A vertical shaft connection measurement system and method

Abstract

The present invention relates to a shaft connection measurement system and method, belonging to the field of shaft measurement technology, wherein 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 shaft, the first scanner is mounted on the movable support, the plurality of targets are respectively arranged at the top and inside of the shaft, and the second scanner is arranged at the bottom of the shaft; the first scanner is used to scan the targets to obtain first point cloud data; the second scanner is used to scan the targets to obtain second point cloud data; and the data processing module is used to determine the coordinate information of the targets based on 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 environmental conditions such as lighting during measurement.

Description

Technical Field

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

[0002] 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 used is to hang steel wires, that is, first lap a fixed steel frame on 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 extend 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. Total stations are set up at appropriate positions above and below the shaft to measure the edge and angle relationship of the reflective sheets, 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 just 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] To address the above-mentioned problems, in a first aspect, the present invention provides a shaft-linked 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 erected above the shaft, the first scanner is mounted on the movable support, the plurality of targets are respectively disposed at the top and inside of the shaft, and the second scanner is disposed at the bottom of the shaft;

[0005] The first scanner is used to scan the target to obtain first point cloud data;

[0006] The second scanner is used to scan the target to obtain second point cloud data;

[0007] 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.

[0008] 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;

[0009] 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.

[0010] 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.

[0011] Optionally, the target surface includes a plurality of marks.

[0012] Optionally, there are at least three targets arranged at the top of the shaft, and at least three targets arranged inside the shaft.

[0013] Optionally, the vertical 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 arranged at the top of the vertical shaft.

[0014] In a second aspect, the present invention further provides a shaft connection measurement method, which uses any one of the shaft connection measurement systems described above, and includes:

[0015] Scanning the target by the first scanner to obtain first point cloud data;

[0016] Scanning the target by the second scanner to obtain second point cloud data;

[0017] The data processing module determines the coordinate information of the target according to the first point cloud data and the second point cloud data.

[0018] Optionally, the first point cloud data includes spatial coordinates of the first point cloud in a first point cloud coordinate system; the second point cloud data includes spatial coordinates of the second point cloud in a second point cloud coordinate system; and determining the coordinate information of the target based on the first point cloud data and the second point cloud data includes:

[0019] 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;

[0020] 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;

[0021] The spatial coordinates of each target 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.

[0022] 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:

[0023] The spatial coordinates of the second point cloud data in the shaft coordinate system are determined by the following formula:

[0024]

[0025]

[0026] 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; 、 、 The rotation angle parameters of each coordinate axis when converting the second point cloud coordinate system to the shaft coordinate system; is the scale factor for transforming the second point cloud coordinate system into the shaft coordinate system;

[0027] 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:

[0028]

[0029] in: is the spatial coordinate of the second point cloud in the ground coordinate system;

[0030] is the spatial coordinate of the second point cloud in the shaft coordinate system;

[0031] 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 after registering and fusing the first point cloud and the second point cloud;

[0032] The translation parameters for transforming the fusion coordinate system to the ground coordinate system;

[0033] , , The rotation angle parameters of each coordinate axis when the fusion coordinate system is converted to the ground coordinate system;

[0034] is the scaling factor.

[0035] 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:

[0036] 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.

[0037] The beneficial effects of the present invention are:

[0038] The shaft-connected measurement system of the present invention includes: a movable support, a first scanner, multiple targets, a second scanner, and a data processing module; the movable support is set above the shaft, the first scanner is mounted on the movable support, the multiple targets are respectively set at the top and inside the shaft, and the second scanner is set at the bottom of the shaft; the first scanner is used to scan the targets to obtain first point cloud data; the second scanner is used to scan the targets to obtain second point cloud data; and the data processing module is used to determine the coordinate information of the targets based on the first point cloud data and the second point cloud data. The shaft-connected measurement system of the present invention has simple equipment installation and low installation cost, and has high target coordinate measurement accuracy, short measurement time, and low requirements for environmental conditions such as lighting during measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic structural diagram of an embodiment of a shaft connection measurement system provided by the present invention;

[0040] Figure 2 A schematic diagram of a target structure provided by the present invention;

[0041] Figure 3 A schematic flow chart of an embodiment of the shaft connection measurement method provided by the present invention;

[0042] 10- movable support; 20- first scanner; 30- target; 40- second scanner; 50- vertical shaft; 60- data processing module; 70- map control point. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0044] In the description of the embodiments of the present invention, unless otherwise specified, "plurality" means two or more. Terms such as "first" and "second" in the embodiments of the present invention are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, technical features specified as "first" or "second" may explicitly or implicitly include at least one such feature.

[0045] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0046] Reference Figure 1 , shows a schematic structural diagram of an embodiment of a shaft connection measurement system provided by the present invention, the system comprising: 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 erected above a shaft 50, the first scanner 20 is mounted on the movable support 10, the plurality of targets 30 are respectively arranged at the top and inside of the shaft 50, and the second scanner 40 is arranged at the bottom of the shaft 50;

[0047] The first scanner 20 is used to scan the target 30 to obtain first point cloud data;

[0048] The second scanner 40 is used to scan the target 30 to obtain second point cloud data;

[0049] The data processing module 60 is configured to determine coordinate information of the target 30 according to the first point cloud data and the second point cloud data.

[0050] The movable support 10 is mounted on the top of the shaft 50, ensuring that the first scanner 20 on the movable support 10 can scan each target 30 at the top and inside the shaft 50. By moving the movable support 10, the position of the first scanner 20 mounted on the movable support 10 above the shaft 50 can be adjusted to optimize the scanning effect of the first scanner 20 on the target 30. The first scanner 20 primarily scans the upper half of the target 30 to obtain first point cloud data.

[0051] Target 30 can be positioned at the top of shaft 50. When positioned at the top of shaft 50, target 30 is closer to first scanner 20, and the first point cloud data obtained by first scanner 20 is more accurate. Therefore, combined with the first point cloud data of target 30 at the top of shaft 50, target 30 within shaft 50 can be more accurately located. Targets 30 can also be positioned within shaft 50. When positioned within shaft 50, targets 30 can be distributed longitudinally, transversely, or in a combination of these two arrangements. For example, when the shaft is shallow, a circle of targets can be placed on the inner wall of shaft 50 at the middle depth of shaft 50. When the shaft is deep, multiple depths can be selected and a circle of targets 30 can be placed on the inner wall of shaft 50 at each of these depths. 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.

[0052] The second scanner 40 is disposed at the bottom of the shaft 50 . The second scanner 40 mainly scans the lower half of the target 30 to obtain second point cloud data.

[0053] Data processing module 60, which can be a computer or other device, is used to determine the spatial coordinates of target 30 in the ground coordinate system based on the first and second point cloud data. This determines the spatial coordinates of target 30 above shaft 50 and transfers them to the ground below shaft 50. Furthermore, data processing module 60 can also create a comprehensive, objective, and realistic three-dimensional scene of shaft 50 based on the spatial coordinates of target 30 in the ground coordinate system, facilitating subsequent secondary analysis applications.

[0054] The shaft connection measurement system of the present invention has the following beneficial effects: 1. Compared with the traditional method of measuring control points in a shaft by using a total station, the present invention can set more control points (targets) in the shaft, overcoming the disadvantage that the traditional method can only measure points in a limited 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, which has higher measurement accuracy for the target coordinates and lower requirements for the lighting environment during measurement; and, the present invention does not require the installation and stabilization of heavy hammers, which can save equipment installation time. 2. Compared with the method of measuring control points in a shaft by using a gyroscope, the equipment of the present invention is low-cost, simple to install, and takes less time to measure.

[0055] In one embodiment, the shaft-to-shaft measurement system also includes a basic control point 70. Basic control points are points with identical geographic coordinates between images or maps acquired from different data sources or at different times. These points are used to align or register different data sets to ensure consistency within the same coordinate system. Basic control points 70 can operate using RTK (Real-Time Kinematic) mode based on local city CORs (Cross-Origin Resource Sharing). Basic control points 70 must have line of sight with the first scanner 20, and the distance between them must be sufficiently long to ensure sufficient accuracy for subsequent station positioning by the first scanner 20. Furthermore, basic control points 70 must also have line of sight with the target 30 at the top of the shaft. That is, the target 30 at the top of the shaft must simultaneously maintain line of sight with basic control points 70, the first scanner 20, and the second scanner 40. Visibility refers to the state where two points can directly see each other in a straight line of sight, unobstructed by any obstacles (such as terrain, buildings, or trees). Based on the first point cloud data obtained by scanning with the first scanner 20 and the root control points 70 , the spatial coordinates of the target 30 in the ground coordinate system can be positioned more accurately.

[0056] 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 based on 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. To ensure the observation accuracy, multiple observations can be performed.

[0057] In one embodiment, the target 30 set inside the vertical shaft includes: a target 30 fixedly mounted on the inner wall of the vertical shaft, and a target 30 suspended in the middle of the vertical shaft by a steel wire; wherein, the target 30 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.

[0058] Reference Figure 2 , shows a schematic diagram of a target structure provided by the present invention. Figure 2 As shown in , when the two hemispheres are disassembled, a wire can be inserted into the semicircular hole of one hemisphere, and then the other hemisphere can be docked with it, forming a complete spherical target with the wire running through the center. By hanging the wire in the middle of the shaft, the number of targets in the shaft can be increased, thereby increasing the number of positioning points in the shaft.

[0059] 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.

[0060] Specifically, target 30 can be a sphere composed of two identical hollow iron hemispheres, coated with a diffuse reflective coating. The target's outer diameter can be designed to be 30 cm and its thickness 1.5 mm. The surface is evenly coated with diffuse reflective paint to increase 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 symmetrically located relative to the center of the sphere. The other hollow iron hemisphere is 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 edges of the hollow iron hemispheres can be evenly distributed with 10 mm square strong magnets. Each hollow iron hemisphere is attached with 6 strong magnets, fixed with metal glue. The 6 magnets in each of the two hollow iron hemispheres can attract each other.

[0061] In one embodiment, the target 30 mounted on the inner wall of the shaft can be the spherical target mentioned above, or other targets that are convenient to be fixed on the inner wall of the shaft can be used.

[0062] In one embodiment, the target 30 may include a plurality of markings on its surface, which may be in a cross-shaped pattern.

[0063] 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.

[0064] Reference Figure 3 , shows a flow chart of an embodiment of a shaft connection measurement method provided by the present invention, the method using the above-mentioned shaft connection measurement system, the method comprising:

[0065] S101 , scanning a target by using a first scanner to obtain first point cloud data.

[0066] S102 , scanning the target with a second scanner to obtain second point cloud data.

[0067] S103: Determine the coordinate information of the target according to the first point cloud data and the second point cloud data through a data processing module.

[0068] The present invention, based on the aforementioned shaft-linked measurement system, measures the coordinates of a target in a shaft, thereby 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, is quick to measure, and has low requirements for environmental conditions such as lighting during measurement.

[0069] 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.

[0070] The first point cloud data is obtained by scanning and measuring with a first scanner at the top of the shaft. Therefore, the spatial coordinates of the first point cloud in the first point cloud coordinate system deviate slightly from the spatial coordinates of the first point cloud in the ground coordinate system. Therefore, 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 a second scanner at the bottom of the shaft. Due to the unstable environment within the shaft, the spatial coordinates of the second point cloud in the second point cloud coordinate system deviate significantly 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 spatial coordinates in the ground coordinate system based on the first point cloud data. Then, the spatial coordinates of each target in the ground coordinate system are determined 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.

[0071] In one embodiment, based on 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 spatial coordinates in the ground coordinate system may include:

[0072] The spatial coordinates of the second point cloud data in the shaft coordinate system are determined by the following formula:

[0073]

[0074]

[0075] 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; 、 、 The rotation angle parameters of each coordinate axis when converting the second point cloud coordinate system to the shaft coordinate system; is the scale factor for transforming the second point cloud coordinate system into the shaft coordinate system;

[0076] The spatial coordinates of the second point cloud in the shaft coordinate system are converted to the spatial coordinates in the ground coordinate system using the following formula:

[0077]

[0078] in: is the spatial coordinate of the second point cloud in the ground coordinate system;

[0079] is the spatial coordinate of the second point cloud in the shaft coordinate system;

[0080] is the spatial coordinate of the second point cloud in the fusion coordinate system; the fusion coordinate system is the coordinate system of the fused point cloud obtained by registering and fusing the first point cloud and the second point cloud;

[0081] The translation parameters for transforming the fusion coordinate system to the ground coordinate system;

[0082] , , The rotation angle parameters of each coordinate axis when the fusion coordinate system is converted to the ground coordinate system;

[0083] is the scaling factor.

[0084] 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: aligning and fusing the first point cloud and the second point cloud according to the third point cloud data and the fourth point cloud data.

[0085] A certain number (three or more) of cross marks can be designed on the target sphere as homonymous feature points for registration. Using an algorithm, these homonymous feature points can be accurately extracted from the first and second point clouds. Registration can then be performed based on the homonymous feature points of the target in both the first and second point clouds. Furthermore, these homonymous feature points can be used to determine the offset of the origin of the first point cloud's coordinate system relative to the origin of the shaft's coordinate system. Using homonymous feature points for registration effectively improves registration accuracy.

[0086] Those skilled in the art will appreciate that all or part of the process steps of the above-described embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0087] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection 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 vertical shaft, the first scanner is mounted on the movable support, the multiple targets are respectively set at the top of the vertical shaft and inside the vertical shaft, and the second scanner is set at the bottom of the vertical shaft; the surface of the target includes multiple cross marks; The first scanner is used to scan the upper half of the target to obtain first point cloud data; The second scanner is used to scan the lower half of 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; 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 based on the first point cloud data and the second point cloud data includes: Extracting feature points with the same name of the cross marks in the first point cloud data and the second point cloud data; Determine the offset of the origin of the first point cloud coordinate system relative to the origin of the shaft coordinate system based on the characteristic points of the same name; converting the spatial coordinates of the second point cloud in the second point cloud coordinate system into spatial coordinates in the ground coordinate system according to the offset; The spatial coordinates of the first point cloud in the first point cloud coordinate system are used as the spatial coordinates of the first point cloud in the ground coordinate system; the spatial coordinates of each target 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.

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: There are at least three targets arranged on the top of the shaft, and at least three targets arranged inside the shaft.

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

6. A vertical shaft connection measurement method, characterized in that: The shaft connection measurement system according to any one of claims 1 to 5, wherein the method comprises: Scanning the upper half of the target by the first scanner to obtain first point cloud data; Scanning the lower half of the target by the second scanner to obtain second point cloud data; Determining the coordinate information of the target according to the first point cloud data and the second point cloud data by the data processing module; 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 based on the first point cloud data and the second point cloud data includes: Extracting feature points with the same name of the cross marks in the first point cloud data and the second point cloud data; Determine the offset of the origin of the first point cloud coordinate system relative to the origin of the shaft coordinate system based on the characteristic points of the same name; converting the spatial coordinates of the second point cloud in the second point cloud coordinate system into spatial coordinates in the ground coordinate system according to the offset; The spatial coordinates of the first point cloud in the first point cloud coordinate system are used as the spatial coordinates of the first point cloud in the ground coordinate system; the spatial coordinates of each target 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.

7. The shaft connection measurement method according to claim 6, characterized in that: The converting, based on 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 spatial coordinates in the ground coordinate system includes: 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 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; 、 、 The rotation angle parameters of each coordinate axis when converting the second point cloud coordinate system to the shaft coordinate system; is the scale factor for transforming the second point cloud coordinate system into 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: 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 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; , , The rotation angle parameters of each coordinate axis when the fusion coordinate system is converted to the ground coordinate system; is the scaling factor.

8. The shaft connection measurement method according to claim 7, characterized in that: 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.

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