Mobile laser measuring device and measuring method

Abstract

The invention discloses a mobile laser measurement device and a measurement method, and the device is characterized in that an RTK positioning module and an IMU sensor are disposed on a body at the same time, and a connection line between the IMU sensor and the RTK positioning module is parallel to the irradiation direction of a laser ranging module; therefore, the positioning result of the laser ranging module can be calculated according to the positioning result of the RTK positioning module and the attitude measurement result of the IMU sensor, the distance of each irradiation point can be measured by changing the position of the irradiation point of the laser ranging module on the plane to be measured in the measurement process, and the positioning result and the irradiation direction of the laser ranging module are combined. The equation of the to-be-measured plane can be determined by more than three irradiation points, so that the included angle between the to-be-measured plane and the horizontal plane is determined, long-distance non-contact measurement is carried out only through laser in the whole measurement process, and the method has the advantage of long-distance non-contact measurement.

Description

Technical Field

[0001] The invention relates to a mobile laser measuring device and a measuring method, belonging to the technical field of laser measurement. Background Art

[0002] Non-contact long-distance plane inclination measurement is often encountered in a large number of production practices, such as photovoltaic panel inclination measurement, high-altitude equipment installation, and high-temperature environment equipment installation. These scenarios sometimes require non-contact long-distance measurement of the plane's inclination. The existing plane inclination measurement uses contact measurement such as protractor, which is not suitable for non-contact long-distance measurement application scenarios. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a mobile laser measuring device and a measuring method to overcome the deficiencies of the prior art.

[0004] The technical solution of the present invention is:

[0005] A first aspect provides a mobile laser measuring device, the device comprising:

[0006] ontology;

[0007] A laser ranging module, wherein the laser ranging module is arranged on the outer surface of the body;

[0008] An RTK positioning module, wherein the RTK positioning module is arranged on an end of the main body away from the laser ranging module, and a connection line from the RTK positioning module to the laser ranging module is parallel to an irradiation direction of the laser ranging module;

[0009] An IMU sensor, wherein the IMU sensor is arranged in the body, and a Z axis of the IMU sensor is parallel to an emission direction of the laser ranging module;

[0010] A controller, wherein the controller is electrically connected to the laser ranging module, the controller is electrically connected to the IMU sensor, and the controller is electrically connected to the RTK positioning module;

[0011] A control button is electrically connected to the controller.

[0012] Furthermore, the device comprises: a base, the base is universally connected to the lower part of the body through a ball joint, the RTK positioning module is arranged on the body through the ball joint, and the RTK positioning module is arranged at the center of the ball joint.

[0013] On the other hand, a measurement method of the device is provided, the method comprising the following steps:

[0014] S01, sending a start signal to the controller through a control button;

[0015] S02. After receiving the start signal, the controller controls the laser ranging module to measure the distance, and continuously changes the position of the body to change the position of the irradiation point of the laser rangefinder irradiating the plane to be measured, and obtains the measurement distance corresponding to each irradiation point; while changing the position of the irradiation point, the controller solves the irradiation direction vector of each irradiation point of the laser ranging module according to the measurement data of the IMU sensor, and solves the position of the RTK positioning module according to the RTK positioning module, and solves the coordinates of the laser ranging module corresponding to each irradiation point according to the distance between the laser rangefinder and the RTK positioning module and the irradiation direction vector of each irradiation point;

[0016] S03, the controller solves the plane equation of the plane to be measured according to the measured distances of different irradiation points, the irradiation direction vector and the coordinates of the laser ranging module;

[0017] S04, the controller solves the normal vector of the plane to be measured according to the plane equation of the plane to be measured;

[0018] S05. The controller calculates the inclination angle between the plane to be measured and the horizontal plane according to the normal vector of the plane to be measured.

[0019] Optionally, the plane equation of the plane to be measured is calculated according to the measured distances of different irradiation points, the irradiation direction vector and the coordinates of the laser ranging module as follows:

[0020] B=(A T A) -1 A T Z

[0021] in,

[0022]

[0023] a, b and c represent the coefficients of the plane equation to be measured, A T represents the transpose of A, x i ,y i and z i (i=1,2,3,…,n) represents the coordinates of the laser ranging module at the ith irradiation point, d i (i=1,2,3,…,n) indicates that the laser ranging module measures the distance of the i-th irradiation point, It represents the direction vector when the laser ranging module measures the ith irradiation point, t ix (i=1,2,3,…,n) represents the x-axis direction component of the direction vector when the laser ranging module measures the i-th irradiation point, t iy (i=1,2,3,…,n) represents the y-axis component of the direction vector when the laser ranging module measures the i-th irradiation point, t iz(i=1, 2, 3, ..., n) represents the z-axis direction component of the direction vector when the laser ranging module measures the i-th irradiation point.

[0024] Preferably, the method for solving the plane equation of the plane to be measured according to the measured distances of different irradiation points, the irradiation direction vector and the coordinates of the laser ranging module is specifically:

[0025] S03_1. When the data of the third irradiation point is obtained, the iteration starts, the number of iterations k=1, and the weight matrix P is set. (1) is a 3*3 diagonal matrix, P (1) The diagonal elements of are 1;

[0026] S03_2. Calculate the estimated parameter vector B of the plane to be measured at the kth iteration (k) , the calculation method is as follows,

[0027] B (k) =(A (k)T P (k) A (k) ) -1 A (k)T P (k) Z (k)

[0028] in,

[0029]

[0030] a (k) , b (k) and c (k) represents the coefficients of the plane equation to be measured calculated at the kth iteration, Indicates A (k) The transpose of x i ,y i and z i (i=1,2,3,…,n) represents the coordinates of the laser ranging module at the ith irradiation point, d i (i=1,2,3,…,n) indicates that the laser ranging module measures the distance of the i-th irradiation point, (i=1,2,3,…,n) represents the direction vector when the laser ranging module measures the i-th irradiation point, t ix (i=1,2,3,…,n) represents the x-axis direction component of the direction vector when the laser ranging module measures the i-th irradiation point, t iy (i=1,2,3,…,n) represents the y-axis component of the direction vector when the laser ranging module measures the i-th irradiation point, t iz (i=1,2,3,…,n) represents the z-axis direction component of the direction vector when the laser ranging module measures the i-th irradiation point;

[0031] S03_3, receiving new irradiation point data, increasing the number of iterations by 1, and calculating the estimated parameter vector B of the plane to be measured at the kth iteration. (k) Calculate the residual of the z-axis value of the irradiation point obtained, and update the weight matrix P at the k+1th iteration according to the residual of the z-axis value of the irradiation point obtained (k+1) ;

[0032] S03_4, according to the weight matrix P at the k+1th iteration (k+1) Calculate the estimated parameter vector B of the plane to be measured at the k+1th iteration (k+1) ;

[0033] S03_5. Calculate the estimated parameter vector B of the plane to be measured at the k+1th iteration (k+1) and the estimated parameter vector B of the plane to be measured in the kth iteration (k) The norm γ between them;

[0034] S03_6. If γ<α, stop the iteration and set the estimated parameter vector B of the plane to be measured in the k+1th iteration (k+1) As the final estimated parameter vector of the plane to be measured, otherwise jump to step S03_3, where α is the preset stop iteration threshold.

[0035] Furthermore, the weight matrix P at the k+1th iteration is updated according to the residual of the z-axis value of the irradiation point obtained. (k+1) The specific method is:

[0036] Calculate the residual value corresponding to the i-th irradiation point at the k+1th iteration

[0037]

[0038] Among them, {A k+1 B (k)} i Represents vector A k+1 B (k) The i-th component of ;

[0039] Calculate the weight of the i-th irradiation point at the k+1th iteration

[0040]

[0041] Update the weight matrix P (k+1) ,

[0042]

[0043] Furthermore, the method for calculating the coordinates of the laser ranging module corresponding to each irradiation point pair according to the distance between the laser rangefinder and the RTK positioning module and the irradiation direction vector of each irradiation point is:

[0044]

[0045] in, represents the positioning coordinates corresponding to the i-th irradiation point calculated by the RTK positioning module, L represents the distance between the laser rangefinder and the RTK positioning module, (i=1, 2, 3, ..., n) represents the direction vector when the laser ranging module measures the i-th irradiation point.

[0046] Furthermore, the laser ranging module coordinates corresponding to each irradiation point are obtained by fusing the IMU sensor and RTK positioning module data through a Kalman filter algorithm.

[0047] Furthermore, the method for solving the normal vector of the plane to be measured according to the plane equation of the plane to be measured is:

[0048]

[0049] Among them, n (k+1) Represents the normal vector of the plane to be measured calculated at the k+1th iteration.

[0050] Furthermore, the inclination angle between the plane to be measured and the horizontal plane is calculated according to the normal vector of the plane to be measured,

[0051]

[0052] in,

[0053] The beneficial effects of the present invention are:

[0054] 1) The present invention simultaneously arranges an RTK positioning module and an IMU sensor on the main body, and makes the connection line between the IMU sensor and the RTK positioning module parallel to the irradiation direction of the laser ranging module, so that the positioning result of the laser ranging module can be calculated according to the positioning result of the RTK positioning module and the posture measurement result of the IMU sensor. During the measurement process, the position of the irradiation point of the laser ranging module on the plane to be measured can be changed to measure the distance of each irradiation point. Combining the positioning result of the laser ranging module and the irradiation direction, the equation of the plane to be measured can be determined when there are more than 3 irradiation points, thereby determining the angle between the plane to be measured and the horizontal plane. The entire measurement process only uses laser for long-distance non-contact measurement. The present invention has the advantage of long-distance non-contact measurement;

[0055] 2) The present invention calculates the positioning result of the laser ranging module through the positioning result of the RTK positioning module and the posture measurement result of the IMU sensor. During the measurement process, the position of the laser ranging module can be changed to achieve the change of the irradiation point position of the laser ranging module on the plane to be measured, and the distance is measured for each irradiation point. Combining the positioning result of the laser ranging module and the irradiation direction, the equation of the plane to be measured can be determined when there are more than 3 irradiation points, thereby determining the angle between the plane to be measured and the horizontal plane. When using the present invention, there is no need to fix the position of the main body, but the user is required to move the main body, which has lower operation requirements for the surveyor and is simpler to use;

[0056] 3) The present invention uses a universal connection between the base and the lower part of the body, so that the positioning coordinates of the RTK positioning module will not change as the body rotates around the base. When the satellite positioning signal is poor, the positioning coordinates of the RTK positioning module can be adjusted without changing the base.

[0057] The premise of the RTK positioning module position is to change the position of the laser ranging module irradiating the plane to be measured, so as to obtain the equation of the plane to be measured, and then determine the angle between the plane to be measured and the horizontal plane;

[0058] 4) The present invention calculates the coordinates of the irradiation point on the plane to be measured by the distance and irradiation direction obtained by more than three irradiation points, and obtains the equation of the plane to be measured by least squares fitting, thus avoiding the problem of only using three irradiation points to calculate the coordinates of the irradiation point on the plane to be measured.

[0059] There is a problem that the measurement error is large when determining the plane equation with a single irradiation point, and the measurement error of the present invention is smaller;

[0060] 5) Based on the least squares method, the present invention adds weights to the measurement data of each irradiation point, and uses the weights to form a weight matrix. The weight of the measurement data of each irradiation point is updated according to the residual between the z-axis measurement data of each irradiation point and the z-axis value calculated by the estimated parameter vector of the measured plane determined by the least squares method. If the irradiation point accidentally irradiates an area outside the measured plane, the weight of the measurement value of this point will be reduced due to the increase in the residual, thereby playing a role in automatically preventing misoperation. At the same time, the irradiation points with large gross errors can be automatically screened out, which is particularly useful for the situation where there are holes or protruding plane components on the measured plane, and can reduce measurement errors;

[0061] 6) The present invention fuses the positioning data of the IMU sensor and the RTK positioning module through the Kalman filter algorithm, which can improve the positioning accuracy of the laser ranging module. At the same time, when the RTK positioning module cannot receive satellite signals, the positioning of the laser ranging module can also be achieved by relying on the measurement data of the IMU sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 is a cross-sectional view of Example 1 of the present invention;

[0063] Figure 2 This is a circuit connection block diagram of Embodiment 1 of the present invention;

[0064] Figure 3 This is a flow chart of Embodiment 2 of the present invention;

[0065] Figure 4 The present invention is a flow chart of a method for solving a plane equation of a plane to be measured. DETAILED DESCRIPTION

[0066] Implementation Example 1:

[0067] refer to Figure 1 and Figure 2 A first aspect provides a mobile laser measuring device, the device comprising:

[0068] Ontology 1;

[0069] A laser distance measuring module 2, wherein the laser distance measuring module 2 is arranged on the outer surface of the body 1;

[0070] An RTK positioning module 4, wherein the RTK positioning module 4 is arranged on an end of the body 1 away from the laser ranging module 2, and a connection line from the RTK positioning module 4 to the laser ranging module 2 is parallel to an irradiation direction of the laser ranging module 2;

[0071] An IMU sensor 3, wherein the IMU sensor 3 is disposed in the body 1, and a Z axis of the IMU sensor 3 is parallel to an emission direction of the laser ranging module 2;

[0072] A controller 8, wherein the controller 8 is electrically connected to the laser ranging module 2, the controller 8 is electrically connected to the IMU sensor 3, and the controller 8 is electrically connected to the RTK positioning module 4;

[0073] The control button 7 is electrically connected to the controller 8 .

[0074] Working principle: By simultaneously arranging the RTK positioning module 4 and the IMU sensor 3 on the main body 1, and making the connection line between the IMU sensor 3 and the RTK positioning module 4 parallel to the irradiation direction of the laser ranging module 2, the positioning result of the laser ranging module 2 can be calculated according to the positioning result of the RTK positioning module 4 and the posture measurement result of the IMU sensor 3. During the measurement process, the irradiation point position of the laser ranging module 2 on the plane to be measured can be changed to measure the distance of each irradiation point. Combined with the positioning result and irradiation direction of the laser ranging module 2, the equation of the plane to be measured can be determined when there are more than 3 irradiation points, thereby determining the angle between the plane to be measured and the horizontal plane. The entire measurement process only uses laser for long-distance non-contact measurement. The present invention has the advantage of long-distance non-contact measurement. The positioning result of the laser ranging module 2 is calculated by the positioning result of the RTK positioning module 4 and the posture measurement result of the IMU sensor 3. During the measurement process, the position of the irradiation point of the laser ranging module 2 on the plane to be measured can be changed by changing the position of the laser ranging module 2, and the distance is measured for each irradiation point. Combined with the positioning result and irradiation direction of the laser ranging module 2, the equation of the plane to be measured can be determined for more than 3 irradiation points, thereby determining the angle between the plane to be measured and the horizontal plane. When in use, the present invention does not need to fix the position of the main body 1, but requires the user to move the main body 1, which has lower operating requirements for the measurer and is simpler to use.

[0075] In order to enable the present invention to operate well in areas without satellite signals, the present embodiment further includes a base 6, which is universally connected to the lower part of the main body 1 through a ball joint 5, and the RTK positioning module 4 is arranged on the main body 1 through the ball joint 5, and the RTK positioning module 4 is arranged at the center of the ball joint 5.

[0076] Working principle: The base 6 is universally connected to the lower part of the body 1, so that the positioning coordinates of the RTK positioning module 4 will not change as the body 1 rotates around the base 6. When the satellite positioning signal is poor, the position of the laser ranging module 2 irradiated to the plane to be measured can be changed without changing the position of the RTK positioning module 4, so as to obtain the equation of the plane to be measured, and thus determine the angle between the plane to be measured and the horizontal plane.

[0077] Implementation Example 2:

[0078] refer to Figure 3 , a measuring method of the device is provided, the method comprising the following steps:

[0079] S01, sending a start signal to the controller 8 via the control button 7;

[0080] S02, after receiving the start signal, the controller 8 controls the laser ranging module 2 to measure the distance, and continuously changes the position of the body 1 so that the position of the irradiation point of the laser rangefinder irradiating the plane to be measured changes, and obtains the measurement distance corresponding to each irradiation point; while changing the position of the irradiation point, the controller 8 solves the irradiation direction vector of each irradiation point of the laser ranging module 2 according to the measurement data of the IMU sensor 3, and the controller 8 solves the position of the RTK positioning module 4 according to the RTK positioning module 4, and solves the coordinates of the laser ranging module 2 corresponding to each irradiation point according to the distance between the laser rangefinder and the RTK positioning module 4 and the irradiation direction vector of each irradiation point;

[0081] S03, the controller 8 solves the plane equation of the plane to be measured according to the measured distances of different irradiation points, the irradiation direction vector and the coordinates of the laser ranging module 2;

[0082] S04, the controller 8 solves the normal vector of the plane to be measured according to the plane equation of the plane to be measured;

[0083] S05. The controller 8 calculates the inclination angle between the plane to be measured and the horizontal plane according to the normal vector of the plane to be measured.

[0084] In order to reduce the error, in this embodiment, optionally, the plane equation of the plane to be measured is calculated according to the measured distance of different irradiation points, the irradiation direction vector and the coordinates of the laser ranging module 2 as follows:

[0085] B=(A T A) -1 A T Z

[0086] in,

[0087]

[0088] a, b and c represent the coefficients of the plane equation to be measured, A T represents the transpose of A, x i ,y i and z i (i=1,2,3,…,n) represents the coordinates of the laser ranging module 2 at the i-th irradiation point, d i (i=1,2,3,…,n) indicates that the laser ranging module 2 measures the distance of the i-th irradiation point, It represents the direction vector when the laser ranging module 2 measures the i-th irradiation point, t ix (i=1,2,3,…,n) represents the x-axis direction component of the direction vector when the laser ranging module 2 measures the i-th irradiation point, t iy (i=1,2,3,…,n) represents the y-axis component of the direction vector when the laser ranging module 2 measures the i-th irradiation point, t iz(i=1, 2, 3, ..., n) represents the z-axis direction component of the direction vector when the laser ranging module 2 measures the i-th irradiation point.

[0089] Working principle: The coordinates of the irradiation points on the plane to be measured are calculated by the distances and irradiation directions obtained from more than three irradiation points, and the equation of the plane to be measured is obtained by least squares fitting, thereby avoiding the problem of large measurement errors when the plane equation is determined by only three irradiation points. The present invention has smaller measurement errors.

[0090] In order to avoid misoperation during measurement that causes the irradiation point of the laser ranging module 2 to be outside the plane to be measured, or to avoid holes or protrusions on the plane to be measured that cause large measurement errors at these points, in this embodiment, reference is preferably made to Figure 4 The method for solving the plane equation of the plane to be measured according to the measured distance of different irradiation points, the irradiation direction vector and the coordinates of the laser ranging module 2 is specifically:

[0091] S03_1. When the data of the third irradiation point is obtained, the iteration starts, the number of iterations k=1, and the weight matrix P is set. (1) is a 3*3 diagonal matrix, P (1) The diagonal elements of are 1;

[0092] S03_2. Calculate the estimated parameter vector B of the plane to be measured at the kth iteration (k) , the calculation method is as follows,

[0093] B (k) =(A (k)T P (k) A (k) ) -1 A (k)T P (k) Z (k)

[0094] in,

[0095]

[0096] a (k) , b (k) and c (k) represents the coefficient of the plane equation to be measured calculated at the kth iteration, A (k)T Indicates A (k) The transpose of x i ,y i and z i (i=1,2,3,…,n) represents the coordinates of the laser ranging module 2 at the i-th irradiation point, d i (i=1,2,3,…,n) indicates that the laser ranging module 2 measures the distance of the i-th irradiation point, (i=1,2,3,…,n) represents the direction vector when the laser ranging module 2 measures the i-th irradiation point, t ix (i=1,2,3,…,n) represents the x-axis direction component of the direction vector when the laser ranging module 2 measures the i-th irradiation point, t iy (i=1,2,3,…,n) represents the y-axis component of the direction vector when the laser ranging module 2 measures the i-th irradiation point, t iz (i=1, 2, 3, ..., n) represents the z-axis direction component of the direction vector when the laser ranging module 2 measures the i-th irradiation point;

[0097] S03_3, receiving new irradiation point data, increasing the number of iterations by 1, and calculating the estimated parameter vector B of the plane to be measured at the kth iteration. (k) Calculate the residual of the z-axis value of the irradiation point obtained, and update the weight matrix P at the k+1th iteration according to the residual of the z-axis value of the irradiation point obtained (k+1) ;

[0098] S03_4, according to the weight matrix P at the k+1th iteration (k+1) Calculate the estimated parameter vector B of the plane to be measured at the k+1th iteration (k+1) ;

[0099] S03_5. Calculate the estimated parameter vector B of the plane to be measured at the k+1th iteration (k+1) and the estimated parameter vector B of the plane to be measured in the kth iteration (k) The norm λ between

[0100] S03_6. If λ<α, stop the iteration and set the estimated parameter vector B of the plane to be measured in the k+1th iteration (k+1) As the final estimated parameter vector of the plane to be measured, otherwise jump to step S03_3, where α is the preset stop iteration threshold.

[0101] Furthermore, the weight matrix P at the k+1th iteration is updated according to the residual of the z-axis value of the irradiation point obtained. (k+1) The specific method is:

[0102] Calculate the residual value corresponding to the i-th irradiation point at the k+1th iteration

[0103]

[0104] Among them, {A k+1 B (k)} i Represents vector A k+1 B (k) The i-th component of ;

[0105] Calculate the weight of the i-th irradiation point at the k+1th iteration

[0106]

[0107] Update the weight matrix P (k+1) ,

[0108]

[0109] Working principle: Based on the least squares method, weights are added to the measurement data of each irradiation point, and the weights are used to form a weight matrix. The weights of the measurement data of each irradiation point are updated according to the residual between the z-axis measurement data of each irradiation point and the z-axis value calculated by the estimated parameter vector of the measured plane determined by the least squares method. If the irradiation point accidentally irradiates the area outside the measured plane, the weight of the measurement value of this point will decrease due to the increase in the residual, thereby playing a role in automatically preventing misoperation. At the same time, the irradiation points with large gross errors can be automatically screened out, which is particularly useful for situations where there are holes or protruding plane components on the measured plane, and can reduce measurement errors.

[0110] Furthermore, the method for calculating the coordinates of the laser ranging module 2 corresponding to each irradiation point according to the distance between the laser rangefinder and the RTK positioning module 4 and the irradiation direction vector of each irradiation point is:

[0111]

[0112] in, represents the positioning coordinates corresponding to the i-th irradiation point calculated by the RTK positioning module 4, L represents the distance between the laser rangefinder and the RTK positioning module 4, (i=1, 2, 3, ..., n) represents the direction vector when the laser ranging module 2 measures the i-th irradiation point.

[0113] Furthermore, the coordinates of the laser ranging module 2 corresponding to each irradiation point are obtained by fusing the data of the IMU sensor 3 and the RTK positioning module 4 through a Kalman filter algorithm.

[0114] Furthermore, the method for solving the normal vector of the plane to be measured according to the plane equation of the plane to be measured is:

[0115]

[0116] Among them, n (k+1) Represents the normal vector of the plane to be measured calculated at the k+1th iteration.

[0117] Furthermore, the inclination angle between the plane to be measured and the horizontal plane is calculated according to the normal vector of the plane to be measured,

[0118]

[0119] in,

[0120] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A mobile laser measuring device, characterized in that: The device comprises: Ontology(1); A laser distance measuring module (2), wherein the laser distance measuring module (2) is arranged on the outer surface of the body (1); An RTK positioning module (4), wherein the RTK positioning module (4) is arranged on an end of the body (1) away from the laser ranging module (2), and a connection line from the RTK positioning module (4) to the laser ranging module (2) is parallel to an irradiation direction of the laser ranging module (2); An IMU sensor (3), wherein the IMU sensor (3) is arranged in the body (1), and a Z axis of the IMU sensor (3) is parallel to an emission direction of the laser ranging module (2); A controller (8), wherein the controller (8) is electrically connected to the laser ranging module (2), the controller (8) is electrically connected to the IMU sensor (3), and the controller (8) is electrically connected to the RTK positioning module (4); A control button (7), wherein the control button (7) is electrically connected to a controller (8).

2. The mobile laser measuring device according to claim 1, characterized in that: The device comprises: a base (6), the base (6) being universally connected to the lower part of a body (1) via a ball joint (5), an RTK positioning module (4) being arranged on the body (1) via the ball joint (5), and the RTK positioning module (4) being arranged at the center of the ball joint (5).

3. A measuring method of the device according to claim 1, characterized in that: The method comprises the following steps: S01, sending a start signal to a controller (8) via a control button (7); S02, after receiving the start signal, the controller (8) controls the laser distance measuring module (2) to measure the distance, and continuously changes the position of the body (1) so that the position of the illumination point of the laser distance measuring instrument on the plane to be measured changes, and obtains the measurement distance corresponding to each illumination point; while changing the position of the illumination point, the controller (8) calculates the illumination direction vector of each illumination point of the laser distance measuring module (2) according to the measurement data of the IMU sensor (3), the controller (8) calculates the position of the RTK positioning module (4) according to the RTK positioning module (4), and calculates the coordinates of the laser distance measuring module (2) corresponding to each illumination point according to the distance between the laser distance measuring instrument and the RTK positioning module (4) and the illumination direction vector of each illumination point; S03, the controller (8) solves the plane equation of the plane to be measured according to the measured distances of different irradiation points, the irradiation direction vector and the coordinates of the laser ranging module (2); S04, the controller (8) calculates the normal vector of the plane to be measured according to the plane equation of the plane to be measured; S05. The controller (8) calculates the inclination angle between the plane to be measured and the horizontal plane according to the normal vector of the plane to be measured.

4. The measuring method according to claim 3, characterized in that: The plane equation of the plane to be measured is calculated based on the measured distances of different irradiation points, the irradiation direction vector and the coordinates of the laser distance measuring module (2): B=(A T A) -1 A T Z in, a, b and c represent the coefficients of the plane equation to be measured, A T represents the transpose of A, x i ,y i and z i (i=1,2,3,…,n) represents the coordinates of the laser ranging module (2) at the i-th irradiation point, d i (i=1,2,3,…,n) indicates that the laser distance measurement module (2) measures the distance of the i-th irradiation point, (i=1,2,3,…,n) represents the direction vector when the laser ranging module (2) measures the i-th irradiation point, t ix (i=1, 2, 3, ..., n) represents the x-axis direction component of the direction vector when the laser ranging module (2) measures the i-th irradiation point, t iy (i=1, 2, 3, ..., n) represents the y-axis component of the direction vector when the laser ranging module (2) measures the i-th irradiation point, t iz (i=1, 2, 3, ..., n) represents the z-axis direction component of the direction vector when the laser ranging module (2) measures the i-th irradiation point.

5. The measuring method according to claim 3, characterized in that: The method for solving the plane equation of the plane to be measured according to the measured distances of different irradiation points, the irradiation direction vector and the coordinates of the laser distance measuring module (2) is specifically as follows: S03_1. When the data of the third irradiation point is obtained, the iteration starts, the number of iterations k=1, and the weight matrix P is set. (1) is a 3*3 diagonal matrix, P (1) The diagonal elements of are 1; S03_2. Calculate the estimated parameter vector B of the plane to be measured at the kth iteration (k) , the calculation method is as follows, in, a (k) , b (k) and c (k) represents the coefficients of the plane equation to be measured calculated at the kth iteration, Indicates A (k) The transpose of x i ,y i and z i (i=1,2,3,…,n) represents the coordinates of the laser ranging module (2) at the i-th irradiation point, d i (i=1,2,3,…,n) indicates that the laser distance measurement module (2) measures the distance of the i-th irradiation point, (i=1,2,3,…,n) represents the direction vector when the laser ranging module (2) measures the i-th irradiation point, t ix (i=1, 2, 3, ..., n) represents the x-axis direction component of the direction vector when the laser ranging module (2) measures the i-th irradiation point, t iy (i=1, 2, 3, ..., n) represents the y-axis component of the direction vector when the laser ranging module (2) measures the i-th irradiation point, t iz (i=1, 2, 3, ..., n) represents the z-axis direction component of the direction vector when the laser ranging module (2) measures the i-th irradiation point; S03_3, receiving new irradiation point data, increasing the number of iterations by 1, and calculating the estimated parameter vector B of the plane to be measured at the kth iteration. (k) Calculate the residual of the z-axis value of the irradiation point obtained, and update the weight matrix P at the k+1th iteration according to the residual of the z-axis value of the irradiation point obtained (k+1) ; S03_4, according to the weight matrix P at the k+1th iteration (k+1) Calculate the estimated parameter vector B of the plane to be measured at the k+1th iteration (k+1) ; S03_5. Calculate the estimated parameter vector B of the plane to be measured at the k+1th iteration (k+1) and the estimated parameter vector B of the plane to be measured at the kth iteration (k) The norm γ between them; S03_6. If γ<α, stop the iteration and set the estimated parameter vector B of the plane to be measured in the k+1th iteration (k+1) As the final estimated parameter vector of the plane to be measured, otherwise jump to step S03_3, where α is the preset stop iteration threshold.

6. The measuring method according to claim 5, characterized in that: The weight matrix P at the k+1th iteration is updated according to the residual of the z-axis value of the irradiation point obtained (k+1) The specific method is: Calculate the residual value corresponding to the i-th irradiation point at the k+1th iteration Among them, {A k+1 B (k) } i Represents vector A k+1 B (k) The i-th component of ; Calculate the weight of the i-th irradiation point at the k+1th iteration Update the weight matrix P (k+1) , 7. The measuring method according to claim 3, characterized in that: The method for calculating the coordinates of the laser distance measuring module (2) corresponding to each irradiation point pair according to the distance between the laser distance measuring device and the RTK positioning module (4) and the irradiation direction vector of each irradiation point is as follows: in, represents the positioning coordinates corresponding to the i-th irradiation point calculated by the RTK positioning module (4), L represents the distance between the laser rangefinder and the RTK positioning module (4), (i=1, 2, 3, ..., n) represents the direction vector when the laser ranging module (2) measures the i-th irradiation point.

8. The measuring method according to claim 7, characterized in that: The coordinates of the laser distance measurement module (2) corresponding to each irradiation point are obtained by fusing the data of the IMU sensor (3) and the RTK positioning module (4) using a Kalman filter algorithm.

9. The measuring method according to claim 5, characterized in that: The method for solving the normal vector of the plane to be measured according to the plane equation of the plane to be measured is: Among them, n (k+1) Represents the normal vector of the plane to be measured calculated at the k+1th iteration.

10. The measuring method according to claim 9, characterized in that: The inclination angle between the plane to be measured and the horizontal plane is calculated according to the normal vector of the plane to be measured, in,

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