View field calibration system, method and device of laser three-dimensional imaging measurement module, medium and product

Abstract

The invention discloses a field-of-view calibration system, method and device for a laser three-dimensional imaging measurement module, a medium and a product, and relates to the field of field-of-view calibration, and the method comprises the steps: obtaining a first center point coordinate of each calibration target on a calibration tool through a total station; acquiring point cloud data of the calibration target in the view field range of each laser three-dimensional imaging measurement module by using the laser three-dimensional imaging measurement module of the steering oar flange measurement device, and extracting a second center point coordinate of each calibration target; forming a plurality of pairs of first homonymy point coordinates according to the two types of center point coordinates; based on the first homonymy point coordinates, calculating a first rotation translation matrix of the module coordinate system of each laser three-dimensional imaging measurement module transferred to the coordinate system of the total station by using an SVD (singular value decomposition) principle; and on the basis of the first rotation translation matrix, the view field of the laser three-dimensional imaging measurement module is calibrated, and view field calibration of the laser three-dimensional imaging measurement module is realized in an application scene without an overlapped view field.

Description

Technical Field

[0001] The present application relates to the field of field of view calibration, and in particular to a field of view calibration system, method, equipment, medium and product of a laser three-dimensional imaging measurement module. Background Art

[0002] The large ship propeller flange is used to install the propeller device to the hull. The ship propeller assembly process requires the precise positioning of the installation position of the propeller flange. The key assembly process parameter is that the center point coordinates of the flange installation must coincide with the reference point required by the assembly process. Therefore, it is necessary to position and measure the structural surface of the flange to calculate the actual spatial position and posture of the flange.

[0003] At present, the positioning of the propeller flange structural surface mainly adopts the manual wire measurement method, and the measurement accuracy and consistency need to be improved. Three-dimensional imaging technology has been widely used in the dimensional measurement and assembly of large-sized structural parts. In order to achieve the structural surface processing accuracy and spatial positioning of large-sized propeller flanges, a propeller flange mounting and finishing measurement device was built based on the laser three-dimensional imaging measurement module. The mechanism consists of multiple laser three-dimensional imaging measurement modules, measurement fixtures, robots, positioning platforms and measurement control systems. Since the coordinate systems are not unified when multiple laser three-dimensional imaging measurement modules simultaneously collect the local surface data of the flange, and the coordinate systems of the laser three-dimensional imaging measurement modules are not unified with the hull coordinate system, it is necessary to use calibration technology to align the coordinate systems of multiple laser three-dimensional imaging measurement modules with the hull coordinate system to achieve flange positioning and machining allowance measurement.

[0004] At present, the field of view calibration of multiple laser 3D imaging measurement modules is mainly based on the overlapping field of view texture and the registration technology is used to calibrate the field of view of the measurement module. For application scenarios without overlapping fields of view, there is currently no mature method for field of view calibration. However, the laser 3D imaging measurement module of the rudder flange measurement device does not have an overlapping field of view, and it is urgent to construct a global calibration method with a large field of view to realize the field of view calibration of multiple imaging measurement modules. Summary of the invention

[0005] The purpose of the present application is to provide a field of view calibration system, method, device, medium and product for a laser three-dimensional imaging measurement module, so as to realize the field of view calibration of the laser three-dimensional imaging measurement module in application scenarios without overlapping fields of view.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] In a first aspect, the present application provides a field of view calibration system for a laser three-dimensional imaging measurement module, comprising: a laser three-dimensional imaging measurement module, a measurement tool, a calibration tool, and a total station;

[0008] The measuring tool and the calibration tool are both cross structures; the measuring tool and the calibration tool are fixed by a bracket;

[0009] The laser three-dimensional imaging measurement module is fixed on the measurement fixture; a calibration target is provided on the calibration fixture; the laser three-dimensional imaging measurement module is used to collect point cloud data of the calibration target;

[0010] The total station is used to obtain the three-dimensional coordinates of any point on the calibration target.

[0011] In a second aspect, the present application provides a field of view calibration system for a laser three-dimensional imaging measurement module, comprising:

[0012] Using a total station to obtain the coordinates of the first center point of each calibration target on the calibration tooling;

[0013] The laser three-dimensional imaging measurement module is used to collect the point cloud data of the calibration targets within the field of view of each laser three-dimensional imaging measurement module, and the coordinates of the second center point of each calibration target are extracted;

[0014] Constructing a plurality of pairs of first same-name point coordinates according to the first center point coordinates and the second center point coordinates;

[0015] Based on the coordinates of the first same-name points, using the SVD principle, calculate the first rotation and translation matrix of the module coordinate system where each laser three-dimensional imaging measurement module is located and transferred to the total station coordinate system; the first rotation and translation matrix includes a first rotation matrix and a first translation matrix;

[0016] Based on the first rotation and translation matrix, the field of view of the laser three-dimensional imaging measurement module is calibrated.

[0017] In a third aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the field of view calibration method of the laser three-dimensional imaging measurement module described above.

[0018] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the field of view calibration method of the laser three-dimensional imaging measurement module described in any one of the above.

[0019] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the field of view calibration method of the laser three-dimensional imaging measurement module described in any one of the above.

[0020] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0021] The present application sets a cross-structured measuring fixture and a calibration fixture, fixes a laser three-dimensional imaging measurement module of a rudder and propeller flange measuring device on the measuring fixture, sets a calibration target on the calibration fixture, uses the laser three-dimensional imaging measurement module to collect point cloud data of the calibration target, uses a total station to obtain the three-dimensional coordinates of any point on the calibration target, and calibrates the field of view of the laser three-dimensional imaging measurement module. The present application is based on the above-mentioned calibration system and uses the calibration method provided by the present application to calibrate the field of view of the laser three-dimensional imaging measurement module of the rudder and propeller flange measuring device. The calibration process does not involve texture matching of overlapping areas, but directly calculates the first rotation and translation matrix of the module coordinate system of each laser three-dimensional imaging measurement module to transfer to the total station coordinate system based on the center point coordinates of the calibration target and the SVD principle, so as to unify the module coordinate system and the total station coordinate system, thereby realizing the field of view calibration of the laser three-dimensional imaging measurement module of the rudder and propeller flange measuring device without overlapping fields of view. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A schematic diagram of a field of view calibration system of a laser three-dimensional imaging measurement module provided in an embodiment of the present application;

[0024] Figure 2 A schematic diagram of the detailed design of the measurement tooling and calibration tooling structure provided in one embodiment of the present application;

[0025] Figure 3 A schematic flow chart of a method for calibrating the field of view of a laser three-dimensional imaging measurement module provided in one embodiment of the present application. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0028] like Figure 1As shown, the present application provides a field of view calibration system of a laser three-dimensional imaging measurement module, comprising: a laser three-dimensional imaging measurement module 1 of a rudder propeller flange measurement device, a measuring tool 2, a calibration tool 3 and a total station 4; the measuring tool 2 and the calibration tool 3 are both cross structures; the measuring tool 2 and the calibration tool 3 are fixed by a bracket; the laser three-dimensional imaging measurement module 1 is fixed on the measuring tool 2 to ensure that the structure of the measurement device does not deform during and after the calibration process; a calibration target 5 is provided on the calibration tool 3, and in an actual scenario, it is ensured that there are at least 5 calibration targets 5 within a range of one meter (according to) in front of each laser three-dimensional imaging measurement module 1, and the targets cover the field of view of the laser three-dimensional imaging measurement module 1 as much as possible; the laser three-dimensional imaging measurement module 1 is used to collect point cloud data of the calibration target 5; the total station 4 is used to obtain the three-dimensional coordinates of any point on the calibration target 5.

[0029] In practical applications, the angle between the mounting structural surface of the laser three-dimensional imaging measurement module 1 and the cross structural surface of the measurement fixture 2 is adjustable; the cross center position of the laser three-dimensional imaging measurement module 1 and the measurement fixture 2 is adjustable.

[0030] The positional relationship between the measuring fixture 2 and the laser three-dimensional imaging measuring module 1 is as follows: Figure 2 As shown, the following requirements are met:

[0031] 1) The angle between the mounting structure surface of the laser three-dimensional imaging measurement module 1 and the cross structure surface of the cross measurement fixture 2 can be adjusted from 30° to 60°, and the step value of the adjustment angle is 5°.

[0032] 2) The cross center position of the laser three-dimensional imaging measurement module 1 and the cross measurement tool 2 is adjustable, and the distance range is 0.5m to 1.6m.

[0033] 3) To realize a coordinate system of multiple laser three-dimensional imaging measurement modules 1, 1. each imaging measurement module can collect surface data of the calibration target 5; 2. the calibration target 5 covers the field of view of each laser three-dimensional imaging measurement module 1 as much as possible.

[0034] The calibration tool 3 is composed of three parts: 1) the cross structure of the calibration tool 3; 2) the mounting rod structure of the calibration target 5; 3) the calibration target 5.

[0035] Design requirements for calibration tool 3:

[0036] Cross structure design requirements: The cross structure does not deform when placed statically.

[0037] The distance between the cross structure surface of measuring tool 2 and the cross structure surface of calibration tool 3 is 700mm to 800mm. To ensure that the position of the target covers the range of the measurement field of view, and the maximum diameter of the measurable flange is 4 meters, the length and width of the cross structure of calibration tool 3 need to reach 4.2 meters.

[0038] The size of the calibration target 5 is 60mm×60mm in length and width respectively. The calibration target 5 fixing structure can be installed on the calibration tooling 3 cross structure and the calibration target 5 mounting rod structure, and its structural surface must ensure that the calibration target 5 can be flatly adhered to the tooling surface.

[0039] The present application embodiment provides a method for calibrating the field of view of a laser three-dimensional imaging measurement module 1. The method is executed by a computer device, and can be executed by a computer device such as a terminal or a server alone, or by a terminal and a server together. In the present application embodiment, Figure 3 As shown, the method is applied to the field of view calibration system of the above-mentioned laser three-dimensional imaging measurement module 1, and the method includes the following steps.

[0040] S1: using the total station 4 to obtain the first center point coordinates of each calibration target 5 on the calibration tooling 3.

[0041] S2: Use the laser three-dimensional imaging measurement module 1 of the rudder and propeller flange measurement device to collect the point cloud data of the calibration targets 5 within the field of view of each laser three-dimensional imaging measurement module 1, and extract the second center point coordinates of each calibration target 5.

[0042] S3: construct multiple pairs of first same-name point coordinates according to the first center point coordinates and the second center point coordinates.

[0043] S4: Based on the coordinates of the first same-name points, using the SVD principle, calculate the first rotation and translation matrix of the module coordinate system of each laser three-dimensional imaging measurement module 1 transferred to the coordinate system of the total station 4; the first rotation and translation matrix includes a first rotation matrix and a first translation matrix.

[0044] S5: Calibrate the field of view of the laser three-dimensional imaging measurement module 1 based on the first rotation and translation matrix.

[0045] In an exemplary embodiment, the center point coordinate extraction process is as follows: first, the collected calibration target 5 point cloud data is denoised, the point cloud data of the target area is manually cropped out, and then the target surface point cloud data planes are fitted respectively, and the target plane geometric center point is calculated as the target center point coordinate.

[0046] In an exemplary embodiment, S4 may be replaced by the following steps.

[0047] Calculate the rigid transposition information between the coordinates of the first points of the same name.

[0048] The rotation matrix in the rigid transposition information is set as an invariant, the translation matrix is ​​differentiated to determine the translation matrix expression, and the first translation matrix is ​​determined according to the translation matrix expression.

[0049] Substitute the translation matrix expression into the rigid transposition information to determine the rotation matrix expression.

[0050] The rotation matrix expression is expanded and derived to determine a first rotation matrix between the coordinates of the first points of the same name.

[0051] In an exemplary embodiment, the rigid transposition information is Among them, R is the first rotation matrix; t is the first translation matrix; n is the number of coordinates of the same name points; i is the coordinate number of the same name points; w i is the weight of each coordinate of the same name point; p i is the coordinate of the first center point; q i are the coordinates of the second center point; |||| is the second norm.

[0052] The first rotation matrix is ​​R=VU T ; Wherein, V is the first orthogonal matrix; S is the singular value matrix; U is the second orthogonal matrix; T is the transpose.

[0053] The first translation matrix is in, and To simplify the formula,

[0054] Taking the four laser three-dimensional imaging measurement modules 1 of the system as an example, the first center point coordinates [P1, P2, P3, P4, P5] of the calibration target 5 calculated by each laser three-dimensional imaging measurement module 1 and the target center point coordinates [q1, q2, ..., q5] obtained by the total station 4 form five pairs of coordinates of the same name points.

[0055] The SVD method is used to calculate the first rotation and translation matrix RT1 of the module coordinate system of each module to transform it into the total station 4 coordinate system. The specific method is as follows:

[0056] Assume that P = p1, p2, ..., pn and Q = q1, q2, ..., qn are two sets of corresponding point sets in the Euclidean space Rd. Now we want to calculate the rigid transposition information between them based on the data of these two point sets. The problem can be described by the following formula:

[0057]

[0058] Among them, w i >0, is the weight of each point.

[0059] When equation (1) reaches its minimum value, it is the solution where the derivative with respect to R and t is 0.

[0060] Set R in equation (1) as a constant and take the derivative with respect to t. Assume F(t) = (R, t), and take the derivative of F(t):

[0061]

[0062] Substituting (3) and (4) into (1), we obtain:

[0063]

[0064] Expanding formula (7), we get:

[0065] Find the minimum value of formula (8), which is equivalent to finding The minimum value of can be used to calculate the first rotation matrix between point sets:

[0066] [U,S,V]=SVD(H) (9)

[0067] According to formula (9), U and V are obtained, namely:

[0068] R=VU T (10)

[0069] Then the translation matrix is ​​calculated according to formula (4).

[0070] In an exemplary embodiment, based on the second rotation and translation matrix, point cloud data in the actual measurement coordinate system is determined according to the point cloud data collected by each laser three-dimensional imaging measurement module 1, specifically including:

[0071] Using formula S i =p i (x i ,y i , z i )×[r1, r2, r3; r4, r5, r6; r7, r8, r9]+[t1, t2, t3] to determine the point cloud data in the actual measurement coordinate system; where p i (x i ,y i , z i ) is the point cloud data collected by each laser three-dimensional imaging measurement module 1; [r1, r2, r3; r4, r5, r6; r7, r8, r9] is the 3×3 second rotation matrix in the second rotation and translation matrix; [t1, t2, t3] is the 1×3 second translation matrix in the second rotation and translation matrix.

[0072] In an exemplary embodiment, after S5, the following steps are further included:

[0073] The total station 4 is used to obtain the third center point coordinates of each calibration target 5 on the measuring tool 2 .

[0074] When the position of the measuring tool 2 moves, the fourth center point coordinates of each calibration target 5 on the measuring tool 2 are re-acquired using the total station 4 .

[0075] A plurality of pairs of second coordinates of points with the same name are formed according to the third center point coordinates and the fourth center point coordinates.

[0076] Based on the coordinates of the second same-name points, the second rotation and translation matrix of the measuring tool 2 before and after the movement is calculated by using the SVD principle; the second rotation and translation matrix includes a second rotation matrix and a second translation matrix.

[0077] Based on the second rotation and translation matrix, the point cloud data in the actual measurement coordinate system is determined according to the point cloud data collected by each laser 3D imaging measurement module 1 to unify the module coordinate system of each laser 3D imaging measurement module 1 with the actual measurement coordinate system.

[0078] In practical applications, the total station 4 obtains the coordinate value of the center point of the calibration target 5 on the measuring tool 2.

[0079] When the position of the measuring tool 2 moves, the total station 4 is used to re-acquire the coordinates of the center point of the calibration target 5 on the measuring tool 2, and the rotation and translation matrix RT2 before and after the movement is calculated using the SVD principle, which is the same as the calculation method of the first rotation and translation matrix RT1 during the calibration process of the calibration tool 3.

[0080] The point cloud data collected by each laser 3D imaging measurement module 1 is multiplied by the rotation and translation matrix RT2 to obtain the point cloud data S in the actual measurement coordinate system, so as to unify the data coordinate system of each measurement module with the actual measurement position coordinate system. After the coordinate system is unified, the point cloud data collected by multiple short-distance measurement modules in blocks can be converted into measurement data of large-scale structures. Subsequent size measurement can be performed.

[0081] The calculation formula is as follows:

[0082] Assume that the point cloud data measured by the laser 3D imaging measurement module 1 is a point set Z = {p i (x i ,y i , z i ), i=1:n}, the second rotation and translation matrix RT2=([r1, r2, r3; r4, r5, r6; r7, r8, r9], [t1, t2, t3]).

[0083] S i =p i (x i ,yi , z i )×[r1, r2, r3; r4, r5, r6; r7, r8, r9]+[t1, t2, t3].

[0084] Among them, (x i ,y i , z i ) is the XYZ coordinate value of the point cloud data collected by the laser three-dimensional imaging measurement module 1, [r1, r2, r3; r4, r5, r6; r7, r8, r9] is the 3×3 second rotation matrix in the second rotation and translation matrix; [t1, t2, t3] is the 1×3 second translation matrix in the second rotation and translation matrix, S i It is the coordinate value of the point cloud data in the actual measurement position coordinate system.

[0085] In an exemplary embodiment, a computer device is provided, which may be a server or a terminal. The computer device includes a processor, a memory, an input / output interface (I / O for short) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the field of view calibration data of the laser three-dimensional imaging measurement module. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a field of view calibration method for a laser three-dimensional imaging measurement module is implemented.

[0086] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the above method is implemented when the processor executes the computer program.

[0087] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, which implements the above method when executed by a processor.

[0088] In an exemplary embodiment, a computer program product is provided, including a computer program, which implements the above method when executed by a processor.

[0089] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ReadOnlyMemory, ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (Magnetoresistive RandomAccess Memory, MRAM), ferroelectric random access memory (Ferroelectric RandomAccess Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory can include random access memory (RandomAccess Memory, RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0090] In this application, all actions to obtain signals, information or data are carried out in compliance with the relevant data protection laws and policies of the country where they are located and with the authorization given by the owner of the corresponding device.

[0091] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0092] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0093] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A field of view calibration system for a laser three-dimensional imaging measurement module, characterized in that: include: The laser 3D imaging measurement module, measuring tool, calibration tool and total station of the rudder and propeller flange measuring device; The measuring tool and the calibration tool are both cross structures; the measuring tool and the calibration tool are fixed by a bracket; The laser three-dimensional imaging measurement module is fixed on the measurement fixture; a calibration target is provided on the calibration fixture; the laser three-dimensional imaging measurement module is used to collect point cloud data of the calibration target; The total station is used to obtain the three-dimensional coordinates of any point on the calibration target.

2. The field of view calibration system of the laser three-dimensional imaging measurement module according to claim 1, characterized in that: The angle between the mounting structural surface of the laser three-dimensional imaging measurement module and the cross structural surface of the measurement fixture is adjustable; and the cross center position between the laser three-dimensional imaging measurement module and the measurement fixture is adjustable.

3. A method for calibrating the field of view of a laser three-dimensional imaging measurement module, characterized in that: The field of view calibration method of the laser three-dimensional imaging measurement module is applied to the field of view calibration system of the laser three-dimensional imaging measurement module according to any one of claims 1 to 2, and the field of view calibration method of the laser three-dimensional imaging measurement module comprises: Using a total station to obtain the coordinates of the first center point of each calibration target on the calibration tooling; The laser three-dimensional imaging measurement module of the rudder and propeller flange measurement device is used to collect the point cloud data of the calibration targets within the field of view of each laser three-dimensional imaging measurement module, and the coordinates of the second center point of each calibration target are extracted; Constructing a plurality of pairs of first same-name point coordinates according to the first center point coordinates and the second center point coordinates; Based on the coordinates of the first same-name points, using the SVD principle, calculate the first rotation and translation matrix of the module coordinate system where each laser three-dimensional imaging measurement module is located and transferred to the total station coordinate system; the first rotation and translation matrix includes a first rotation matrix and a first translation matrix; Based on the first rotation and translation matrix, the field of view of the laser three-dimensional imaging measurement module is calibrated.

4. The method for calibrating the field of view of a laser three-dimensional imaging measurement module according to claim 3, characterized in that: Based on the first rotation and translation matrix, the field of view of the laser three-dimensional imaging measurement module is calibrated, and then the method further includes: Use the total station to obtain the coordinates of the third center point of each calibration target on the measuring tool; When the position of the measuring tool is moved, the coordinates of the fourth center point of each calibration target on the measuring tool are re-acquired using the total station; Constructing a plurality of pairs of second points of the same name coordinates according to the third center point coordinates and the fourth center point coordinates; Based on the coordinates of the second same-name points, using the SVD principle, calculating the second rotation and translation matrix before and after the measurement tool moves; the second rotation and translation matrix includes a second rotation matrix and a second translation matrix; Based on the second rotation and translation matrix, the point cloud data in the actual measurement coordinate system is determined according to the point cloud data collected by each laser 3D imaging measurement module to unify the module coordinate system of each laser 3D imaging measurement module with the actual measurement coordinate system.

5. The method for calibrating the field of view of a laser three-dimensional imaging measurement module according to claim 3, characterized in that: Based on the coordinates of the first same-name points, the SVD principle is used to calculate the first rotation and translation matrix of the module coordinate system of each laser three-dimensional imaging measurement module transferred to the total station coordinate system, specifically including: Calculating rigid transposition information between the coordinates of the first points of the same name; The rotation matrix in the rigid transposition information is set as an invariant, the translation matrix is ​​differentiated to determine the translation matrix expression, and the first translation matrix is ​​determined according to the translation matrix expression; Substituting the translation matrix expression into the rigid transposition information to determine the rotation matrix expression; The rotation matrix expression is expanded and derived to determine a first rotation matrix between the coordinates of the first points of the same name.

6. The method for calibrating the field of view of a laser three-dimensional imaging measurement module according to claim 5, characterized in that: The rigid transposition information is Among them, R is the first rotation matrix; t is the first translation matrix; n is the number of coordinates of the same name points; i is the coordinate number of the same name points; w i is the weight of each coordinate of the same name point; p i is the coordinate of the first center point; q i is the coordinate of the second center point; |||| is the second norm; The first rotation matrix is ​​R=VSU T ; Wherein, V is the first orthogonal matrix; S is the singular value matrix; U is the second orthogonal matrix; T is the transpose; The first translation matrix is in, and To simplify the formula, 7. The method for calibrating the field of view of a laser three-dimensional imaging measurement module according to claim 4, characterized in that: Based on the second rotation and translation matrix, determining the point cloud data in the actual measurement coordinate system according to the point cloud data collected by each laser three-dimensional imaging measurement module specifically includes: Using formula S i =p i (x i ,y i , z i )×[r1, r2, r3; r4, r5, r6; r7, r8, r9]+[t1, t2, t3] to determine the point cloud data in the actual measurement coordinate system; where S i is the coordinate value of the point cloud data in the actual measurement position coordinate system, p i (x i ,y i , z i ) is the point cloud data collected by each laser three-dimensional imaging measurement module; [r1, r2, r3; r4, r5, r6; r7, r8, r9] is the 3×3 second rotation matrix in the second rotation and translation matrix; [t1, t2, t3] is the 1×3 second translation matrix in the second rotation and translation matrix.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the field of view calibration method of the laser three-dimensional imaging measurement module described in any one of claims 3 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for calibrating the field of view of the laser three-dimensional imaging measurement module described in any one of claims 3 to 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for calibrating the field of view of the laser three-dimensional imaging measurement module described in any one of claims 3 to 7 is implemented.

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