting rod, and the wheel surfaces of the rollers are in contact with the bottom of the first slide groove.

[0019] Preferably, the first limiting mechanism includes:

[0020] Two slide slot holes, the two slide slot holes are opened on the outer side of the second round tube along the length direction;

[0021] Two columns, the two columns are respectively arranged on both sides of the round rod, the two columns and the two slide slot holes correspond one to one, the columns pass through the corresponding slide slot holes and extend to the outside of the second round tube, the columns are provided with external threads, and the columns located on the outside of the second round tube are threadedly connected with the first butterfly nut.

[0022] Preferably, a connecting ring is connected between the outer ends of the two uprights, and a rubber sleeve is provided on the outer side of the connecting ring.

[0023] Preferably, the second limiting mechanism includes:

[0024] An angle plate, the angle plate is fixedly arranged on a side of the rotating block away from the second circular tube, an arc-shaped hole is opened on the angle plate in the circumferential direction around the second rotating shaft, and an angle scale is arranged on the angle plate in the circumferential direction around the second rotating shaft;

[0025] The end of the second rotating shaft passes through the angle plate and is fixedly connected to the rotating plate. A second screw is provided on the rotating plate. The second screw passes through the arc hole and a sealing plate is provided at the end. Two second butterfly nuts are respectively threadedly connected to the second screw on both sides of the angle plate.

[0026] Preferably, a through hole is provided on the rotating plate along the length direction, and an indicator line is provided in the middle of the through hole.

[0027] Preferably, an arc-shaped slide groove is provided on the lower side surface of the rotating block around the circumference of the support rod, and limiting blind holes are provided at both ends of the arc-shaped slide groove. An extension plate is provided on the support rod, and a first round tube is provided on the extension plate. A limiting rod is vertically slidably provided on the first round tube, and a spring is provided between the lower end of the limiting rod and the extension plate. The upper end of the limiting rod extends into the arc-shaped slide groove and the end is tightened against the bottom of the arc-shaped slide groove. When the rotating block rotates, there are at least two positions where the upper end of the limiting rod can be inserted into the two limiting blind holes.

[0028] Preferably, a guide hole is vertically opened on the outer side of the first round tube, and a shift rod is horizontally provided on the limit rod, and the shift rod passes through the guide hole and extends to the outer side of the first round tube.

[0029] Compared with the prior art, the present invention has the following advantages:

[0030] 1. In the initial state, the distances from the first target ball and the second target ball to the second rotating shaft are the same, so that the three-dimensional laser scanner is located on the extension line of the axis of the second rotating shaft. At this time, the angle of the second round tube can be rotated. When it is rotated to the specified angle, the second round tube is fixed at the current angle by the second limiting mechanism to complete the symmetry test and test the point-to-point accuracy. By sliding the round rod, the distance from the second target ball to the second rotating shaft is changed. When the second target ball moves to the specified distance, the round rod is fixed at the current position by the first limiting mechanism to complete the asymmetry test and test the point-to-point accuracy again. The first target ball and the second target ball can reach the specified position by rotating the second round tube and sliding the round rod. Only two target balls can meet different test requirements, which is simple to operate and greatly reduces the cost of the test.

[0031] 2. In order to meet the use requirements of the three-dimensional laser scanner, the first screw is driven to rotate through the driving component, so that the internal threaded sleeve on the first screw rotates. Since the internal threaded sleeve is limited by the second connecting rod, it can only move up and down. When the internal threaded sleeve moves upward, the lower end of the first connecting rod is pulled inward by the second connecting rod, so that the connecting block drives the first connecting rod to move vertically upward, and the height of the second rotating shaft is raised. When the internal threaded sleeve moves downward, the lower end of the first connecting rod is pulled outward by the second connecting rod, so that the connecting block drives the first connecting rod to move vertically downward, and the height of the second rotating shaft is reduced, so as to meet the test requirements of different heights of the three-dimensional laser scanner;

[0032] 3. The lower end of the first connecting rod is slidably arranged in the two second sliding grooves through the fixed shaft. The two second sliding grooves can limit the sliding range of the first connecting rod. At the same time, the roller on the fixed shaft rolls at the bottom of the first sliding groove to reduce the sliding resistance of the fixed shaft and make it slide more smoothly.

[0033] 4. In the initial state, the two first butterfly nuts are away from the outer wall of the second round tube. After adjusting the position of the round rod by pushing and pulling the connecting ring, the first butterfly nut is rotated to make the first butterfly nut contact and press the second round tube to fix the round rod in the current position. The operation is simple;

[0034] 5. Since the angles of the rotating plate and the second round tube are consistent, when the second round tube is rotated, the rotating plate rotates accordingly. The angle of rotation of the rotating plate and the second round tube is determined by the angle scale on the angle plate. When the rotating plate is rotated to the specified angle, the two second butterfly nuts are rotated toward the angle plate and pressed in contact to fix the rotating plate and the second round tube at the current angle. The operation is simple.

[0035] 6. In the initial state, the second rotating shaft faces forward, and the upper end of the limit rod is inserted into the limit blind hole at one end of the arc-shaped slide. When the 3D laser scanner only needs to test one target ball, push the lever downward to compress the spring, so that the upper end of the limit rod slides out of the limit blind hole, and then slides along the arc-shaped slide to the limit blind hole at the other end. At this time, the rotating block rotates 90 degrees, and the second rotating shaft faces the side. Then place the base on the two guide rails, slide the base, change the horizontal distance between the target ball and the 3D laser scanner, and complete the relative distance test. The operation is simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a top view of the present invention;

[0037] Figure 2 yes Figure 1 Sectional view at AA in the middle;

[0038] Figure 3 yes Figure 1 Sectional view at the middle BB;

[0039] Figure 4 yes Figure 2 Sectional view at CC;

[0040] Figure 5 yes Figure 2 Sectional view at DD in the middle;

[0041] Figure 6 yes Figure 2 A partial enlarged view of point E in the middle;

[0042] Figure 7 yes Figure 3 Cross-sectional view at FF;

[0043] Figure 8 It is a schematic diagram of the symmetry test;

[0044] Fig. 9 is a schematic diagram of an asymmetric test;

[0045] Fig.10 It is a schematic diagram of the relative distance test;

[0046] Fig.11 is a schematic diagram of the medial test.

[0047] In the figure, 1 is a base; 11 is a first rotating shaft; 111 is a track wheel; 112 is a fixing plate; 12 is a first slide groove; 13 is a second slide groove; 2 is a connecting block; 21 is a first screw rod; 211 is a fixing block; 212 is a handle; 22 is an internal threaded sleeve; 23 is a first connecting rod; 231 is a fixing shaft; 232 is a roller; 24 is a second connecting rod; 3 is a supporting rod; 31 is an extension plate; 32 is a first round tube; 321 is a guide hole; 33 is a limit rod; 331 is a lever; 34 is Spring; 4, rotating block; 41, second rotating shaft 42, second round tube; 421, slide slot hole; 43, round rod; 431, column; 432, external thread; 433, first butterfly nut; 434, connecting ring; 44, first target ball; 45, second target ball; 46, arc-shaped slide slot; 461, limiting blind hole; 5, angle plate; 51, arc-shaped hole; 6, rotating plate; 61, second screw; 62, second butterfly nut; 63, perforation; 631, indicator line; 7, guide rail. DETAILED DESCRIPTION

[0048] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0049] like Figures 1 to 7 As shown, a three-dimensional laser scanner calibration device is characterized by comprising a base 1, a connecting block 2, a rotating block 4, a first limiting mechanism and a second limiting mechanism.

[0050] A first rotating shaft 11 is rotatably provided on the lower side of the base 1, and track wheels 111 are provided at both ends of the first rotating shaft 11. Two guide rails 7 are provided parallel to the ground, and the track wheels 111 on both sides of the base 1 are rollingly set on the two guide rails 7, so that the base 1 can move horizontally along the guide rails 7.

[0051] The connection block 2 is vertically slidably arranged above the base 1 through a driving mechanism, and a support rod 3 is arranged on the connection block 2 .

[0052] The driving mechanism includes a first screw rod 21, a driving assembly and a plurality of supporting structures.

[0053] The first screw rod 21 is coaxially rotatably disposed on the lower side of the connecting block 2 , and an internally threaded sleeve 22 is threadedly connected to the first screw rod 21 .

[0054] The driving assembly is arranged at the lower end of the first screw rod 21 , and the driving assembly includes a fixing block 211 and a plurality of handles 212 . The fixing block 211 is fixed on the lower end of the first screw rod 21 , and the plurality of handles 212 are horizontally arranged on the outer side of the fixing block 211 along the circumferential direction.

[0055] Several supporting structures are circumferentially arranged on the outside of the connecting block 2, and the supporting structures include a first connecting rod 23 and a second connecting rod 24. The upper end of the first connecting rod 23 is hinged to the side of the connecting block 2, and the lower end of the first connecting rod 23 is slidably arranged on the base 1. One end of the second connecting rod 24 is hinged to the outside of the internal threaded sleeve 22, and the other end is hinged to the first connecting rod 23.

[0056] Specifically, a plurality of first slide grooves 12 are opened on the upper side surface of the base 1 along the circumference of the first screw rod 21, and two second slide grooves 13 are horizontally opened on the two side walls of the first slide groove 12. The plurality of first slide grooves 12 correspond to the plurality of first connecting rods 23 one by one, and a fixed shaft 231 is provided at the lower end of the first connecting rod 23. The two ends of the fixed shaft 231 are respectively inserted into the two second slide grooves 13 corresponding to the first slide groove 12, and two rollers 232 are rotatably provided on the fixed shaft 231 located on both sides of the first connecting rod 23, and the wheel surface of the roller 232 contacts the bottom of the first slide groove 12.

[0057] The lower end of the first connecting rod 23 is slidably set in the two second sliding grooves 13 through the fixed shaft 231. The two second sliding grooves 13 can limit the sliding range of the lower end of the first connecting rod 23. At the same time, the roller 232 on the fixed shaft 231 rolls at the bottom of the first sliding groove 12, reducing the sliding resistance of the fixed shaft 231 and making it slide more smoothly.

[0058] In order to meet the use requirements of the three-dimensional laser scanner, the handle 212 is rotated to drive the fixed block 211 and the first screw 21 to rotate, so that the internal threaded sleeve 22 on the first screw 21 rotates. Since the internal threaded sleeve 22 is limited by the second connecting rod 24, it can only move up and down. When the internal threaded sleeve 22 moves upward, the lower end of the first connecting rod 23 is pulled inward by the second connecting rod 24, so that the connecting block 2 drives the first connecting rod 23 to move vertically upward, and the height of the second rotating shaft 41 is raised. When the internal threaded sleeve 22 moves downward, the lower end of the first connecting rod 23 is pulled outward by the second connecting rod 24, so that the connecting block 2 drives the first connecting rod 23 to move vertically downward, and the height of the second rotating shaft 41 is lowered, thereby meeting the test requirements of different heights of the three-dimensional laser scanner.

[0059] The rotating block 4 is arranged at the upper end of the support rod 3, and a second rotating shaft 41 is rotatably provided on one side surface of the rotating block 4, a second circular tube 42 is provided at the outer end of the second rotating shaft 41, a first target ball 44 is provided at one end of the second circular tube 42, a round rod 43 is slidably provided in the second circular tube 42, one end of the round rod 43 extends out of the second circular tube 42 away from one end of the first target ball 44 and a second target ball 45 is provided at the end, and in an initial state, the distances between the first target ball 44 and the second target ball 45 and the second rotating shaft 41 are the same.

[0060] Preferably, the second round tube 42 and the round rod 43 can be made of Invar steel material, and by utilizing its lower thermal expansion coefficient, the material can maintain a fixed length within a wider temperature range without deformation.

[0061] The first limiting mechanism is disposed in the second round tube 42 , and the first limiting mechanism can fix the round rod 43 at a specified position as required.

[0062] The second limiting mechanism is disposed on the rotating block 4 , and the second limiting mechanism can fix the second round tube 42 at a specified angle as required.

[0063] The three-dimensional laser scanner is also placed on the guide rail 7, and then the height position of the rotating block 4 and the second rotating shaft 41 is adjusted by rotating the handle 212, so that the three-dimensional laser scanner is on the extension line of the axis of the second rotating shaft 41. At this time, the angle of the second round tube 42 can be rotated. When it is rotated to the specified angle, the second round tube 42 is fixed at the current angle by the second limit mechanism. The laser tracker is first used to measure the distance between the first target ball 44 and the center of the second target ball 45, and then the three-dimensional laser scanner is used to complete the symmetry test, such as Figure 8 As shown, the point-to-point accuracy is tested.

[0064] By sliding the round rod 43, the distance between the second target ball 45 and the second rotating shaft 41 is changed. When the second target ball 45 moves to the specified distance, the round rod 43 is fixed at the current position by the first limit mechanism, and then the height position of the rotating block 4 and the second rotating shaft 41 is changed. The laser tracker is first used to measure the distance between the first target ball 44 and the center of the second target ball 45, and then the asymmetry test is completed by a three-dimensional laser scanner. Fig. 9 As shown, the point-to-point accuracy is tested again. The first target ball 44 and the second target ball 45 can reach the specified position by rotating the second round tube 42 and sliding the round rod 43. Only two target balls can meet different test requirements, which is simple to operate and greatly reduces the cost of the test.

[0065] In this embodiment, the first limiting mechanism includes two sliding slot holes 421 and two upright posts 431 .

[0066] The two slide slot holes 421 are opened on the outer side of the second circular tube 42 along the length direction.

[0067] The two columns 431 are respectively arranged on both sides of the round rod 43, and the two columns 431 correspond to the two slide slot holes 421 one by one. The columns 431 pass through the corresponding slide slot holes 421 and extend to the outside of the second round tube 42. The columns 431 are provided with external threads 432, and the columns 431 located on the outside of the second round tube 42 are threadedly connected with the first butterfly nut 433. Preferably, a connecting ring 434 is connected between the outer ends of the two columns 431, and a rubber sleeve is provided on the outer side of the connecting ring 434.

[0068] In the initial state, the two first butterfly nuts 433 are away from the outer wall of the second round tube 42. After adjusting the position of the round rod by pushing and pulling the connecting ring 434, the first butterfly nut 433 is rotated to make the first butterfly nut 433 contact and press the second round tube 42 to fix the round rod 43 in the current position. The operation is simple.

[0069] Preferably, a length scale is provided on the round rod 43. When the distances from the first target ball 44 and the second target ball 45 to the second rotating shaft 41 are the same, the length scale on the round rod 43 is 0. At this time, the column 431 is located at one end of the slide slot hole 421 close to the first target ball 44. When the round rod 43 slides outward, the sliding distance a can be read by the length scale, and then the center distance L from the first target ball 44 to the second rotating shaft 41 can be calculated during manufacturing. Therefore, the center distance S from the first target ball 44 to the second target ball 45 can be directly obtained as 2L+a, which can reduce the number of measurements of the laser tracker.

[0070] In this embodiment, the second limiting mechanism includes an angle plate 5 and a rotating plate 6 .

[0071] The angle plate 5 is fixedly mounted on a side of the rotating block 4 away from the second circular tube 42 . An arc hole 51 is opened on the angle plate 5 around the circumference of the second rotating shaft 41 . An angle scale is also arranged on the angle plate 5 around the circumference of the second rotating shaft 41 .

[0072] The end of the second rotating shaft 41 passes through the angle plate 5 and is fixedly connected to the rotating plate 6. Preferably, the rotating plate 6 and the second round tube 42 have the same angle direction. The rotating plate 6 is provided with a second screw 61, which passes through the arc hole 51 and has a sealing plate at the end. Two second butterfly nuts 62 are respectively threadedly connected to the second screw 61 on both sides of the angle plate 5. Preferably, a through hole 63 is opened on the rotating plate 6 along the length direction, and an indicator line 631 is provided in the middle of the through hole 63, and the indicator line 631 is in red.

[0073] Since the angular directions of the rotating plate 6 and the second circular tube 42 are consistent, when the second circular tube 42 is rotated, the rotating plate 6 rotates accordingly, and the rotation angle of the rotating plate 6 and the second circular tube 42 is determined by the angle scale on the angle plate 5. When the rotating plate 6 is rotated to the specified angle, the two second butterfly nuts 62 are rotated toward the angle plate 5 and contacted and pressed to fix the rotating plate 6 and the second circular tube 42 at the current angle. The operation is simple.

[0074] In this embodiment, an arc-shaped slide groove 46 is provided on the lower side surface of the rotating block 4 around the circumference of the support rod 3, and limiting blind holes 461 are provided at both ends of the arc-shaped slide groove 46. An extension plate 31 is provided on the support rod 3, and a first circular tube 32 is provided on the extension plate 31. A limiting rod 33 is vertically slidably provided on the first circular tube 32, and a spring 34 is fixedly connected between the lower end of the limiting rod 33 and the extension plate 31. The upper end of the limiting rod 33 extends into the arc-shaped slide groove 46 and the end is tightly pressed against the bottom of the arc-shaped slide groove 46. When the rotating block 4 rotates, there are at least two positions, and the upper end of the limiting rod 33 can be inserted into the two limiting blind holes 461. A guide hole 321 is vertically opened on the outer side of the first circular tube 32, and a lever 331 is horizontally provided on the limiting rod 33. The lever 331 passes through the guide hole 321 and extends to the outer side of the first circular tube 32.

[0075] In the initial state, the second rotating shaft 41 faces the front, and the upper end of the limiting rod 33 is inserted into the limiting blind hole 461 at one end of the arc-shaped slide groove 46. When the three-dimensional laser scanner only needs to test one target ball, the lever 331 is pushed downward to compress the spring 34, so that the upper end of the limiting rod 33 slides out of the limiting blind hole 461, and then slides along the arc-shaped slide groove 46 to the limiting blind hole 461 at the other end. At this time, the rotating block 6 rotates 90 degrees, and the second rotating shaft 41 faces the side. Then, the base 1 is placed on the two guide rails 7, and the base 1 is slid to change the horizontal distance between the target ball and the three-dimensional laser scanner to complete the relative distance test. Fig.10 As shown, the operation is simple.

[0076] Preferably, two calibration devices can be placed on the two guide rails 7, and the three-dimensional laser scanner can be placed between the two calibration devices, so that a target ball of the two calibration devices and the three-dimensional laser scanner are on the same horizontal line, and the inner side test can be completed by changing the distance between the two calibration devices and the three-dimensional laser scanner, such as Fig.11 shown.

[0077] In the description of this patent, it should be understood that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this patent and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this patent.

[0078] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A three-dimensional laser scanner calibration device, characterized in that: include: A base (1), wherein a first rotating shaft (11) is rotatably provided on a lower side surface of the base (1), and track wheels (111) are provided at both ends of the first rotating shaft (11); A connecting block (2), the connecting block (2) being arranged above the base (1) via a driving mechanism, the driving mechanism being capable of driving the connecting block (2) to move vertically up and down, and a supporting rod (3) being provided on the connecting block (2); A rotating block (4), the rotating block (4) being arranged at the upper end of the supporting rod (3), a second rotating shaft (41) being rotatably arranged on one side surface of the rotating block (4), a second circular tube (42) being arranged at the outer end of the second rotating shaft (41), a first target ball (44) being arranged at one end of the second circular tube (42), a round rod (43) being slidably arranged in the second circular tube (42), one end of the round rod (43) extending out of one end of the second circular tube (42) away from the first target ball (44) and a second target ball (45) being arranged at the end thereof; A first limiting mechanism, the first limiting mechanism being arranged in the second round tube (42), and the first limiting mechanism being capable of fixing the round rod (43) at a specified position as required; a second limiting mechanism, the second limiting mechanism being arranged on the rotating block (4), and the second limiting mechanism being capable of fixing the second circular tube (42) at a specified angle as required; The driving mechanism comprises: A first screw rod (21), the first screw rod (21) being coaxially rotatably arranged on the lower side of the connecting block (2), and an internally threaded sleeve (22) being threadedly connected to the first screw rod (21); a drive assembly, the drive assembly being arranged at the lower end of the first screw rod (21), the drive assembly being capable of driving the first screw rod (21) to rotate; A plurality of support structures, wherein the plurality of support structures are arranged circumferentially on the outside of the connection block (2), and the support structures comprise: a first connecting rod (23), the upper end of which is hinged to the side of the connection block (2), and the lower end of which is slidably arranged on the base (1); and a second connecting rod (24), one end of which is hinged to the outside of the internally threaded sleeve (22), and the other end of which is hinged to the first connecting rod (23).

2. A three-dimensional laser scanner calibration device according to claim 1, characterized in that: The drive assembly comprises: A fixed block (211), wherein the fixed block (211) is fixedly mounted on the lower end of the first screw rod (21); A plurality of handles (212) are horizontally arranged on the outside of the fixing block (211) along the circumferential direction.

3. The three-dimensional laser scanner calibration device according to claim 1, characterized in that: The upper side surface of the base (1) is provided with a plurality of first slide grooves (12) along the circumference of the first screw rod (21), and two second slide grooves (13) are horizontally provided on the two side walls of the first slide groove (12), and the plurality of first slide grooves (12) correspond to the plurality of first connecting rods (23) one by one, and a fixed shaft (231) is provided at the lower end of the first connecting rod (23), and the two ends of the fixed shaft (231) are respectively inserted into the two second slide grooves (13) corresponding to the first slide groove (12), and two rollers (232) are rotatably provided on the fixed shaft (231) located on both sides of the first connecting rod (23), and the wheel surface of the roller (232) contacts the bottom of the first slide groove (12).

4. The three-dimensional laser scanner calibration device according to claim 1, characterized in that: The first limiting mechanism comprises: Two slide slot holes (421), the two slide slot holes (421) being opened on the outside of the second circular tube (42) along the length direction; Two columns (431), the two columns (431) are respectively arranged on both sides of the round rod (43), the two columns (431) correspond to the two slide slot holes (421) one by one, the columns (431) pass through the corresponding slide slot holes (421) and extend to the outside of the second round tube (42), the columns (431) are provided with external threads (432), and the columns (431) located outside the second round tube (42) are threadedly connected with the first butterfly nut (433).

5. The three-dimensional laser scanner calibration device according to claim 4, characterized in that: A connecting ring (434) is connected between the outer ends of the two upright posts (431), and a rubber sleeve is provided on the outer side of the connecting ring (434).

6. The three-dimensional laser scanner calibration device according to claim 1, characterized in that: The second limiting mechanism comprises: An angle plate (5), the angle plate (5) being fixedly arranged on a side of the rotating block (4) away from the second circular tube (42), the angle plate (5) being provided with an arc-shaped hole (51) in the circumferential direction around the second rotating shaft (41), and the angle plate (5) being provided with an angle scale in the circumferential direction around the second rotating shaft (41); The rotating plate (6) has an end portion of the second rotating shaft (41) passing through the angle plate (5) and the end portion is fixedly connected to the rotating plate (6). The rotating plate (6) is provided with a second screw rod (61). The second screw rod (61) passes through the arc-shaped hole (51) and a sealing plate is provided at the end portion. Two second butterfly nuts (62) are respectively threadedly connected to the second screw rod (61) located on both sides of the angle plate (5).

7. A three-dimensional laser scanner calibration device according to claim 6, characterized in that: The rotating plate (6) is provided with a through hole (63) along the length direction, and an indication line (631) is provided in the middle of the through hole (63).

8. The three-dimensional laser scanner calibration device according to claim 1, characterized in that: The lower side surface of the rotating block (4) is provided with an arc-shaped slide groove (46) around the circumference of the support rod (3), and both ends of the arc-shaped slide groove (46) are provided with limiting blind holes (461). The support rod (3) is provided with an extension plate (31), and the extension plate (31) is provided with a first round tube (32). A limiting rod (33) is vertically slidably provided on the first round tube (32), and a spring (34) is provided between the lower end of the limiting rod (33) and the extension plate (31). The upper end of the limiting rod (33) extends into the arc-shaped slide groove (46) and the end is tightly pressed against the bottom of the arc-shaped slide groove (46). When the rotating block (4) rotates, there are at least two positions where the upper end of the limiting rod (33) can be inserted into the two limiting blind holes (461).

9. The three-dimensional laser scanner calibration device according to claim 8, characterized in that: A guide hole (321) is vertically provided on the outer side of the first round tube (32), a shifting rod (331) is horizontally provided on the limit rod (33), and the shifting rod (331) passes through the guide hole (321) and extends to the outer side of the first round tube (32).

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