Full-station scanning equipment, use method, medium and equipment

Abstract

The invention relates to the technical field of engineering detection, in particular to full-station scanning equipment, a using method, a medium and equipment. The total station scanning equipment comprises a laser radar and a total station, the total station comprises a processor, a distance measuring module, an inclination angle module and a horizontal angle encoder, and the laser radar, the distance measuring module, the inclination angle module and the horizontal angle encoder are electrically connected with the processor; the laser radar is used for collecting point cloud data; the distance measuring module is used for measuring the distance of a to-be-measured point; the inclination module is used for measuring an inclination value corresponding to the to-be-measured point; the horizontal angle encoder is used for measuring the horizontal angle corresponding to the point to be measured. The laser radar and the total station are matched for scanning operation, and a stable geometrical relationship is kept between the laser radar and the total station, so that the measurement precision of scanning equipment of the whole station is ensured, the precision keeping period is prolonged, and the usability of the equipment is greatly improved; the laser radar is electrically connected with the processor, so that the laser radar can be controlled conveniently, the accuracy and reliability of measurement are improved, and the working efficiency can be remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of engineering detection technology, and in particular to a full-station scanning device, a use method, a medium and a device. Background Art

[0002] In engineering inspection and monitoring projects, the total station scanner is a highly efficient, high-precision, highly intelligent, and highly integrated device that has both total station and 3D laser scanner functions. The main feature is that the device can use its own total station function. At present, only foreign measurement equipment companies have the production and R&D capabilities of such equipment, such as the American Trimble SX12 and the Swiss Leica MS60. There are currently no similar products on the domestic market, and there is no relevant public information. The equipment has certain technical barriers at home and abroad.

[0003] At present, most domestic manufacturers and scholars use the method of mounting the scanner on the top of the total station to achieve an integrated scanning function similar to that of foreign total station scanners. This method mechanically connects the bottom interface of the scanner with the handle interface on the top of the total station, and transfers the coordinate system of the total station to the point cloud data obtained by the scanner through the hardware geometric coordinate relationship.

[0004] The current method of mounting a scanner on the top of a total station used in China has the following main disadvantages:

[0005] 1. Poor versatility

[0006] Total stations vary in model, and the interface forms and sizes of their top handles vary. The bottom interface of the same scanner is fixed and can only be mechanically connected to one type of total station.

[0007] 2. Low accuracy

[0008] The coordinate system of the total station is transferred to the point cloud data obtained by the scanner through the hardware geometric coordinate relationship. The accuracy of the point cloud after coordinate conversion is often low due to reasons such as the gap difference at the interface, inconsistent connection strength of the connecting components, and inconsistency between the scanning center of the scanner and the design center.

[0009] 3. Poor stability

[0010] The handle interface on the top of the total station has low design accuracy and poor material stability, which causes the interface between the two devices to be easily deformed due to factors such as temperature and deadweight, further affecting the accuracy of coordinate conversion.

[0011] 4. Complicated operation

[0012] Each time you use it, you need to install the LiDAR device on the total station and remove it after use. If you don’t use the quick-release method, it will be too cumbersome to use, and the on-site personnel will need to bring tools such as screwdrivers. If you use the quick-release method, the gap difference of the connector will be further increased. Summary of the invention

[0013] The present invention aims to provide a full-station scanning device, a method of use, a medium and a device, aiming to solve the problem of low measurement accuracy of existing equipment.

[0014] The specific technical solutions are as follows:

[0015] The present invention provides a total station scanning device, comprising a laser radar and a total station, wherein the total station comprises a processor, a distance measurement module, an inclination module and a horizontal angle encoder, wherein the laser radar, the distance measurement module, the inclination module and the horizontal angle encoder are all electrically connected to the processor; the laser radar is used to collect point cloud data; the distance measurement module is used to measure the distance of a point to be measured; the inclination module is used to measure the inclination value corresponding to the point to be measured; and the horizontal angle encoder is used to measure the horizontal angle corresponding to the point to be measured.

[0016] Optionally, the full-station scanning device also includes a storage module electrically connected to the ranging module, the inclination module, the horizontal angle encoder module and the processor, respectively, and the storage module is used to store the point cloud data collected by the laser radar, the distance measured by the ranging module, the inclination value measured by the inclination module, and the horizontal angle measured by the horizontal angle encoder.

[0017] Optionally, the full-station scanning device also includes a data temporary storage module, which is electrically connected to the laser radar and the processor respectively, and the data temporary storage module is used to store the point cloud data collected by the laser radar.

[0018] Optionally, the total station scanning device also includes a power supply module, which is used to power the laser radar, the processor, the ranging module, the inclination module and the horizontal angle encoder.

[0019] The present invention also provides a method for using a full-station scanning device, which uses the full-station scanning device as described above to perform scanning, including:

[0020] S1: Calibrate the full-station scanning equipment based on the preset target to obtain the calibration benchmark;

[0021] S2: Set the scanning period k=1;

[0022] S3: Use the full-station scanning device to scan and obtain the k-th period of point cloud data; and use the corresponding calibration benchmark to calibrate the data of this period to obtain the k-th period of calibrated point cloud data;

[0023] S4: Determine: If k<Q, set k=k+1 and return to S3; otherwise, enter S4; where: Q is the period threshold, Q=M / N, M is the set scanning angle, and N is the set rotation angle per period;

[0024] S5: Merge the point cloud data after each phase of verification into the same point cloud file and save it to the whole station scanning device.

[0025] Optionally, the S1 includes:

[0026] S1.1. Level the whole station scanning equipment and evenly set at least three preset targets around it;

[0027] S1.2. Use the full-station scanning equipment to perform M-phase scanning on the preset target, specifically:

[0028] The laser radar scans the preset target and identifies the point cloud coordinates: the processor turns on the laser radar to scan the preset target to obtain the M-phase target point cloud, and identifies the center coordinates of the target point cloud in the local coordinate system;

[0029] The inclination module and the horizontal angle encoder are used to record the inclination value and horizontal angle corresponding to each period of the target point cloud as the calibration inclination value and the calibration horizontal angle;

[0030] Total station measurement of preset targets: relative orientation of the total station, turn on the total station to obtain the center coordinates of the preset target in the total station coordinate system;

[0031] S1.3. Calculate the coordinate system conversion parameters: Calculate the coordinate system conversion parameters from the scanning coordinate system to the total station coordinate system based on the center coordinates of the target point cloud in the local coordinate system and the center coordinates of the preset target in the total station coordinate system, where the coordinate system conversion parameters include the coordinate rotation matrix and the coordinate translation matrix;

[0032] S1.4: Based on the coordinate system conversion parameters and the calibration inclination angle value and calibration horizontal angle corresponding to each scanning period, generate the calibration benchmark for each period and save it to the total station scanning device.

[0033] Optionally, the S3 includes:

[0034] S3.1. Level the whole station scanning equipment and orient it absolutely or relatively;

[0035] S3.2, use the full-station scanning equipment to scan and obtain the k-th period point cloud data, and record the horizontal angle A1 and the inclination angle B1 of the k-th period;

[0036] S3.3, converting the scanned data to the total station coordinate system: converting the k-th point cloud data from the local coordinate system to the total station coordinate system through the coordinate system conversion parameters to obtain the converted point cloud data;

[0037] S3.4, inverse correction of inclination angle: rotate the point cloud data in the opposite direction according to the calibrated inclination values ​​in the pitch inclination angle and roll inclination angle directions respectively, and obtain the inverse corrected point cloud data;

[0038] S3.5, rotation horizontal angle difference angle: calculate the difference ΔA between the horizontal angle A1 and the check horizontal angle during the k-th scanning period, rotate the inverse-corrected point cloud data in the horizontal direction by ΔA, and obtain the point cloud data after the horizontal angle rotation;

[0039] S3.6, Inclination correction: In the pitch and roll inclination directions, the point cloud data after horizontal angle rotation is rotated in the positive direction according to the inclination value B1 in the corresponding direction to obtain the point cloud data after the k-th calibration.

[0040] The present invention also provides a readable storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the method for using the full-station scanning device as described above is implemented.

[0041] The present invention also provides an electronic device, characterized in that it includes: at least one processor, at least one memory and computer program instructions stored in the memory, when the computer program instructions are executed by the processor, the method for using the full-station scanning device as described above is performed.

[0042] The laser radar and total station in the technical solution of the present invention cooperate to perform scanning operations, and a stable geometric relationship is maintained between the two, which further ensures the measurement accuracy of the total station scanning equipment, extends the accuracy retention period, and greatly improves the usability of the equipment; the laser radar is electrically connected to the processor to facilitate the control of the laser radar, which not only improves the accuracy and reliability of the measurement, but also can significantly improve work efficiency.

[0043] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0045] Figure 1 is a technical roadmap of S1 in an embodiment of the present invention;

[0046] Figure 2 It is a technical roadmap from S3 to S4 in the embodiment of the present invention;

[0047] Figure 3 It is the technical roadmap from S3.3 to S3.6 in the embodiment of the present invention;

[0048] Figure 4 is a schematic diagram of the scanning range of the laser radar in an embodiment of the present invention;

[0049] Figure 5 Schematic diagram of the scanning range of the full-station scanning device in an embodiment of the present invention;

[0050] Figure 6 Schematic diagram of the scanning blind area range of the full-station scanning device in an embodiment of the present invention.

[0051] Description of Figure Numbers:

[0052] 1. LiDAR, 2. The distance between the scanning center and the rotation center, 3. The rotation center of the full-station scanning device, 4. The scanning range after data splicing. DETAILED DESCRIPTION

[0053] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0054] See also Figures 1 to 6 , this embodiment provides a total station scanning device, including a laser radar 1 and a total station, the total station includes a processor, a distance measurement module, a tilt module and a horizontal angle encoder, the laser radar 1, the distance measurement module, the tilt module and the horizontal angle encoder are all electrically connected to the processor; the laser radar 1 is used to collect point cloud data; the distance measurement module is used to measure the distance of the point to be measured; the tilt module is used to measure the tilt value corresponding to the point to be measured; the horizontal angle encoder is used to measure the horizontal angle corresponding to the point to be measured. The processor, the distance measurement module, the tilt module and the horizontal angle encoder are basic modules of the total station device, which are used to measure the coordinates of the target. In this embodiment, the livox MID360 laser radar is used as the laser radar 1, and is firmly connected to the main metal structure shell on the left side of the total station panel through a self-made connector. When mass production is carried out, the connection part needs to be directly processed. The control circuit of the laser radar is connected to the processor. The laser radar 1 and the total station cooperate to perform scanning operations, and a stable geometric relationship is maintained between the two, which further ensures the measurement accuracy of the total station scanning equipment, extends the accuracy retention period, and greatly improves the usability of the equipment; the laser radar 1 is electrically connected to the processor to facilitate the control of the laser radar 1, which not only improves the accuracy and reliability of the measurement, but also can significantly improve work efficiency.

[0055] Furthermore, the full-station scanning device also includes a storage module electrically connected to the ranging module, the inclination module, the horizontal angle encoder module and the processor, respectively, and the storage module is used to store the point cloud data collected by the laser radar 1, the distance measured by the ranging module, the inclination value measured by the inclination module and the horizontal angle measured by the horizontal angle encoder.

[0056] In addition, the full-station scanning device also includes a power supply module, which is used to power the laser radar 1, the processor, the ranging module, the inclination module and the horizontal angle encoder. The power supply module can ensure the normal power supply of each module of the full-station scanning device to ensure the normal operation of the scanning operation.

[0057] Preferably, the full-station scanning device further includes a data temporary storage module, which is electrically connected to the laser radar 1 and the processor, and is used to store the point cloud data collected by the laser radar 1. When the capacity of the storage module is less than 1GB, the data collected by the laser radar 1 is first stored in the data temporary storage module, which is called and modified by the processor.

[0058] This embodiment also provides a method for using the full-station scanning device, which uses the full-station scanning device as above to perform scanning for the initial branch section detection of the construction tunnel, see Figure 1 and Figure 2 ,include:

[0059] S1: Calibrate the full-station scanning equipment based on the preset target to obtain the calibration benchmark;

[0060] S1 includes:

[0061] S1.1. Level the whole station scanning equipment and evenly set at least three preset targets around it;

[0062] S1.2. Use the full-station scanning equipment to perform M-phase scanning on the preset target, specifically:

[0063] The laser radar scans the preset target and identifies the point cloud coordinates: Turn on the laser radar 1 to scan the preset target to obtain the M-phase target point cloud, and identify the center coordinates of the target point cloud in the local coordinate system; the specific identification method can refer to the relevant content in Chinese invention patent CN114862788B: A method for automatic recognition of plane target coordinates by three-dimensional laser scanning.

[0064] The inclination module and the horizontal angle encoder are used to record the inclination value and horizontal angle corresponding to each period of the target point cloud as the calibration inclination value and the calibration horizontal angle;

[0065] In this embodiment, 9 preset targets are evenly arranged within 10 meters to the left, right, and top of the laser radar. The laser radar is turned on, and the real-time scanning data is checked to ensure that all targets are within the scanning range and the scanning data is saved. Due to the non-repetitive scanning characteristics of the MID360 laser radar, the scanning integration time can be appropriately extended to ensure the complete scanning of the targets. The horizontal angle A and the inclination value B of the total station are recorded at the same time.

[0066] Total station measurement of preset targets: relative orientation of the total station, turn on the total station to obtain the center coordinates of the preset target in the total station coordinate system;

[0067] S1.3. Calculate the coordinate system conversion parameters: Calculate the coordinate system conversion parameters from the scanning coordinate system to the total station coordinate system based on the center coordinates of the target point cloud in the local coordinate system and the center coordinates of the preset target in the total station coordinate system, where the coordinate system conversion parameters include the coordinate rotation matrix and the coordinate translation matrix;

[0068] S1.4: Based on the coordinate system conversion parameters and the calibration inclination angle value and calibration horizontal angle corresponding to each scanning period, generate the calibration benchmark for each period and save it to the total station scanning device.

[0069] S2: Set the scanning period k=1;

[0070] S3: Use the full-station scanning device to scan and obtain the k-th period of point cloud data; and use the corresponding calibration benchmark to calibrate the data of this period to obtain the k-th period of calibrated point cloud data;

[0071] See also Figure 3 , S3 includes:

[0072] S3.1. Level the whole station scanning equipment and orient it absolutely or relatively;

[0073] S3.2, use the full-station scanning equipment to scan and obtain the k-th period point cloud data, and record the horizontal angle A1 and the inclination angle B1 of the k-th period;

[0074] S3.3, scan data conversion to total station coordinate system: the k-th point cloud data is converted from the local coordinate system to the total station coordinate system through the coordinate system conversion parameters to obtain the converted point cloud data; the coordinate system state of the point cloud at this time is the state during verification;

[0075] S3.4, inverse correction of inclination: rotate the point cloud data in the opposite direction in the pitch and roll directions according to the calibrated inclination values ​​in the corresponding directions to obtain the inverse corrected point cloud data; correct the actual rotation axis of the equipment to the vertical axis through inverse correction of inclination.

[0076] S3.5, rotation horizontal angle difference angle: calculate the difference ΔA between the horizontal angle A1 and the calibration horizontal angle during the kth scan, rotate the inverse-corrected point cloud data by △A around the actual rotation axis of the device, and obtain the point cloud data after horizontal angle rotation; because S3.4 has corrected the actual rotation axis of the device to the vertical axis, the point cloud data after horizontal angle rotation obtained at this time is the point cloud data after horizontal angle rotation around the vertical axis, and the actual orientation of the scanned target point cloud in the coordinate system where the device calibration benchmark is located (i.e., the total station coordinate system) is obtained, which further improves the point cloud accuracy.

[0077] S3.6, Inclination correction: In the pitch and roll inclination directions, the point cloud data after horizontal angle rotation is rotated in the positive direction according to the inclination value B1 in the corresponding direction to obtain the point cloud data after the k-th calibration.

[0078] S4: Judgement: If k<Q, set k=k+1 and return to S3; otherwise enter S4; where: Q is the period threshold, Q=M / N, M is the set scanning angle, N is the set rotation angle per period. In this embodiment, M=360°, N=90°, Q=4.

[0079] S5: Merge the point cloud data after each phase of verification into the same point cloud file and save it to the whole station scanning device.

[0080] The data in the point cloud file obtained in this embodiment is the data obtained by rotating 0°, 90°, 180°, and 270° respectively with the rotation center 3 of the full-station scanning device as the center in the tunnel construction coordinate system, and the effective scanning radius is the rotation radius. The point cloud file is stored in the data temporary storage module or sent to a terminal device such as a mobile phone or computer via WIFI or other means. Figure 4 As shown, the scanning angle range of the MID360 laser radar is 59°, and the following is obtained when rotating 0°, 90°, 180°, and 270°: Figure 5 The shown figure is a top view of the scanning range 4 after the data is stitched together.

[0081] After data splicing, the scanning range 4 has some scanning blind areas such as Figure 6 As shown, in general, according to the size of the total station and the distance between the scanning center and the rotation center obtained by further measurement 2: x < 0.1m, the longest distance of the blind area The calculated radius of the possible blind spot is about 0.8m. Because the radius of the tunnel is much larger than 0.8m, it does not affect the actual use in the application of scanning tunnels. If the blind spot needs to be reduced, the angle of each rotation can be reduced accordingly and the number of rotations can be increased. The form of the results is similar to that of foreign total station scanners and can be used as a substitute for foreign total station scanners. This embodiment uses the LIVOX MID360 laser radar. When other laser radars are used, the principle is the same and the effect is similar; the total station used in this embodiment needs to be rotated manually. When other total stations with automatic rotation functions are used, the principle is the same and the effect is similar.

[0082] This embodiment has the following advantages:

[0083] 1. Reduce costs: The domestically produced alternative to foreign high-priced full-station scanners achieves functional overtaking with a design route different from that of foreign competitors, laying the technical foundation for further research and development of domestically produced high-precision full-station scanners.

[0084] 2. High stability: The hard connection between the laser radar and the total station ensures the overall stability of the equipment. The geometric relationship between the laser radar and the total station ranging unit can maintain stability for a longer period of time, further extending the equipment accuracy retention period and greatly improving the ease of use of the equipment.

[0085] 3. Easy to use: Compared with the total station-mounted laser radar, there is no need to install the equipment every time it is used, there is no need to disassemble the equipment after use, and there is no need to prepare a special laser radar equipment box. The operation is easier and can be completed by one person.

[0086] 4. Fast measurement: This embodiment takes the cross-section inspection and scanning of a three-lane drill and blast tunnel as an example. The laser radar single-station scanning takes 15 seconds, and the four-phase data scanning of 0°, 90°, 180°, and 270° takes a total of 60 seconds. Adding the equipment rotation and equipment startup time, the total time for scanning a circle does not exceed 2 minutes. The total station scanner uses the total station ranging laser to perform point cloud scanning, which is slow and takes about 15 minutes to scan a circle.

[0087] 5. Fast scanning of over-break and under-break in tunnel excavation: When scanning over-break and under-break of tunnel excavation surfaces using the drill and blast method, the equipment is placed below the excavation surface. No rotation angle is required and the scanning can be completed by measuring only one station, with a total time of no more than 30 seconds.

[0088] This embodiment also provides a readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method for using the full-station scanning device as described above is implemented.

[0089] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0090] This embodiment also includes an electronic device, including: at least one processor, at least one memory, and computer program instructions stored in the memory. When the computer program instructions are executed by the processor, the method for using the full-station scanning device as described above is performed.

[0091] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the electronic device.

[0092] The electronic device may be a computing device such as a mobile phone, a desktop computer, a notebook, a PDA, a cloud server, etc. The electronic device may include, but is not limited to, a processor and a memory. For example, the electronic device may also include an input / output device, a network access device, a bus, etc.

[0093] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the electronic device, and uses various interfaces and lines to connect various parts of the entire electronic device.

[0094] The memory can be used to store the computer program and / or module, and the processor implements the computer program by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0095] Wherein, if the module / unit integrated in the electronic device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0096] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A full-station scanning device, characterized in that: The invention comprises a laser radar (1) and a total station, wherein the total station comprises a processor, a distance measurement module, an inclination module and a horizontal angle encoder, wherein the laser radar (1), the distance measurement module, the inclination module and the horizontal angle encoder are all electrically connected to the processor; the laser radar (1) is used to collect point cloud data; the distance measurement module is used to measure the distance of a point to be measured; the inclination module is used to measure the inclination value corresponding to the point to be measured; and the horizontal angle encoder is used to measure the horizontal angle corresponding to the point to be measured.

2. The full-station scanning device according to claim 1, characterized in that: The total station scanning device also includes a storage module electrically connected to the distance measurement module, the inclination module, the horizontal angle encoder module and the processor respectively, and the storage module is used to store the point cloud data collected by the laser radar (1), the distance measured by the distance measurement module, the inclination value measured by the inclination module and the horizontal angle measured by the horizontal angle encoder.

3. The full-station scanning device according to claim 2, characterized in that: The full-station scanning device further comprises a data temporary storage module, the data temporary storage module being electrically connected to the laser radar (1) and the processor respectively, and the data temporary storage module being used to store point cloud data collected by the laser radar (1).

4. The full-station scanning device according to any one of claims 1 to 3, characterized in that: The total station scanning device also includes a power supply module, which is used to supply power to the laser radar (1), the processor, the distance measurement module, the inclination module and the horizontal angle encoder.

5. A method for using a full-station scanning device, using the full-station scanning device as claimed in claim 4 for scanning, characterized in that: include: S1: Calibrate the full-station scanning equipment based on the preset target to obtain the calibration benchmark; S2: Set the scanning period k=1; S3: Use the full-station scanning device to scan and obtain the k-th period of point cloud data; and use the corresponding calibration benchmark to calibrate the data of this period to obtain the k-th period of calibrated point cloud data; S4: Determine: If k<Q, set k=k+1 and return to S3; otherwise, enter S4; where: Q is the period threshold, Q=M / N, M is the set scanning angle, and N is the set rotation angle per period; S5: Merge the point cloud data after each phase of verification into the same point cloud file and save it to the whole station scanning device.

6. The method for using the full-station scanning device according to claim 5, characterized in that: The S1 includes: S1.

1. Level the whole station scanning equipment and evenly set at least three preset targets around it; S1.

2. Use the full-station scanning equipment to perform M-phase scanning on the preset target, specifically: The laser radar scans the preset target and identifies the point cloud coordinates: the processor turns on the laser radar (1) to scan the preset target to obtain the M-phase target point cloud, and identifies the center coordinates of the target point cloud in the local coordinate system; The inclination module and the horizontal angle encoder are used to record the inclination value and horizontal angle corresponding to each period of the target point cloud as the calibration inclination value and the calibration horizontal angle; Total station measurement of preset targets: relative orientation of the total station, turn on the total station to obtain the center coordinates of the preset target in the total station coordinate system; S1.

3. Calculate the coordinate system conversion parameters: Calculate the coordinate system conversion parameters from the scanning coordinate system to the total station coordinate system based on the center coordinates of the target point cloud in the local coordinate system and the center coordinates of the preset target in the total station coordinate system, where the coordinate system conversion parameters include the coordinate rotation matrix and the coordinate translation matrix; S1.4: Based on the coordinate system conversion parameters and the calibration inclination angle value and calibration horizontal angle corresponding to each scanning period, generate the calibration benchmark for each period and save it to the total station scanning device.

7. The method for using the full-station scanning device according to claim 6, characterized in that: The S3 includes: S3.

1. Level the whole station scanning equipment and orient it absolutely or relatively; S3.2, use the full-station scanning equipment to scan and obtain the k-th period point cloud data, and record the horizontal angle A1 and the inclination angle B1 of the k-th period; S3.3, converting the scanned data to the total station coordinate system: converting the k-th point cloud data from the local coordinate system to the total station coordinate system through the coordinate system conversion parameters to obtain the converted point cloud data; S3.4, inverse correction of inclination angle: rotate the point cloud data in the opposite direction according to the calibrated inclination values ​​in the pitch inclination angle and roll inclination angle directions respectively, and obtain the inverse corrected point cloud data; S3.5, rotation horizontal angle difference angle: calculate the difference ΔA between the horizontal angle A1 and the check horizontal angle during the k-th scanning period, rotate the inverse-corrected point cloud data in the horizontal direction by ΔA, and obtain the point cloud data after the horizontal angle rotation; S3.6, Inclination correction: In the pitch and roll inclination directions, the point cloud data after horizontal angle rotation is rotated in the positive direction according to the inclination value B1 in the corresponding direction to obtain the point cloud data after the k-th calibration.

8. A readable storage medium, characterized in that: Computer program instructions are stored thereon, and when the computer program instructions are executed by a processor, a method for using the full-station scanning device as described in any one of claims 5 to 7 is implemented.

9. An electronic device, characterized in that: include: At least one processor, at least one memory and computer program instructions stored in the memory, when the computer program instructions are executed by the processor, it is the method for using the full-station scanning device as described in any one of claims 5 to 7.

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