Full-site scanning equipment, usage methods, media and equipment

Abstract

The present invention relates to the field of engineering detection technology, and specifically to a total station scanning device, a method of use, a medium, and a device. The total station scanning device includes a laser radar and a total station. The total station includes a processor, a distance measurement module, an inclination module, and a horizontal angle encoder. 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 the 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. The laser radar and the total station cooperate to perform scanning operations, and a stable geometric relationship is maintained between the two, which ensures the measurement accuracy of the total station scanning device, extends the accuracy maintenance 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 significantly improves work efficiency.

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, a total station scanner is a highly efficient, high-precision, intelligent, and integrated device that combines the functions of a total station and a 3D laser scanner. Its key feature is its ability to utilize its own total station functionality. Currently, only foreign surveying equipment companies have the production and R&D capabilities to manufacture and develop such devices, such as the American Trimble SX12 and the Swiss Leica MS60. There are currently no comparable products on the domestic market, and no publicly available information on these products is available. This technology presents significant technical barriers both domestically and internationally.

[0003] Currently, most domestic manufacturers and researchers use a top-mounted scanner to achieve integrated scanning capabilities similar to those of foreign total station scanners. This method mechanically connects the scanner's bottom interface to the handle interface on the top of the total station, and uses hardware geometric coordinate relationships to transfer the total station's coordinate system to the point cloud data captured by the scanner.

[0004] The current domestic method of mounting a scanner on the top of a total station has the following disadvantages:

[0005] 1. Poor versatility

[0006] Total stations have different models, 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 based on 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 design precision of the handle interface on the top of the total station is low and the material stability is poor, which causes the interface between the two devices to be easily deformed due to factors such as temperature and dead weight, further affecting the accuracy of coordinate conversion.

[0011] 4. Complicated operation

[0012] The LiDAR device needs to be mounted on the total station each time it is used and removed after use. Without the quick-release mechanism, this is cumbersome and requires field personnel to bring tools like screwdrivers. Using the quick-release mechanism further increases the gap between the connectors. 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 further includes a data temporary storage module, which is electrically connected to the laser radar and the processor respectively, and is used to store the point cloud data collected by the laser radar.

[0018] Optionally, the total station scanning device further 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, comprising:

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

[0021] S2: Set the number of scan periods k = 1;

[0022] S3: Use a 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: Judge: If k < Q, set k = k + 1 and return to S3; otherwise, go to 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 full-station scanning device.

[0025] Optionally, the S1 includes:

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

[0027] S1.2. Use the full-station scanning equipment to perform an M-phase scan of 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 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 calibration horizontal angle;

[0030] Total station measurement of preset target: 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 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 values ​​and calibration horizontal angles 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 entire station scanning equipment and orient it absolutely or relatively;

[0035] S3.2. Use a full-station scanning device to scan and obtain the k-th period of point cloud data, and record the horizontal angle A1 and 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 using the coordinate system conversion parameters to obtain the converted point cloud data;

[0037] S3.4, inverse tilt correction: Rotate the point cloud data in the opposite direction in the pitch and roll directions according to the calibrated tilt values ​​in the corresponding directions to 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 calibration horizontal angle during the k-th scan, and rotate the inverse-corrected point cloud data horizontally by ΔA to obtain the horizontally rotated point cloud data.

[0039] S3.6, Inclination correction: Perform a positive angle rotation on the point cloud data after horizontal angle rotation in the pitch and roll directions according to the inclination value B1 in the corresponding directions 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, which, when executed by a processor, implements the method for using the full-station scanning device as described above.

[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 objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

[0048] Figure 4 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. Distance between the scanning center and the rotation center, 3. Rotation center of the full-station scanning device, 4. 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. However, 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, an inclination module, and a horizontal angle encoder. 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 the 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. The processor, the distance measurement module, the inclination module, and the horizontal angle encoder are basic modules that come with the total station device and 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-producing, the connection parts need 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. 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] The total-station scanning device also includes a power supply module, which is used to power the laser radar 1, processor, ranging module, tilt module, and horizontal angle encoder. The power supply module ensures that all modules of the total-station scanning device are properly powered to ensure the normal operation of the scanning operation.

[0057] Preferably, the total 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 point cloud data collected by the laser radar 1. When the storage module has a capacity of less than 1GB, the data collected by the laser radar 1 is first stored in the data temporary storage module and then accessed, calculated, 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 described above to perform scanning for the initial support section inspection of the tunnel under construction. 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 entire station scanning equipment and evenly set at least three preset targets around it;

[0062] S1.2. Use the full-station scanning equipment to perform an M-phase scan of 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 of Chinese invention patent CN114862788B: A method for automatic recognition of plane target coordinates by three-dimensional laser scanning.

[0064] The inclination module and 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 calibration horizontal angle;

[0065] In this example, nine pre-set targets were evenly spaced within 10 meters to the left, right, and above the LiDAR. The LiDAR was turned on, and real-time scanning data was checked to ensure that all targets were within the scanning range. Because the MID360 LiDAR's non-repeating scanning characteristics allow for a longer scan integration time to ensure complete target scanning, the total station's horizontal angle A and inclination angle B were recorded at the same time.

[0066] Total station measurement of preset target: 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 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 values ​​and calibration horizontal angles 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 number of scan periods k = 1;

[0070] S3: Use a 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 entire station scanning equipment and orient it absolutely or relatively;

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

[0074] S3.3. Convert the scanned data to the total station coordinate system: Convert the k-th point cloud data from the local coordinate system to the total station coordinate system using 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 at the time of verification.

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

[0076] S3.5. Rotational horizontal angle difference angle: Calculate the difference ΔA between the horizontal angle A1 and the calibration horizontal angle during the k-th scan, and rotate the inverse-corrected point cloud data by △A around the actual rotation axis of the device to 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. The actual orientation of the scanned target point cloud obtained in the coordinate system where the device calibration benchmark is located (i.e., the total station coordinate system) further improves the point cloud accuracy.

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

[0078] S4: Decision: If k < Q, set k = k + 1 and return to S3; otherwise, proceed to 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. In this embodiment, M = 360°, N = 90°, and 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 full-station scanning device.

[0080] The data in the point cloud file obtained in this embodiment is the data obtained by scanning at 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 as the rotation radius. The point cloud file is saved in the data temporary storage module or sent to a terminal device such as a mobile phone or computer via WIFI. Figure 4 As shown, the scanning angle range of 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 is The calculated radius of the possible blind spot is about 0.8m. Because the tunnel radius is much larger than 0.8m, it does not affect actual use in tunnel scanning applications. 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 results are similar to those 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. The principles and effects are similar when other laser radars are used. The total station used in this embodiment requires manual rotation. The principles and effects are similar when other total stations with automatic rotation functions are used.

[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 lidar and the total station ensures the overall stability of the equipment. The geometric relationship between the lidar and the total station's ranging unit can maintain stability for a longer period of time, further extending the equipment's accuracy retention period and greatly improving the equipment's ease of use.

[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, no need to disassemble the equipment after use, and no need to prepare a special laser radar equipment box. The operation is simpler and can be completed by one person.

[0086] 4. Fast measurement: This example uses the cross-section inspection and scanning of a three-lane drill-and-blast tunnel as an example. A single-station LiDAR scan takes 15 seconds, and scanning four phases of data at 0°, 90°, 180°, and 270° takes a total of 60 seconds. Including the device rotation and startup time, the total scan time for one circle is no more than 2 minutes. A total station scanner uses the total station's ranging laser to perform point cloud scanning, which is slower and takes about 15 minutes to scan one circle.

[0087] 5. Fast scanning of over-break and under-break in tunnel excavation: When scanning over-break and under-break in tunnel excavation using the drill and blast method, the device is placed below the excavation surface. No rotation 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 further provides a readable storage medium having computer program instructions stored thereon. 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 illustrative, 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 across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. In addition, in the 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 can understand and implement the present invention without inventive 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, and the instruction segments 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, desktop computer, laptop, PDA, or cloud server. The electronic device may include, but is not limited to, a processor and memory. For example, the electronic device may also include input / output devices, network access devices, buses, 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, connecting various parts of the entire electronic device using various interfaces and lines.

[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, at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created based on the use of the mobile phone (such as audio data, a phone book, 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 (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[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 this understanding, the present invention implements all or part of the process 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. When the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. 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, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. 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 foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for using a full-station scanning device, wherein the full-station scanning device is used for scanning, characterized in that: include: S1: Calibrate the full-station scanning equipment based on the preset target to obtain the calibration benchmark; Said S1 comprises: S1.

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

2. Use the full-station scanning equipment to perform an M-phase scan of 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 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 calibration horizontal angle; Total station measurement of preset target: 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 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 and horizontal angle values ​​corresponding to each scanning period, generate the calibration datum for each period and save it to the total station scanning device; S2: Set the number of scan periods k = 1; S3: Use a 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: Judge: If k < Q, set k = k + 1 and return to S3; otherwise, go to 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 full-station scanning device.

2. The method for using the full-station scanning device according to claim 1, characterized in that: A total station scanning device, characterized in that it 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, and 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.

3. The method for using the full-station scanning device according to claim 2, characterized in that: The total station scanning device further comprises a storage module electrically connected to the distance measurement module, the inclination module, the horizontal angle encoder module and the processor respectively, wherein the storage module is used to store 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.

4. The method for using the full-station scanning device according to claim 3, 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).

5. The method for using the full-station scanning device according to any one of claims 2 to 4, characterized in that: The total station scanning device further comprises 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.

6. The method for using the full-station scanning device according to claim 5, characterized in that: The S3 includes: S3.

1. Level the entire station scanning equipment and orient it absolutely or relatively; S3.

2. Use a full-station scanning device to scan and obtain the k-th period of point cloud data, and record the horizontal angle A1 and 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 using the coordinate system conversion parameters to obtain the converted point cloud data; S3.4, inverse tilt correction: Rotate the point cloud data in the opposite direction in the pitch and roll directions according to the calibrated tilt values ​​in the corresponding directions to 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 calibration horizontal angle during the k-th scan, and rotate the inverse-corrected point cloud data horizontally by ΔA to obtain the horizontally rotated point cloud data. S3.6, Inclination correction: Perform a positive angle rotation on the point cloud data after horizontal angle rotation in the pitch and roll directions according to the inclination value B1 in the corresponding directions to obtain the point cloud data after the k-th calibration.

7. A readable storage medium, characterized in that: Computer program instructions are stored thereon, and when the computer program instructions are executed by a processor, the method for using the full-station scanning device according to any one of claims 1 to 6 is implemented.

8. 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, the method for using the full-station scanning device according to any one of claims 1 to 6.

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