Large-range precise scanning device and morphology reconstruction method thereof

Abstract

The invention discloses a large-range precise scanning device and a morphology reconstruction method thereof. The system comprises a laser ranging system, a motion servo system, a user interaction system, a medium-frequency vibration sensing and self-adaptive measurement system and a power supply system. A light spot is emitted to a measuring point through an improved laser phase method distance measuring system; after being reflected by the ground, the light spot with the specific wavelength sequentially passes through the fixed lens group, the zoom lens group unit and the switching lens group and finally enters the detector; and the detector obtains the collected ground light spot reflection image and obtains a distance deviation value of the corresponding measuring point. Based on the device disclosed by the invention, the 30m-range measurement of a high-reflectivity concrete construction pouring surface can be realized by utilizing a double-sensing distance measurement scheme, the medium-frequency vibration sensing and self-adaptive measurement of a construction site are realized, the efficiency of difference frequency phase method laser distance measurement is improved, and the large-range morphology reconstruction is realized.

Description

Technical Field

[0001] The present invention relates to precision detection technology, and in particular to a large-scale precision scanning device and a method for reconstructing the shape of the device. The present invention provides two working modes, namely, single-point distance measurement and elevation measurement, and can realize high-precision measurements such as distance measurement, elevation measurement, and shape reconstruction. Background Art

[0002] Total stations use a technology called phase measurement to measure distance. This technology uses a light beam emitted by a light source such as laser or infrared to illuminate a reflective prism or object on the target, and then the light beam is reflected back to the total station. The distance measuring device inside the total station is usually a laser rangefinder that measures the round-trip time of the light beam, and then calculates the distance between the target object and the instrument based on the speed of light and time.

[0003] At present, total stations have mature commercial products, with major foreign manufacturers including Leica, TOPCON, etc., and major domestic manufacturers including Southern Surveying and Mapping, Suzhou Yiguang, etc. A wide variety of total stations have been developed according to different measurement requirements, with the highest resolution reaching millimeter level.

[0004] Concrete construction involves multiple processes such as leveling, screeding, and screeding. During the construction process, real-time, efficient, and accurate measurement and analysis of parameters such as surface elevation and height difference are of great significance to ensuring and improving construction quality. Casting surfaces have various forms, and the surface strength, moisture content, reflectivity and other characteristics vary greatly. During the construction process, the casting surface has high reflectivity and ranging data is often not obtained; the construction site environment of the casting surface is complex, and background vibration is inevitable, which seriously affects the measurement accuracy. Existing measurement methods mostly use laser transmitters and calibration rod systems for manual measurement, with an error of more than 3mm, which cannot meet the construction accuracy requirements, and have poor timeliness, consume a lot of manpower costs, and damage the finished surface.

[0005] In order to solve the above problems, the present invention discloses a large-range precision scanning device and a method for reconstructing its morphology. Based on the dual-sensor ranging solution, a triangulation ranging system and an improved frequency difference phase laser ranging system are invented to achieve accurate imaging of large inclination angles of the projected light spot, a motion servo system is invented to read the absolute position and ensure the measurement accuracy, a medium-frequency vibration sensing and adaptive measurement technology for the construction site is proposed, and a method for reconstructing the morphology is proposed. Summary of the invention

[0006] The purpose of the present invention is to propose a large-scale precision scanning device and its morphology reconstruction method to measure the problem that traditional ranging methods cannot achieve efficient measurement due to huge differences in surface strength, moisture content, reflectivity and other characteristics during concrete construction.

[0007] In order to achieve the above object, the present invention adopts the following technical solution: A large-range precision scanning device includes a laser ranging system, a motion servo system, a user interaction system, a medium-frequency vibration sensing and adaptive measurement system, and a power supply system; the laser ranging system provides position and distance data, and the motion servo system adjusts the device motion path; the medium-frequency vibration sensing system monitors vibration in real time and optimizes measurement data; the user interaction system feeds back the device status to the user and receives user instructions at the same time, and the industrial computer in the user interaction system directly controls the motion servo system and the laser ranging system; the power supply system is used to supply power to the laser ranging system, the motion servo system, the user interaction system, the medium-frequency vibration sensing and adaptive measurement system, and monitor the power status in real time to ensure the normal operation of the system.

[0008] Furthermore, the laser ranging system is composed of a group of improved laser phase ranging systems and a group of variable working distance laser triangulation ranging systems.

[0009] Furthermore, the improved laser phase method distance measurement system includes a DAC module, a laser driving module, a photodiode amplification module, a photodetector, a preamplifier circuit, a signal conditioning module, a data acquisition and processing module and a laser; wherein the signal conditioning module includes an AGC circuit, a mixing circuit and a filtering circuit; The DAC module generates a modulation signal and a local oscillator signal, wherein the local oscillator signal is stored in the DAC module and the modulation signal is sent to the photodiode amplification module; The photodiode amplifying module amplifies the modulation signal, generates a modulation voltage signal, and sends it to the laser driving module; The laser driving module converts the modulated voltage signal into a modulated current signal and generates a DC bias current to drive the laser, thereby maintaining the laser at a desired operating point to ensure that the laser can operate in a stable state. The laser emits laser light and passes through the reflector, and the light path is divided into two. The first path passes through the fiber coupler, and the other path passes through the telescope lens group and then reflects back from the reflective surface. Finally, both light signals pass through the photodetector. The photoelectric detector converts the two received optical signals into two weak current signals respectively. The current signals are converted into voltage signals after passing through the preamplifier circuit and input into the signal conditioning module. The AGC circuit included in the signal conditioning module receives two voltage signals, and then the mixing circuit and the filtering circuit adjust the signal amplitude of the two voltage signals, reduce the high-frequency signal to a low-frequency band, filter out the high-frequency signal, and output a low-frequency signal; The data acquisition and processing module includes a data acquisition unit and a data processing unit. The data acquisition unit is used to acquire the low-frequency signal output by the signal conditioning module. The data processing unit processes the acquired low-frequency signal. The data processing unit obtains the phase difference of the signal. And the distance data of the measured object ;

[0010] in, Indicates the wavelength of light.

[0011] Furthermore, the variable working distance laser triangulation ranging system comprises a fixed lens group, a zoom lens group unit, a transfer lens group, and a detector; a light spot is emitted to a measuring point through an improved laser phase ranging system, and a light spot of a specific wavelength is reflected by the ground, and then passes through the fixed lens group, the zoom lens group unit, and the transfer lens group in sequence, and finally enters the detector; the detector obtains the collected reflection image of the ground light spot and obtains the distance offset value of the corresponding measuring point; wherein the zoom lens group unit can realize continuous zoom of 15m-30m.

[0012] Furthermore, the fixed lens group and zoom lens group unit in the variable working distance laser triangulation distance measurement system are constructed in the form of a positive lens group + a negative lens group, the positive lens group is used to converge light, and the negative lens group is used to shorten the total length of the system, and the focal length of the lens group is changed by changing the distance between the negative lens group and the positive lens group, so as to achieve focusing on object points at different distances; Focal length of laser triangulation distance measurement system with variable working distance for:

[0013] in, , , are the positive lens group, the negative lens group, and the focal length of the combined system; It is the focal length between the positive lens group and the negative lens group.

[0014] Furthermore, the motion servo system is composed of a laser ranging precision pitch axis, a triangulation ranging precision pitch axis, a horizontal precision rotation axis and a triangulation automatic precision focusing system; The laser ranging precision pitch axis is driven by helical gears and worm gears in two stages, and a high-precision absolute circular grating is installed on the axis, which can accurately obtain the absolute position during laser ranging; the triangulation ranging precision pitch axis is also driven by helical gears and worm gears in two stages, and the position of the triangulation ranging system is obtained by the absolute circular grating; the horizontal precision rotating axis also has an absolute circular grating, and the absolute position can be obtained during the scanning process; the triangulation automatic precision focusing system is equipped with an absolute magnetic ring encoder, which can achieve automatic focusing after obtaining the current absolute angle position.

[0015] Furthermore, the medium-frequency vibration sensing and adaptive measurement system senses environmental vibrations by placing an inertial accelerometer on the ground, calculates the inclination angles of the horizontal and vertical axes, uses the dual-axis compensator data to analyze its own vibrations, compensates the measurement results according to the angle, analyzes the intensity-time curve of the vibration signal, and realizes vibration zero-point sampling of the ranging data.

[0016] Furthermore, a method for implementing a large-scale precision scanning device is provided, wherein a measurement space coordinate system is established with reference to the mechanical structure of the large-scale precision scanning device; the vertical direction is used as the z direction of the measurement space coordinate system; the ground is used as the zero plane in the z direction of the measurement space coordinate system, and the specific wavelength is preferably 650nm; The straight line perpendicular to the vertical direction on the plane where the laser ranging axis and the triangulation ranging optical path are located is taken as the x direction of the measurement space coordinate system, and the direction perpendicular to both the z axis and the x direction is taken as the y direction of the measurement space coordinate system; the geometric center of the leveling base of the large-scale precision scanning device is taken as the geometric zero point of the measurement space coordinate system, and the vertical upward direction is the positive direction of the z axis; the measurement point is recorded as The rotation axis center of the triangulation distance measurement system is point D, the rotation axis center of the laser distance measurement is point C, and the triangulation distance measurement system obtains the measurement point offset as , the height data of the measuring point relative to the measuring device is , the range reference point A is set at the intersection of the receiving optical axis and the transmitting optical axis to minimize the off-axis aberration at the center of the range. The formula is as follows: ; ; ; ; ; ; in, The position of the object being measured With reference position The distance between is the imaging spot on the photodetector With reference position The distance , , are the positive and negative lens groups and the focal length of the combined system respectively; is the focal length between lens elements, is the angle between the image plane and the normal direction of the triangulation lens group, is the angle between the reference position and the line connecting the measured position and the focus of the lens group; are the object distance and image distance at the reference point, respectively. is the angle between the outgoing optical axis and the receiving lens optical axis, is the angle between the image plane and the receiving optical axis.

[0017] The beneficial effects of the present invention compared to the prior art are: First, the present invention utilizes a dual-sensor ranging solution to achieve 30m range measurement of high-reflectivity concrete construction casting surfaces; second, the present invention measures on-site ground vibrations based on inertial acceleration sensors, and uses dual-axis compensators to analyze their own vibrations to achieve medium-frequency vibration perception and adaptive measurement at the construction site; third, the present invention uses high-frequency DAC to generate transmission data with variable frequency and arbitrary phase offset, which improves the efficiency of difference frequency phase method laser ranging and achieves large-scale morphology reconstruction. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the composition of a large-range precision scanning device according to an embodiment of the present invention.

[0019] Figure 2 The figure is a schematic diagram of the laser phase ranging principle and composition of an embodiment of the present invention.

[0020] Figure 3 It is a schematic diagram of a triangulation ranging system according to an embodiment of the present invention.

[0021] Figure 4 It is a simplified diagram of a triangulation ranging zoom system according to an embodiment of the present invention.

[0022] Figure 5 It is a principle diagram of a device measurement method according to an embodiment of the present invention.

[0023] Figure 6 The present invention is a schematic diagram of a frequency vibration sensing and adaptive measurement system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0025] The embodiment of the present invention relates to a large-range precision scanning device and a shape reconstruction method thereof, which can be used for the precise measurement of geometric quantities.

[0026] [1] First Embodiment The first embodiment of the present invention is described below with reference to the accompanying drawings.

[0027] like Figure 1 As shown, according to an embodiment of the present invention, a large-scale precision scanning device includes a laser ranging system 100, a motion servo system 200, a user interaction system 300, a medium-frequency vibration sensing and adaptive measurement system 400, and a power supply system 500. The laser ranging system 100 provides position and distance data, and the motion servo system 200 adjusts the device motion path; the medium-frequency vibration sensing system 400 monitors vibration in real time and optimizes the measurement data to improve the accuracy of the data; the user interaction system 300 feeds back the device status to the user and receives user instructions at the same time; the power supply system 500 provides stable power for all other systems, and monitors the power status in real time to ensure the normal operation of the system.

[0028] like Figure 1 As shown, in this embodiment, the laser ranging system 100 is composed of a set of improved laser phase distance measurement systems 102 and a set of variable working distance laser triangulation distance measurement systems 101.

[0029] The motion servo system 200 is composed of a laser ranging precision pitch axis 203 , a triangulation ranging precision pitch axis 202 , a horizontal precision rotation axis 204 and a triangulation automatic precision focusing system 201 .

[0030] The laser ranging precision pitch axis 203 is driven by helical gears and worm gears in two stages, and a high-precision absolute circular grating is installed on the axis, which can accurately obtain the absolute position during laser ranging; the triangulation ranging precision pitch axis 202 is also driven by helical gears and worm gears in two stages, and the position of the triangulation ranging system is obtained by the absolute circular grating; the horizontal precision rotating axis 204 also has an absolute circular grating, and the absolute position can be obtained during the scanning process; the triangulation automatic precision focusing system 201 is equipped with an absolute magnetic ring encoder, which can achieve automatic focusing after obtaining the current absolute angle position.

[0031] The laser ranging precision pitch axis 203, the triangulation ranging precision pitch axis 202, the horizontal precision rotation axis 204, and the triangulation automatic precision focusing system 201 can obtain the current absolute position through the high-precision absolute angle encoder and the absolute magnetic ring encoder, thereby improving the ranging accuracy.

[0032] like Figure 2As shown, in this embodiment, the improved laser phase method ranging system 102 includes a DAC module 102-1, a laser driving module 102-2, a photodiode amplification module 102-3, a photodetector 102-4, a preamplifier circuit 102-5, a signal conditioning module 102-6, a data acquisition and processing module 102-8 and a laser 102-9, wherein the signal conditioning module 102-6 includes an AGC circuit 102-7, a mixing circuit and a filtering circuit, which are used to adjust the signal amplitude, reduce the high-frequency signal to a low-frequency band, filter out the high-frequency signal, and output a low-frequency signal.

[0033] The DAC module 102 - 1 generates a dual-frequency modulation signal, and there is no integer multiple relationship between the two frequencies. Two different phase detectors are used to finally obtain phase difference data.

[0034] The DAC module 102 - 1 generates a modulation signal and a local oscillation signal, wherein the local oscillation signal is stored in the DAC module 102 - 1 , and the modulation signal is sent to the photodiode amplification module 102 - 3 .

[0035] The photodiode amplifying module 102 - 3 amplifies the modulated signal, generates a modulated voltage signal, and sends it to the laser driving module 102 - 2 .

[0036] The laser driving module 102-2 converts the modulated voltage signal into a modulated current signal and generates a DC bias current to drive the laser 102-9, maintaining the laser 102-9 at a required operating point to ensure that the laser 102-9 can operate in a stable state.

[0037] The laser 102-9 emits laser light and passes through the reflector 102-10. The light path is divided into two. The first path passes through the fiber coupler 102-11, and the other path passes through the telescope lens group 102-12 and then reflects back from the reflective surface. Finally, both light signals pass through the photodetector 102-4. The photodetector 102-4 converts the two received optical signals into two weak current signals respectively. The current signals are converted into voltage signals after passing through the preamplifier circuit 102-5 and input into the signal conditioning module 102-6. The AGC circuit 102-7 included in the signal conditioning module 102-6 receives two voltage signals, and then the mixing circuit and the filtering circuit adjust the signal amplitude of the two voltage signals, reduce the high-frequency signal to a low-frequency band, filter out the high-frequency signal, and output a low-frequency signal.

[0038] The data acquisition and processing module 102-8 includes a data acquisition unit and a data processing unit. The data acquisition unit is used to acquire the low-frequency signal output by the signal conditioning module 102-6. The data processing unit processes the acquired low-frequency signal. The data processing unit obtains the phase difference of the signal. And the distance data of the measured object .

[0039] ; in, Indicates the wavelength of light.

[0040] like Figure 3 As shown, a set of laser triangulation ranging systems 101 with variable working distance is provided; adding a set of laser triangulation ranging systems 101 with variable working distance can capture the projection shape of the light spot, use multi-sensor fusion to improve the overall measurement accuracy of the system, and realize accurate imaging of the large inclination angle of the projected light spot through innovative optical zoom design, analyze the shape of the light spot to compensate for the ranging accuracy, and deeply optimize the imaging quality of the light collection detection system. The size of the light spot received by the target surface of the detector 101-4 is perfectly within the diffraction limit, with high light energy utilization and good spatial resolution. The laser triangulation ranging system 101 with variable working distance is composed of a fixed lens group 101-1, a zoom lens group unit 101-2, a transfer lens group 101-3, and a detector 101-4, wherein the zoom lens group unit 101-2 can realize 15m-30m continuous zoom.

[0041] like Figure 1 and 3 As shown, in this embodiment, a light spot is emitted to a measuring point by an improved laser phase distance measurement system 102; after being reflected by the ground, the light spot of a specific wavelength passes through the fixed lens group 101-1, the zoom lens group unit 101-2, and the transfer lens group 101-3 in sequence, and finally enters the detector 101-4; the detector 101-4 obtains the collected reflection image of the ground light spot and obtains the distance offset value of the corresponding measuring point.

[0042] like Figure 4 As shown, in this embodiment, the fixed lens group 101-1 and the zoom lens group unit 101-2 of the variable working distance laser triangulation ranging system 101 are constructed in the form of a positive lens group + a negative lens group. The positive lens group is used to converge light, and the negative lens group is used to shorten the overall length of the system. The focal length of the lens group is changed by changing the distance between the negative lens group and the positive lens group to achieve focusing on object points at different distances.

[0043] like Figure 4 As shown, in this embodiment, , , are the positive lens group, the negative lens group, and the focal length of the combined system; , They are respectively the positive mirror group, the negative mirror group and the main surface of the combined system; is the focal length between the positive lens group and the negative lens group; is the total length of the system. The focal length of the laser triangulation ranging system 101 is: ; like Figure 6 As shown, in this embodiment, the medium-frequency vibration sensing and adaptive measurement system 400 senses the environmental vibration by placing an inertial accelerometer 401 on the ground, calculates the inclination angles of the horizontal axis and the vertical axis, analyzes its own vibration using the dual-axis compensator data, compensates the measurement result according to the angle, analyzes the intensity-time curve of the vibration signal, and realizes the vibration zero-point sampling of the ranging data.

[0044] like Figure 5 As shown, in this embodiment, the large-scale precision scanning device establishes a measurement space coordinate system with reference to the mechanical structure of the large-scale precision scanning device; the vertical direction is used as the z direction of the measurement space coordinate system; the ground is used as the zero plane in the z direction of the measurement space coordinate system, and the specific wavelength is preferably 650nm; The straight line perpendicular to the vertical direction on the plane where the laser ranging axis and the triangulation ranging optical path are located is used as the x direction of the measurement space coordinate system, and the direction perpendicular to both the z axis and the x direction is used as the y direction of the measurement space coordinate system; the geometric center of the leveling base of the large-scale precision scanning device is the geometric zero point of the measurement space coordinate system, and the vertical upward direction is the positive direction of the z axis; The measuring points are recorded as Point, the rotation axis center of the triangulation distance measurement system is point D, the rotation axis center of the laser distance measurement is point C, and the triangulation distance measurement system obtains the measurement point offset as , the height difference between the measuring point and the measuring device is The range reference point A is set at the intersection of the receiving optical axis and the transmitting optical axis to minimize the off-axis aberration at the center point of the range. , are the object distance and image distance at the reference point, respectively. is the angle between the outgoing optical axis and the receiving lens optical axis, is the angle between the image plane and the receiving optical axis.

[0045] ; ; ; ; ; ;

[0046] Where O is the origin of the coordinate system, The position of the object being measured With reference position The distance between is the imaging spot on the photodetector With reference position The distance , , are the positive and negative lens groups and the focal length of the combined system respectively; is the focal length between lens elements; is the angle between the image plane and the normal direction of the triangulation lens group, It is the angle between the reference position and the line connecting the measured position and the focus of the lens group.

[0047] A method for efficiently and accurately measuring a concrete construction process, relying on the large-scale precision scanning device described in the present embodiment of the claims, can measure distance and height accurately through dual sensors, and the distance measurement method comprises the following steps: Step 1: Control the motion servo system 200 to project the laser to the measuring point using the laser phase ranging system 102 And get the ranging data ; Step 2: Calculate the β Angle, control the motion servo system 200 to make the triangulation distance measurement system 101 align with the measurement point ; Step 3: Calculate focal length , control the motion servo system 200 so that the detector 101-4 receives a clear light spot, and use the laser ranging correction algorithm based on the light spot distribution, including edge detection, Gaussian fitting centroid method and Gaussian filtering, to correct the ranging data obtained by the phase method ranging .

[0048] A method for reconstructing a morphology, relying on the large-scale precision scanning device being able to detect the unevenness of a large-scale plane, the distance measurement method comprises the following steps: Step 1: Get the height data at a single point using a large-scale precision scanning device ; Step 2: Move outward along the x-axis of the measurement space coordinate system to measure the height data of each point on a single x-axis line. ; Step 3: Rotate around the z-axis to measure the height data of each point in the plane within a large angle range ; Step 4: According to the height data of each point , reconstruct the ground morphology and obtain the roughness information of a large area of ​​the ground.

[0049] like Figure 1 As shown, in this embodiment, as described in the user interaction system 300 and the power supply system 500, the user interaction system includes an interactive control screen, a wireless ad hoc network system, and the industrial computer directly controls the motion servo system 200 and the laser ranging system 100 to work; the power supply system 500 is mainly used to supply power to the laser ranging system 100, the motion servo system 200, the user interaction system 300, and the medium frequency vibration sensing and adaptive measurement system 400, including a power supply, a switch, and a charging slot. The power supply ensures that the measurement system has a long battery life during the on-site measurement process, and the outer shell protects the industrial computer and the power circuit safety, and has waterproof and sun protection functions.

[0050] The above-described embodiment is only a preferred solution of the present invention, but it is not intended to limit the present invention. A person skilled in the relevant technical field can make various changes and deformations without departing from the spirit and scope of the present invention. Therefore, any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present invention.

Claims

1. A large-range precision scanning device, characterized in that: The invention comprises a laser ranging system (100), a motion servo system (200), a user interaction system (300), a medium frequency vibration sensing and adaptive measurement system (400), and a power supply system (500); the laser ranging system (100) provides position and distance data, the motion servo system (200) adjusts the motion path of the device; the medium frequency vibration sensing system (400) monitors vibration in real time and optimizes the measurement data; the user interaction system (300) feeds back the device status to the user and receives user instructions at the same time; the industrial computer in the user interaction system (300) directly controls the motion servo system (200) and the laser ranging system (100) to work; and the power supply system (500) is used to supply power to the laser ranging system (100), the motion servo system (200), the user interaction system (300), and the medium frequency vibration sensing and adaptive measurement system (400), and monitor the power status in real time to ensure the normal operation of the system.

2. A large-range precision scanning device according to claim 1, characterized in that: The laser distance measurement system (100) is composed of a group of distance measurement systems (102) of improved laser phase method and a group of distance measurement systems (101) of laser triangulation method with variable working distance.

3. A large-range precision scanning device according to claim 2, characterized in that: The improved laser phase method distance measurement system (102) comprises a DAC module (102-1), a laser driving module (102-2), a photodiode amplification module (102-3), a photodetector (102-4), a preamplification circuit (102-5), a signal conditioning module (102-6), a data acquisition and processing module (102-8) and a laser (102-9); wherein the signal conditioning module (102-6) comprises an AGC circuit (102-7), a mixing circuit and a filtering circuit; The DAC module (102-1) generates a modulation signal and a local oscillation signal, wherein the local oscillation signal is stored in the DAC module (102-1) and the modulation signal is sent to the photodiode amplification module (102-3); The photodiode amplifying module (102-3) amplifies the modulated signal, generates a modulated voltage signal, and sends it to the laser driving module (102-2); The laser driving module (102-2) converts the modulation voltage signal into a modulation current signal, and generates a DC bias current to drive the laser (102-9) and maintain the laser (102-9) at a required working point to ensure that the laser (102-9) can work in a stable state; The laser (102-9) emits laser light which passes through the reflector (102-10), and the optical path is split into two. The first path passes through the optical fiber coupler (102-11), and the other path passes through the telescope lens group (102-12) and then is reflected back from the reflective surface. Finally, both optical signals pass through the photodetector (102-4); The photoelectric detector (102-4) converts the two received optical signals into two weak current signals respectively, and the current signals are converted into voltage signals after passing through the preamplifier circuit (102-5) and input into the signal conditioning module (102-6); The AGC circuit (102-7) included in the signal conditioning module (102-6) receives two voltage signals, and then the mixing circuit and the filtering circuit adjust the signal amplitudes of the two voltage signals, reduce the high-frequency signal to a low-frequency band, filter out the high-frequency signal, and output a low-frequency signal; The data acquisition and processing module (102-8) comprises a data acquisition unit and a data processing unit. The data acquisition unit is used to acquire the low-frequency signal output by the signal conditioning module (102-6). The data processing unit processes the acquired low-frequency signal. The data processing unit obtains the phase difference of the signal. And the distance data of the measured object ; ； in, Indicates the wavelength of light.

4. A large-range precision scanning device according to claim 3, characterized in that: The variable working distance laser triangulation distance measurement system (101) comprises a fixed lens group (101-1), a zoom lens group unit (101-2), a transfer lens group (101-3), and a detector (101-4); a light spot is emitted to a measurement point by an improved laser phase distance measurement system (102); the light spot of a specific wavelength is reflected by the ground and passes through the fixed lens group (101-1), the zoom lens group unit (101-2), and the transfer lens group (101-3) in sequence, and finally enters the detector (101-4); the detector (101-4) obtains the collected reflection image of the ground light spot and obtains the distance offset value of the corresponding measurement point; wherein the zoom lens group unit (101-2) can achieve 15m-30m continuous zoom.

5. A large-range precision scanning device according to claim 4, characterized in that: The fixed lens group (101-1) and the zoom lens group unit (101-2) in the variable working distance laser triangulation distance measurement system (101) are constructed in the form of a positive lens group + a negative lens group, the positive lens group is used to converge light, and the negative lens group is used to shorten the total length of the system, and the focal length of the lens group is changed by changing the distance between the negative lens group and the positive lens group, thereby achieving focusing on object points at different distances; Focal length of a laser triangulation distance measurement system (101) with variable working distance for: ； in, , , are the positive lens group, the negative lens group, and the focal length of the combined system; It is the focal length between the positive lens group and the negative lens group.

6. A large-range precision scanning device according to claim 1 or 2 or 3 or 4 or 5, characterized in that: The motion servo system (200) is composed of a laser ranging precision pitch axis (203), a triangulation ranging precision pitch axis (202), a horizontal precision rotation axis (204), and a triangulation automatic precision focusing system (201); The laser ranging precision pitch axis (203) is driven by helical gears and worm gears in two stages, and a high-precision absolute circular grating is installed on the axis, so that the absolute position during laser ranging can be accurately obtained; the triangulation ranging precision pitch rotation axis (202) is also driven by helical gears and worm gears in two stages, and the position of the triangulation ranging system is obtained by the absolute circular grating; the horizontal precision rotation axis (204) is also provided with an absolute circular grating, so that the absolute position can be obtained during scanning; the triangulation automatic precision focusing system (201) is equipped with an absolute magnetic ring encoder, and can realize automatic focusing after obtaining the current absolute angle position.

7. A large-range precision scanning device according to claim 6, characterized in that: The medium-frequency vibration sensing and adaptive measurement system (400) senses environmental vibration by placing an inertial accelerometer (401) on the ground, calculates the inclination angles of the horizontal axis and the vertical axis, analyzes its own vibration using dual-axis compensator data, compensates the measurement result according to the angle, analyzes the intensity-time curve of the vibration signal, and implements vibration zero-crossing sampling of the ranging data.

8. The method for implementing a large-range precision scanning device according to claim 7, characterized in that: A measurement space coordinate system is established with reference to the mechanical structure of the large-scale precision scanning device; the vertical direction is used as the z direction of the measurement space coordinate system; the ground is used as the zero plane in the z direction of the measurement space coordinate system, and the specific wavelength is preferably 650nm; The straight line perpendicular to the vertical direction on the plane where the laser ranging axis and the triangulation ranging optical path are located is taken as the x direction of the measurement space coordinate system, and the direction perpendicular to both the z axis and the x direction is taken as the y direction of the measurement space coordinate system; the geometric center of the leveling base of the large-scale precision scanning device is taken as the geometric zero point of the measurement space coordinate system, and the vertical upward direction is the positive direction of the z axis; the measurement point is recorded as The rotation axis center of the triangulation distance measurement system is point D, the rotation axis center of the laser distance measurement is point C, and the triangulation distance measurement system obtains the measurement point offset as , the height data of the measuring point relative to the measuring device is , the range reference point A is set at the intersection of the receiving optical axis and the transmitting optical axis to minimize the off-axis aberration at the center of the range. The formula is as follows: ； ； ； ； ； ； ； ； ； ； in, The position of the object being measured With reference position The distance between is the imaging spot on the photodetector With reference position The distance , , are the positive and negative lens groups and the focal length of the combined system respectively; is the focal length between lens elements, is the angle between the image plane and the normal direction of the triangulation lens group, is the angle between the reference position and the line connecting the measured position and the focus of the lens group; are the object distance and image distance at the reference point, respectively. is the angle between the outgoing optical axis and the receiving lens optical axis, is the angle between the image plane and the receiving optical axis.

9. The method for implementing a large-range precision scanning device according to claim 8, characterized in that: This method is applied to single-point elevation measurement during concrete construction, which specifically includes the following steps: Step 1: Control the motion servo system (200) to project the laser to the measuring point using the laser phase ranging system (102). And get the ranging data ; Step 2: Calculate angle, controls the motion servo system (200) to align the triangulation distance measurement system (101) with the measurement point ; Step 3: Calculate focal length , controlling the motion servo system (200) so that the detector (101-4) receives a clear light spot, and using a laser ranging correction algorithm based on the light spot distribution to correct the ranging data obtained by the phase method ranging .

10. The method for implementing a large-range precision scanning device according to claim 8, characterized in that: The method is applied to morphology reconstruction, which specifically includes the following steps: Step 1: Get the height data at a single point using a large-scale precision scanning device ; Step 2: Move outward along the x-axis of the measurement space coordinate system to measure the height data of each point on a single x-axis line. ; Step 3: Rotate around the z-axis to measure the height data of each point in the plane within a large angle range ; Step 4: According to the height data of each point , reconstruct the ground morphology and obtain the roughness information of a large area of ​​the ground.

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