Shaft connection survey system and method

Abstract

The invention relates to a shaft connection survey system and method, and belongs to the technical field of shaft survey, the system comprises a movable support, a first scanner, a plurality of targets, a second scanner and a data processing module; the movable support is erected above the vertical shaft, the first scanner is erected on the movable support, the multiple targets are arranged at the top of the vertical shaft and in the vertical shaft respectively, and the second scanner is arranged at the bottom of the vertical shaft; the first scanner is used for scanning the target to obtain first point cloud data; the second scanner is used for scanning the target to obtain second point cloud data; the data processing module is used for determining coordinate information of the target according to the first point cloud data and the second point cloud data. The shaft connection survey system is simple in equipment installation, low in installation cost, high in target coordinate measurement precision, short in measurement time and low in requirements for environments such as illumination during measurement.

Description

Technical Field

[0001] The present invention relates to the technical field of shaft measurement, and in particular to a shaft connection measurement system and method. Background Art

[0002] The shaft connection measurement is to transfer the ground coordinates and elevation above the shaft to the bottom of the shaft, so as to facilitate excavation and other construction work below the shaft. For shafts with a depth of about tens of meters, such as subway construction shafts, the main method is to hang steel wires, that is, first lap a fixed steel frame at the top of the working shaft, hang two steel wires on the steel frame, and hang a heavy hammer at the end of the steel wire to the bottom of the shaft. To ensure the stability of the steel wire, the heavy hammer is usually placed in the damping fluid, and reflective sheets are pasted on the two steel wires at the top and bottom of the working shaft respectively. A total station is set up at appropriate positions above and below the shaft to measure the corner relationship of the reflective sheet, and then the coordinates of the underground control points are solved. The elevation needs to be transferred by hanging a steel ruler. This method is cumbersome and takes a long time in the working shaft. It takes at least two hours to lap the steel frame, hang the steel wire, and wait for the heavy hammer to stabilize. For projects such as deep mine tunnels, gyroscopes are usually used to transfer coordinates. Although this method requires less preliminary preparation, the gyroscope equipment is expensive, conventional models have low accuracy, and the measurement time is long. Therefore, it is rarely used in common shaft connection measurements. Summary of the invention

[0003] In view of this, it is necessary to provide a shaft connection measurement system and method to solve the problem of low operating efficiency of existing shaft connection measurement technology.

[0004] In order to solve the above problems, in a first aspect, the present invention provides a shaft connection measurement system, comprising: a movable support, a first scanner, a plurality of targets, a second scanner and a data processing module; the movable support is set up above the shaft, the first scanner is set up on the movable support, the plurality of targets are respectively set at the top of the shaft and inside the shaft, and the second scanner is set at the bottom of the shaft; The first scanner is used to scan the target to obtain first point cloud data; The second scanner is used to scan the target to obtain second point cloud data; The data processing module is used to determine the coordinate information of the target according to the first point cloud data and the second point cloud data.

[0005] Optionally, the target disposed inside the shaft includes: a target fixedly mounted on the inner wall of the shaft, and a target suspended in the middle of the shaft by a steel wire; Among them, the target suspended in the middle of the vertical shaft is a spherical target; the spherical target is composed of two detachable hemispheres; the edge of each hemisphere includes two semicircular holes symmetrically arranged along the center of the sphere; when the two hemispheres are docked, the semicircular holes on the two hemispheres are docked to become circular holes.

[0006] Optionally, the inner edge of each hemisphere includes a plurality of magnetic structures; when the two hemispheres are docked, the two hemispheres are connected to form a spherical target through the magnetic structures.

[0007] Optionally, the target surface includes a plurality of marks.

[0008] Optionally, there are at least three targets disposed at the top of the shaft, and at least three targets disposed inside the shaft.

[0009] Optionally, the shaft connection measurement system further includes a topographic control point; the topographic control point is in line of sight with the first scanner and a target disposed at the top of the shaft.

[0010] In a second aspect, the present invention further provides a shaft connection measurement method, the method using any one of the shaft connection measurement systems described above, the method comprising: Scanning the target by using the first scanner to obtain first point cloud data; Scanning the target by the second scanner to obtain second point cloud data; The data processing module determines the coordinate information of the target according to the first point cloud data and the second point cloud data.

[0011] Optionally, the first point cloud data includes the spatial coordinates of the first point cloud in a first point cloud coordinate system; the second point cloud data includes the spatial coordinates of the second point cloud in a second point cloud coordinate system; and determining the coordinate information of the target according to the first point cloud data and the second point cloud data includes: Using the spatial coordinates of the first point cloud in the first point cloud coordinate system as the spatial coordinates of the first point cloud in the ground coordinate system; According to the first point cloud data and the second point cloud data, converting the spatial coordinates of the second point cloud in the second point cloud coordinate system into spatial coordinates in the ground coordinate system; The spatial coordinates of each of the targets in the ground coordinate system are determined according to the spatial coordinates of the first point cloud in the ground coordinate system and the spatial coordinates of the second point cloud in the ground coordinate system.

[0012] Optionally, converting the spatial coordinates of the second point cloud in the second point cloud coordinate system into spatial coordinates in a ground coordinate system according to the first point cloud data and the second point cloud data includes: The spatial coordinates of the second point cloud data in the shaft coordinate system are determined by the following formula:

[0013]

[0014] in, X , Y , Z is the spatial coordinates of the second point cloud in the shaft coordinate system; X 0. Y 0. Z 0 is the offset of the origin of the first point cloud coordinate system relative to the origin of the shaft coordinate system; x , y , z is the spatial coordinates of the second point cloud in the second point cloud coordinate system; , , It is the rotation angle parameter of each coordinate axis when the second point cloud coordinate system is converted to the shaft coordinate system; is the scale factor for converting the second point cloud coordinate system to the shaft coordinate system; The spatial coordinates of the second point cloud in the shaft coordinate system are converted into spatial coordinates in the ground coordinate system by the following formula:

[0015] in: is the spatial coordinates of the second point cloud in the ground coordinate system; is the spatial coordinates of the second point cloud in the shaft coordinate system; is the spatial coordinate of the second point cloud in the fused coordinate system; the fused coordinate system is the coordinate system of the fused point cloud obtained after registering and fusing the first point cloud and the second point cloud; The translation parameters for transforming the fusion coordinate system to the ground coordinate system; , , It is the rotation angle parameter of each coordinate axis when the fusion coordinate system is converted to the ground coordinate system; is the scaling factor.

[0016] Optionally, the first point cloud data includes third point cloud data of the sign, and the second point cloud data includes fourth point cloud data of the sign; the method further includes: The first point cloud and the second point cloud are registered and fused according to the third point cloud data and the fourth point cloud data.

[0017] The beneficial effects of the present invention are: The shaft connection measurement system of the present invention comprises: a movable support, a first scanner, a plurality of targets, a second scanner and a data processing module; the movable support is set up above the shaft, the first scanner is set up on the movable support, the plurality of targets are respectively set at the top of the shaft and inside the shaft, and the second scanner is set at the bottom of the shaft; the first scanner is used to scan the target to obtain the first point cloud data; the second scanner is used to scan the target to obtain the second point cloud data; the data processing module is used to determine the coordinate information of the target according to the first point cloud data and the second point cloud data. The shaft connection measurement system of the present invention has simple equipment installation, low installation cost, high target coordinate measurement accuracy, short measurement time, and low requirements for the environment such as lighting during measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic structural diagram of an embodiment of a shaft connection measurement system provided by the present invention; Figure 2 A schematic diagram of a target structure provided by the present invention; Figure 3 A schematic flow chart of an embodiment of a shaft connection measurement method provided by the present invention; 10- movable support; 20- first scanner; 30- target; 40- second scanner; 50- vertical shaft; 60- data processing module; 70- topological control point. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0020] In the description of the embodiments of the present invention, unless otherwise specified, "multiple" means two or more. The descriptions of "first", "second", etc. involved in the embodiments of the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the technical features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0021] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0022] Reference Figure 1 , shows a schematic structural diagram of an embodiment of a shaft connection measurement system provided by the present invention, the system comprises: a movable support 10, a first scanner 20, a plurality of targets 30, a second scanner 40 and a data processing module 60; the movable support 10 is set up above the shaft 50, the first scanner 20 is set up on the movable support 10, the plurality of targets 30 are respectively set at the top of the shaft 50 and inside the shaft 50, and the second scanner 40 is set at the bottom of the shaft 50; The first scanner 20 is used to scan the target 30 to obtain first point cloud data; The second scanner 40 is used to scan the target 30 to obtain second point cloud data; The data processing module 60 is used to determine the coordinate information of the target 30 according to the first point cloud data and the second point cloud data.

[0023] The movable support 10 is set up on the top of the shaft 50, so as to ensure that the first scanner 20 on the movable support 10 can scan the various targets 30 on the top and inside the shaft 50. By moving the movable support 10, the position of the first scanner 20 set up on the movable support 10 above the shaft 50 can be adjusted, so that the first scanner 20 has the best scanning effect on the target 30. The first scanner 20 mainly scans the upper half of the target 30 to obtain the first point cloud data.

[0024] The target 30 can be set at the top of the shaft 50. When the target 30 is set at the top of the shaft 50, the target 30 is close to the first scanner 20, and the first point cloud data obtained by the first scanner 20 is more accurate. Therefore, combined with the first point cloud data of the target 30 at the top of the shaft, the target 30 inside the shaft 50 can be more accurately positioned. At the same time, the target 30 is also set inside the shaft 50. When the target 30 is set inside the shaft 50, it can be distributed longitudinally or transversely, or these two methods can be combined. For example, when the depth of the shaft is shallow, a circle of targets can be arranged on the inner wall of the shaft 50 at the middle depth of the shaft 50; when the depth of the shaft 50 is deep, multiple depth positions can be selected, and a circle of targets 30 can be arranged on the inner wall of the shaft 50 at multiple depth positions. The layout of the target 30 inside the shaft 50 can be set according to information such as the diameter and depth of the shaft 50 , the construction condition of the inner wall of the shaft 50 , and whether the inner wall of the shaft 50 is convenient for fixing the target 50 .

[0025] The second scanner 40 is disposed at the bottom of the shaft 50 , and the second scanner 40 mainly scans the lower half of the target 30 to obtain second point cloud data.

[0026] The data processing module 60 can be a computer or other equipment. The data processing module 60 is used to determine the spatial coordinates of the target 30 in the ground coordinate system according to the first point cloud data and the second point cloud data, that is, to complete the work of transferring the ground coordinates above the shaft 50 to the bottom of the shaft 50. At the same time, the data processing module 60 can also establish a comprehensive, objective and real three-dimensional scene of the shaft 50 space according to the spatial coordinates of the target 30 in the ground coordinate system, which is helpful for subsequent secondary analysis applications.

[0027] The shaft connection measurement system of the present invention includes the following beneficial effects: 1. Compared with the traditional method of measuring control points in the shaft by a total station, the present invention can set more control points (targets) in the shaft, breaking through the disadvantage that the traditional method can only measure limited points in space; and compared with the traditional method, the present invention obtains point cloud data of multiple targets at the top and inside of the shaft through laser scanning, and determines the coordinates of each target based on the point cloud data of each target, so that the measurement accuracy of the target coordinates is higher, and the requirements for the environment such as lighting during measurement are lower; and, the present invention does not need to set up and stabilize the heavy hammer, which can save the installation time of the equipment. 2. Compared with the method of measuring control points in the shaft by a gyroscope, the equipment of the present invention has low cost, simple installation and short measurement time.

[0028] In one embodiment, the shaft connection measurement system further includes a map root control point 70, which refers to a point with the same geographic coordinates between images or maps obtained from different data sources or at different times. These points are used to align or register different data sets to ensure that they are consistent in the same coordinate system. The map root control point 70 can be operated in an RTK (Real-Time Kinematic) mode based on the local city C0RS (Cross-Origin Resource Sharing). The map root control point 70 needs to be in line of sight with the first scanner 20, and the distance between the two is long enough to ensure that the subsequent first scanner 20 station positioning has sufficient accuracy. At the same time, the map root control point 70 also has a line of sight with the target 30 at the top of the shaft, that is, the target 30 at the top of the shaft needs to ensure that it is in line of sight with the map root control point 70, the first scanner 20 and the second scanner 40 at the same time. Visibility refers to the state where two points can directly see each other through straight line observation without being blocked by any obstacles (such as terrain, buildings, trees, etc.). Based on the first point cloud data scanned by the first scanner 20 and the topological control points 70 , the spatial coordinates of the target 30 in the ground coordinate system can be positioned more accurately.

[0029] After setting up the topographic control points 70, the movable bracket 10, the first scanner 20 and the target 30 at the top of the shaft, the target 30 at the top of the shaft can be scanned to obtain the first point cloud data, and the center of the target at the top of the shaft can be fitted according to the first point cloud data of the target 30 at the top of the shaft to obtain the spatial coordinates of the center of the sphere in the ground coordinate system. In order to ensure the observation accuracy, multiple observations can be performed.

[0030] In one embodiment, the target 30 arranged inside the shaft includes: a target 30 fixedly mounted on the inner wall of the shaft, and a target 30 suspended in the middle of the shaft by a steel wire; wherein the target 30 suspended in the middle of the shaft is a spherical target; the spherical target is composed of two detachable hemispheres; the edge of each hemisphere includes two semicircular holes symmetrically arranged along the center of the sphere; when the two hemispheres are docked, the semicircular holes on the two hemispheres are docked to become circular holes.

[0031] Reference Figure 2 , showing a schematic diagram of a target structure provided by the present invention. Figure 2 As shown in , when the two hemispheres are disassembled, the steel wire can be stuck on the semicircular hole of one of the hemispheres, and then the other hemisphere is docked with the hemisphere, so that the two hemispheres are docked to form a complete spherical target, and the steel wire passes through the middle of the spherical target. Therefore, by hanging the steel wire in the middle of the shaft, the number of targets in the shaft can be increased, that is, the number of positioning points in the shaft can be increased.

[0032] In one embodiment, the inner edge of each hemisphere includes a plurality of magnetic structures; when the two hemispheres are docked, the two hemispheres are combined into a spherical target through the magnetic structures.

[0033] Specifically, the target 30 can be a sphere composed of two identical hollow iron hemispheres with a diffuse reflection coating on the surface. The outer diameter of the target can be designed to be 30 cm, the thickness is 1.5 mm, and the surface is evenly coated with diffuse reflection paint to increase the laser reflectivity. The diameter of the semicircular hole can be 2 mm, located at the edge of the hollow iron hemisphere, and there is also an identical semicircular hole at a position symmetrical to the center of the sphere. The other hollow iron hemisphere is also treated in the same way. During operation, the two semicircular holes can be connected to form a circular hole, and the two circular holes are symmetrical about the center of the sphere. The inner edge of the hollow iron hemisphere can be evenly distributed with a cube-shaped strong magnet with a side length of 10 mm. Each hollow iron hemisphere is attached with 6 strong magnets and fixed with metal glue. The 6 magnets in each of the two hollow iron hemispheres can attract each other.

[0034] In one embodiment, the target 30 installed on the inner wall of the shaft can use the above-mentioned spherical target, or other targets that are convenient to be fixed on the inner wall of the shaft.

[0035] In one embodiment, the target 30 may include a plurality of marks on its surface, and the marks may be in a cross pattern.

[0036] In one embodiment, the number of targets 30 disposed at the top of the shaft includes at least three, and the number of targets 30 disposed inside the shaft includes at least three.

[0037] Reference Figure 3 , shows a flow chart of an embodiment of a shaft connection measurement method provided by the present invention, the method uses the above-mentioned shaft connection measurement system, and the method includes: S101, scanning a target by using a first scanner to obtain first point cloud data.

[0038] S102, scanning the target by a second scanner to obtain second point cloud data.

[0039] S103, determining the coordinate information of the target according to the first point cloud data and the second point cloud data through a data processing module.

[0040] The present invention is based on the above-mentioned shaft connection measurement system, and measures the coordinate information of the target in the shaft, so as to complete the work of transferring the ground coordinates above the shaft to the shaft below. The measurement method of the present invention is easy to implement, has high measurement accuracy, short measurement time, and low requirements on the environment such as lighting during measurement.

[0041] In one embodiment, the first point cloud data includes the spatial coordinates of the first point cloud in the first point cloud coordinate system; the second point cloud data includes the spatial coordinates of the second point cloud in the second point cloud coordinate system; S103 may specifically include: using the spatial coordinates of the first point cloud in the first point cloud coordinate system as the spatial coordinates of the first point cloud in the ground coordinate system; converting the spatial coordinates of the second point cloud in the second point cloud coordinate system into spatial coordinates in the ground coordinate system based on the first point cloud data and the second point cloud data; determining the spatial coordinates of each target in the ground coordinate system based on the spatial coordinates of the first point cloud in the ground coordinate system and the spatial coordinates of the second point cloud in the ground coordinate system.

[0042] The first point cloud data is obtained by scanning and measuring with the first scanner above the shaft, so the spatial coordinates of the first point cloud in the first point cloud coordinate system have a small deviation from the spatial coordinates of the first point cloud in the ground coordinate system, so in this embodiment, the spatial coordinates of the first point cloud in the first point cloud coordinate system can be directly used as the spatial coordinates of the first point cloud in the ground coordinate system. The second point cloud data is obtained by scanning and measuring with the second scanner at the bottom of the shaft. Due to the unstable environment in the shaft, the spatial coordinates of the second point cloud measured in the second point cloud coordinate system have a large deviation from the spatial coordinates of the second point cloud in the ground coordinate system. Therefore, it is necessary to convert the spatial coordinates of the second point cloud in the second point cloud coordinate system into the spatial coordinates in the ground coordinate system according to the first point cloud data, and then determine the spatial coordinates of each target in the ground coordinate system according to the spatial coordinates of the first point cloud in the ground coordinate system and the spatial coordinates of the second point cloud in the ground coordinate system.

[0043] In one embodiment, according to the first point cloud data and the second point cloud data, the step of converting the spatial coordinates of the second point cloud in the second point cloud coordinate system into the spatial coordinates in the ground coordinate system may include: The spatial coordinates of the second point cloud data in the shaft coordinate system are determined by the following formula:

[0044]

[0045] in, X , Y , Z is the spatial coordinate of the second point cloud in the shaft coordinate system; X 0. Y 0. Z 0 is the offset of the origin of the first point cloud coordinate system relative to the origin of the shaft coordinate system; x , y , z is the spatial coordinate of the second point cloud in the second point cloud coordinate system; , , It is the rotation angle parameter of each coordinate axis when the second point cloud coordinate system is converted to the shaft coordinate system; is the scale factor for converting the second point cloud coordinate system to the shaft coordinate system; The spatial coordinates of the second point cloud in the shaft coordinate system are converted into spatial coordinates in the ground coordinate system using the following formula:

[0046] in: is the spatial coordinate of the second point cloud in the ground coordinate system; is the spatial coordinate of the second point cloud in the shaft coordinate system; is the spatial coordinate of the second point cloud in the fusion coordinate system; the fusion coordinate system is the coordinate system of the fusion point cloud obtained by registering and fusing the first point cloud and the second point cloud; The translation parameters for transforming the fusion coordinate system to the ground coordinate system; , , It is the rotation angle parameter of each coordinate axis when the fusion coordinate system is converted to the ground coordinate system; is the scaling factor.

[0047] In one embodiment, the first point cloud data includes third point cloud data of the mark, and the second point cloud data includes fourth point cloud data of the mark; the method also includes: registering and fusing the first point cloud and the second point cloud according to the third point cloud data and the fourth point cloud data.

[0048] A certain number (three or more) of cross marks can be designed on the target ball as the same-name feature points for registration. The same-name feature points of the cross marks in the first point cloud data and the second point cloud data can be accurately extracted through the algorithm. The first point cloud and the second point cloud can be registered according to the same-name feature points of the target in the first point cloud data and the second point cloud data. In addition, the same-name feature points of the target can be used to determine the offset of the origin of the first point cloud coordinate system relative to the origin of the shaft coordinate system. Registration through the same-name feature points can effectively improve the registration accuracy.

[0049] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0050] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A shaft connection measurement system, characterized in that: include: A movable support, a first scanner, a plurality of targets, a second scanner, and a data processing module; The movable support is set up above the shaft, the first scanner is set up on the movable support, the multiple targets are respectively set at the top of the shaft and inside the shaft, and the second scanner is set at the bottom of the shaft; The first scanner is used to scan the target to obtain first point cloud data; The second scanner is used to scan the target to obtain second point cloud data; The data processing module is used to determine the coordinate information of the target according to the first point cloud data and the second point cloud data.

2. The shaft connection measurement system according to claim 1, characterized in that: The targets arranged inside the shaft include: a target fixedly mounted on the inner wall of the shaft, and a target suspended in the middle of the shaft by a steel wire; Among them, the target suspended in the middle of the vertical shaft is a spherical target; the spherical target is composed of two detachable hemispheres; the edge of each hemisphere includes two semicircular holes symmetrically arranged along the center of the sphere; when the two hemispheres are docked, the semicircular holes on the two hemispheres are docked to become circular holes.

3. The shaft connection measurement system according to claim 2, characterized in that: The inner edge of each hemisphere includes a plurality of magnetic structures; when the two hemispheres are docked, the two hemispheres are connected to form a spherical target through the magnetic structures.

4. The shaft connection measurement system according to claim 1, characterized in that: The target surface includes a plurality of markings.

5. The shaft connection measurement system according to claim 1, characterized in that: There are at least three targets disposed on the top of the shaft, and at least three targets disposed inside the shaft.

6. The shaft connection measurement system according to claim 1, characterized in that: The vertical shaft connection measurement system also includes a topological control point; the topological control point is in line of sight with the first scanner and a target arranged at the top of the vertical shaft.

7. A vertical shaft connection measurement method, characterized in that: The shaft connection measurement system according to any one of claims 1 to 6, wherein the method comprises: Scanning the target by using the first scanner to obtain first point cloud data; Scanning the target by the second scanner to obtain second point cloud data; The data processing module determines the coordinate information of the target according to the first point cloud data and the second point cloud data.

8. The shaft connection measurement method according to claim 7, characterized in that: The first point cloud data includes the spatial coordinates of the first point cloud in the first point cloud coordinate system; the second point cloud data includes the spatial coordinates of the second point cloud in the second point cloud coordinate system; and the determining the coordinate information of the target according to the first point cloud data and the second point cloud data includes: Using the spatial coordinates of the first point cloud in the first point cloud coordinate system as the spatial coordinates of the first point cloud in the ground coordinate system; According to the first point cloud data and the second point cloud data, converting the spatial coordinates of the second point cloud in the second point cloud coordinate system into spatial coordinates in the ground coordinate system; The spatial coordinates of each of the targets in the ground coordinate system are determined according to the spatial coordinates of the first point cloud in the ground coordinate system and the spatial coordinates of the second point cloud in the ground coordinate system.

9. The shaft connection measurement method according to claim 8, characterized in that: The converting, according to the first point cloud data and the second point cloud data, the spatial coordinates of the second point cloud in the second point cloud coordinate system into the spatial coordinates in the ground coordinate system comprises: The spatial coordinates of the second point cloud data in the shaft coordinate system are determined by the following formula: in, X , Y , Z is the spatial coordinates of the second point cloud in the shaft coordinate system; X 0. Y 0. Z 0 is the offset of the origin of the first point cloud coordinate system relative to the origin of the shaft coordinate system; x , y , z is the spatial coordinates of the second point cloud in the second point cloud coordinate system; , , It is the rotation angle parameter of each coordinate axis when the second point cloud coordinate system is converted to the shaft coordinate system; is the scale factor for converting the second point cloud coordinate system to the shaft coordinate system; The spatial coordinates of the second point cloud in the shaft coordinate system are converted into spatial coordinates in the ground coordinate system by the following formula: in: is the spatial coordinates of the second point cloud in the ground coordinate system; is the spatial coordinates of the second point cloud in the shaft coordinate system; is the spatial coordinate of the second point cloud in the fused coordinate system; the fused coordinate system is the coordinate system of the fused point cloud obtained after registering and fusing the first point cloud and the second point cloud; The translation parameters for transforming the fusion coordinate system to the ground coordinate system; , , It is the rotation angle parameter of each coordinate axis when the fusion coordinate system is converted to the ground coordinate system; is the scaling factor.

10. The shaft connection measurement method according to claim 9, characterized in that: The first point cloud data includes third point cloud data of the mark, and the second point cloud data includes fourth point cloud data of the mark; the method further includes: The first point cloud and the second point cloud are registered and fused according to the third point cloud data and the fourth point cloud data.

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