Method and system for erecting laser scanner

Abstract

The invention discloses a method and a system for erecting laser scanners. The method comprises the following steps: acquiring a laser scanner center coordinate and an initial attitude of each laser scanner; generating a laser scanner erection distribution diagram according to the laser scanner center coordinate and the initial attitude of each laser scanner; and adjusting the laser scanners according to the laser scanner erection distribution diagram so as to complete erection of the laser scanners. In existing surveying and mapping construction, when a scanner is erected to set a scanning site, careful planning and design are needed, the operation difficulty and complexity are high, and the working efficiency of actual surveying and mapping engineering construction is affected. According to the invention, the erection positions of the laser scanners are adjusted according to the laser scanner erection distribution diagram which can visually reflect the distribution positions of the laser scanners, and the positions of the laser scanners can be rapidly adjusted and arranged according to actual surveying and mapping construction requirements, so that the position erection efficiency of the laser scanners is effectively improved; and the working efficiency of surveying and mapping engineering construction is improved.

Description

Technical Field

[0001] The invention relates to the field of surveying and mapping scanning, and in particular to a method and system for setting up a laser scanner. Background Art

[0002] With the continuous development of science and technology, laser scanners are increasingly used in various fields. They can quickly and accurately obtain the three-dimensional data of the scanned object, providing important technical support for engineering design, building construction, cultural relics protection and other fields. In engineering construction, laser scanners can be used for terrain mapping, building modeling, construction quality inspection, etc., helping construction personnel to better understand the situation on the construction site and improve construction efficiency and quality.

[0003] During the scanning process, laser scanners acquire a large amount of point cloud data, which needs to be spliced ​​and fused to form a complete 3D model. However, in order to ensure the accuracy and completeness of the point cloud data, there needs to be a certain degree of overlap between adjacent scanning sites. This requires careful planning and design when setting up the scanner position to set up the scanning site, which increases the difficulty and complexity of the operation and affects the efficiency of the actual surveying and mapping project construction. At the same time, if the overlap between the scanning sites is insufficient, it may lead to missing and inaccurate point cloud data, affecting subsequent data analysis and processing. Summary of the invention

[0004] The present invention provides a method and system for installing a laser scanner to solve the above-mentioned technical problems, effectively improve the efficiency of the location installation of the laser scanner, and further improve the work efficiency of surveying and mapping engineering construction.

[0005] In order to solve the above technical problems, the present invention provides a method for setting up a laser scanner, wherein a laser scanner is initially set up at each preset setting position, and a prism is installed at the preset position of the laser scanner, and the method comprises:

[0006] Obtaining the laser scanner center coordinates and initial posture of each laser scanner;

[0007] generating a laser scanner setup distribution map according to the laser scanner center coordinates and initial posture of each laser scanner;

[0008] Adjust each laser scanner according to the laser scanner installation distribution map to complete the installation of each laser scanner.

[0009] The beneficial effects of the present invention are:

[0010] Compared with the existing surveying and mapping construction, which requires careful planning and design when setting up the scanner position to set up the scanning site, the operation is difficult and complex, which affects the work efficiency of the actual surveying and mapping project construction. The present invention generates a laser scanner installation distribution map according to the acquired laser scanner center coordinates and initial posture, and adjusts the installation position of each laser scanner according to the laser scanner installation distribution map that can intuitively reflect the distribution position of each laser scanner. The laser scanner position can be quickly adjusted and arranged according to the actual surveying and mapping construction needs, which effectively improves the laser scanner position installation efficiency, thereby improving the work efficiency of the surveying and mapping project construction.

[0011] As a preferred solution, the step of obtaining the center coordinates and initial posture of each laser scanner includes:

[0012] For each laser scanner, get its laser scanner center coordinates and initial pose:

[0013] Obtain the relative position of the prism center with respect to the laser scanner center;

[0014] Obtaining the coordinates of the prism center when the laser scanner rotates around itself at a plurality of preset angles, so as to obtain a plurality of prism center coordinates corresponding to the plurality of preset angles;

[0015] The coordinates of the center of the plane circle where the prism rotates are obtained by fitting the coordinates of the center of several prisms;

[0016] The center coordinates of the laser scanner are obtained according to the relative posture, the center coordinates of several prisms and the center coordinates of the circle;

[0017] The initial posture of the laser scanner is obtained according to the center coordinates of the laser scanner, the center coordinates of several prisms and the relative postures.

[0018] This preferred solution utilizes the principles and methods of spatial geometry and surface fitting, and obtains the coordinates of the center of the plane circle where the prism rotates according to the fitting of several prism center coordinates, obtains the center coordinates of the laser scanner according to the relative posture, several prism center coordinates and the center coordinates, and then obtains the initial posture of the laser scanner according to the center coordinates of the laser scanner, several prism center coordinates and the relative posture, thereby achieving accurate calculation of the center coordinates and initial posture of the laser scanner, thereby generating a laser scanner installation distribution map according to the acquired laser scanner center coordinates and initial posture, and adjusting the installation position of each laser scanner according to the laser scanner installation distribution map that can intuitively reflect the distribution position of each laser scanner, and can quickly adjust and arrange the position of the laser scanner according to the actual surveying and mapping construction needs, effectively improving the installation efficiency of the laser scanner and improving the work efficiency of surveying and mapping engineering construction.

[0019] As a preferred solution, obtaining the coordinates of the center of the circle in the plane where the prism rotates by fitting based on the coordinates of several prism centers includes:

[0020] Obtaining the coordinates of the center of the circle in the plane where the prism rotates through the following formula:

[0021]

[0022] In the above formula, (e, f) are the coordinates of the center of the circle; X i is the abscissa in the coordinates of the prism center corresponding to the i-th preset angle; Y i is the ordinate in the coordinates of the prism center corresponding to the i-th preset angle.

[0023] Plane fitting can find the optimal plane model to minimize the error in fitting data points. Combining with the matrix solution method, the parameters of the optimal fitting plane can be found by solving the matrix equation. This preferred solution combines plane fitting and matrix solution to obtain the coordinates of the center of the circle in the plane where the prism rotates, fully considering the information of all data points, reducing the influence of individual data points on the fitting result, and being able to obtain a more accurate fitting result, thus ensuring the subsequent accurate acquisition of the center coordinates of the laser scanner. In addition, matrix operations have high efficiency and simplicity. This preferred solution can greatly simplify the calculation process of plane fitting through matrix solution.

[0024] As a preferred solution, for the method of setting up a laser scanner, after obtaining the center coordinates of the laser scanner based on the relative pose, the coordinates of several prism centers, and the coordinates of the center of the circle, it further includes:

[0025] Calculating the perpendicular distances from the coordinates of several prism centers to the plane of the circular plane respectively to obtain several perpendicular distances;

[0026] If any of the perpendicular distances exceeds the preset error limit, then obtaining the coordinates of the center of the sphere where the prism rotates by fitting based on the coordinates of several prism centers;

[0027] Updating the center coordinates of the laser scanner according to the center coordinates of the sphere and the relative pose.

[0028] It should be noted that when none of the perpendicular distances exceeds the preset error limit, it means that the laser scanner rotates in a relatively flat plane, and the results of fitting the circular plane and calculating the center coordinates of the laser scanner are relatively reliable; if any of the perpendicular distances exceeds the preset error limit, it means that the laser scanner does not rotate in a plane and there may be a situation of up and down shaking. At this time, the center coordinates of the laser scanner need to be calculated by other methods, such as fitting a sphere.

[0029] After fitting a plane circle through several prism center coordinates and obtaining the center coordinates of the laser scanner based on the relative posture of the center coordinates of the plane circle and several prism center coordinates, in order to ensure that the laser scanner rotates in a relatively flat plane, the present preferred solution calculates several vertical distances and compares them with preset error limits to achieve a flatness check on the fitted plane. When any vertical distance exceeds the preset error limit, the center coordinates of the laser scanner are calculated and updated by fitting a sphere, thereby ensuring the precision and accuracy of the center coordinates of the laser scanner.

[0030] In addition, compared with plane fitting, the preferred solution uses spherical fitting to calculate the required results, which can more accurately capture the curvature and shape characteristics and provide more accurate and higher precision fitting results.

[0031] As a preferred solution, the method of fitting the coordinates of the center of the sphere where the prism rotates according to the coordinates of the center of the prism includes:

[0032] The coordinates of the center of the sphere where the prism rotates are obtained by the following formula:

[0033]

[0034]

[0035] In the above formula, (A, B, C) is the coordinate of the center of the sphere; R r is the radius of the sphere; (X i ,Y i ,Z i ) is the prism center coordinate corresponding to the i-th preset angle.

[0036] Spherical fitting can more accurately capture the spherical or approximately spherical features of the data, thereby providing a more accurate fitting result. This preferred solution uses linear algebra and statistical methods to solve the parameters of the best fitting sphere by combining matrices, comprehensively considers the information of all data points, reduces the influence of individual data points on the fitting results, and improves the fitting accuracy, thereby ensuring the subsequent accurate acquisition of the center coordinates of the laser scanner. In addition, by constructing and solving matrix equations, the parameters of the fitting sphere, such as the coordinates of the center of the sphere and the radius of the sphere, can be easily calculated to improve calculation efficiency.

[0037] As a preferred solution, the initial posture of the laser scanner is obtained according to the center coordinates of the laser scanner, the center coordinates of a plurality of prisms and the relative posture, including:

[0038] A constraint equation is established based on the correspondence between the world coordinates of the prism center and the local coordinates of the laser scanner at each preset angle, the coordinates of the prism center and the relative postures;

[0039] The laser scanner rotation matrix is ​​obtained based on the constraint equation;

[0040] The initial posture of the laser scanner is obtained according to the laser scanner rotation matrix.

[0041] This preferred solution establishes constraint equations based on the correspondence between the world coordinates of the prism center and the local coordinates of the laser scanner at each preset angle, several prism center coordinates and relative postures, obtains the laser scanner rotation matrix based on the constraint equations, and finally obtains the initial posture of the laser scanner based on the laser scanner rotation matrix that can accurately describe the rotation state of the laser scanner in three-dimensional space, thereby ensuring the high accuracy of the initial posture information; and, the operation of the rotation matrix is ​​relatively simple, and the posture change of the laser scanner can be conveniently calculated through operations such as matrix multiplication and transposition, which enables the initial posture information of the laser scanner to be efficiently obtained in scenarios where real-time scanning or rapid processing of large amounts of data is required, which helps the present invention to quickly generate a laser scanner installation distribution map, improve the laser scanner installation efficiency, and thereby improve the actual surveying and mapping engineering construction efficiency.

[0042] As a preferred solution, in obtaining the laser scanner rotation matrix based on the constraint equation, the constraint equation is expressed by the following formula:

[0043] P i -P scanner =R·R z (α i )·p local ;

[0044]

[0045] In the above formula, α i is the i-th preset angle; P i The laser scanner rotates around itself α i The coordinates of the center of the prism when the angle is scanner is the center coordinate of the laser scanner; R is the rotation matrix of the laser scanner; R z (α i ) is the laser scanner rotation around the Z axis α i The rotation matrix of the angle; p local is the relative position of the prism center relative to the laser scanner center.

[0046] It should be noted that when solving the constraint equation to obtain the laser scanner rotation matrix in the present invention, at least three sets of known preset angles and their corresponding prism center coordinates when the laser scanner rotates around itself at the preset angles are required. In order to avoid instability or deviation in the settlement results due to the presence of noise in the known data, it is preferred to use more known data to solve the constraint equations, such as using four sets of preset angles and their corresponding prism center coordinates when the laser scanner rotates around itself at the preset angles. This helps to reduce the uncertainty caused by insufficient data or errors, enhance the robustness of the constraint equations, and at the same time provide over-constraints to adapt to measurement errors, making the solution results more stable and reliable, thereby obtaining a more accurate laser scanner rotation matrix.

[0047] It should be noted that the angle values ​​of some of the preset angles need to be evenly distributed, for example, using rotation angles close to 0°, 90°, 180° and 270°, so as to maximize the constraints on the laser scanner rotation matrix and reduce the decoupling problems that may be caused by uneven angle distribution; if the selected preset angles are very close, such as 0°, 10° and 20°, it may cause insufficient constraints on the trajectory points during fitting (geometric degradation), and the laser scanner rotation matrix cannot be uniquely determined.

[0048] As a preferred solution, the method for setting up a laser scanner, after obtaining the coordinates of the center of the sphere where the prism rotates according to the fitting of the center coordinates of the prism, further comprises:

[0049] Calculate the radius residuals of several prism center coordinates and sphere center coordinates respectively;

[0050] If any radius residual exceeds the preset error range, the coordinates of the prism center when the laser scanner is rotated around itself by a certain preset angle are re-obtained.

[0051] It should be noted that if all radius residuals are within the preset error range, it means that the spherical fitting result is good, the laser scanner shakes left and right within an acceptable range, and the obtained prism center coordinates are relatively accurate and reliable; if any radius residual exceeds the preset error range, the laser scanner shakes left and right significantly, and the fitting result is unreliable, which will lead to the subsequent calculation of the center coordinates of the laser scanner and the initial posture of the laser scanner obtained based on the fitting of the center coordinates of the sphere where the prism rotates. The accuracy of the laser scanner installation distribution map is low, which ultimately affects the laser scanner installation efficiency. At this time, re-measurement or analysis is required.

[0052] This preferred solution calculates the radius residual between the prism center coordinates and the sphere center coordinates, and compares the radius residual with a preset error range. If any radius residual exceeds the preset error range, the coordinates of the prism center when the laser scanner rotates around itself by a certain preset angle are re-obtained, so as to re-fit the plane circle where the prism rotates or the spherical surface where the prism rotates, thereby ensuring the accuracy of the laser scanner center coordinates and the initial posture of the laser scanner.

[0053] In addition, the present invention checks and corrects the rotation of the scanner by fitting a plane circle or a spherical surface, thereby ensuring the stability and accuracy of the scanner during the measurement process.

[0054] As a preferred solution, the step of obtaining the coordinates of the center of the prism when the laser scanner rotates around itself at a certain preset angle includes:

[0055] The total station is controlled to measure the coordinates of the prism center when the laser scanner rotates around itself for several preset angles based on the positive and negative mirror measurement method, the multi-round measurement method and the zeroing measurement method, and the measurement data is fed back to obtain the coordinates of the prism center when the laser scanner rotates around itself for several preset angles.

[0056] This preferred solution also adopts the positive and negative mirror measurement method, the multi-round measurement method and the zeroing measurement method when using the total station to measure the coordinates of the prism center when the laser scanner rotates around itself for several preset angles, so as to minimize the measurement error; among them, the positive and negative mirror measurement method of the total station can eliminate or reduce the influence of instrument error and observation error on angle measurement. The instrument error mainly includes the sighting axis error, the horizontal axis error and the vertical axis tilt error, etc. Through the positive and negative mirror measurement, these errors can be offset or weakened to a certain extent; the multi-round measurement method of the total station is to reduce the influence of accidental errors by repeatedly observing the same angle for many times. Accidental errors are inevitable, but they are random and compensatory. By increasing the number of rounds, accidental errors can be offset in multiple observations, thereby improving the measurement accuracy; the zeroing measurement method is to return the horizontal disk reading of the total station to zero after measuring one direction each time when measuring the angles in multiple directions, and then measure the next direction, so as to check whether there is cumulative error in the measurement process; if there is cumulative error in the measurement process, the difference between the measurement value of each direction and the measurement value of the starting direction will be abnormal.

[0057] This preferred solution uses a total station as a high-precision measuring instrument to measure the center coordinates of the prism, which can reduce human errors and significantly improve the accuracy of the measurement results.

[0058] Accordingly, in order to solve the above technical problems, the present invention also provides a laser scanner installation system, wherein a laser scanner is initially installed at each preset installation position, and a prism is installed at the preset position of the laser scanner, and the system comprises: a data acquisition module, a distribution map generation module and a scanner installation module;

[0059] Wherein, the data acquisition module is used to obtain the laser scanner center coordinates and initial posture of each laser scanner;

[0060] The distribution map generation module is used to generate a laser scanner setup distribution map based on the laser scanner center coordinates and initial posture of each laser scanner;

[0061] The scanner installation module is used to adjust each laser scanner according to the laser scanner installation distribution map to complete the installation of each laser scanner.

[0062] The laser scanner installation system of the present invention generates a laser scanner installation distribution map according to the acquired laser scanner center coordinates and initial posture, and adjusts the installation positions of each laser scanner according to the laser scanner installation distribution map that can intuitively reflect the distribution positions of each laser scanner. The laser scanner position can be quickly adjusted and arranged according to actual surveying and mapping construction needs, which effectively improves the laser scanner position installation efficiency, thereby improving the work efficiency of surveying and mapping engineering construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 : A schematic flow chart of an embodiment of a method for setting up a laser scanner provided by the present invention;

[0064] Figure 2 : A structural schematic diagram of an embodiment of a laser scanner mounting system provided by the present invention. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] Embodiment 1

[0067] In order to solve the above technical problems, the present invention provides a method for setting up a laser scanner, which effectively improves the efficiency of setting up the position of the laser scanner, thereby improving the work efficiency of surveying and mapping engineering construction. Figure 1 , which is a flow chart of an embodiment of a method for setting up a laser scanner provided in an embodiment of the present invention.

[0068] In the method for setting up a laser scanner, a laser scanner is initially set up at each preset setting position, and a prism is installed at the preset position of the laser scanner, such as Figure 1 As shown, the method for setting up the laser scanner includes steps 101 to 103, specifically:

[0069] Step 101: Obtain the laser scanner center coordinates and initial posture of each laser scanner;

[0070] Step 102: Generate a laser scanner installation distribution map according to the laser scanner center coordinates and initial posture of each laser scanner;

[0071] Step 103: Adjust each laser scanner according to the laser scanner installation distribution map to complete the installation of each laser scanner.

[0072] In this embodiment, the prism is a 360° prism; in addition, since the prism and the laser origin of the laser scanner are not in the same plane, and considering factors such as the installation position, shape and size of the prism and the measurement accuracy limitations of the laser scanner, the coordinates directly measured may have certain errors. In order to eliminate these errors, it is necessary to use structural parameters and prism height parameters to correct the center coordinates of the laser scanner.

[0073] Compared with the existing surveying and mapping construction, which requires careful planning and design when setting up the scanner position to set up the scanning site, the operation is difficult and complex, which affects the work efficiency of the actual surveying and mapping project construction. The present invention generates a laser scanner installation distribution map according to the acquired laser scanner center coordinates and initial posture, and adjusts the installation position of each laser scanner according to the laser scanner installation distribution map that can intuitively reflect the distribution position of each laser scanner. The laser scanner position can be quickly adjusted and arranged according to the actual surveying and mapping construction needs, which effectively improves the laser scanner position installation efficiency, thereby improving the work efficiency of the surveying and mapping project construction.

[0074] Furthermore, the obtaining of the laser scanner center coordinates and initial posture of each laser scanner includes:

[0075] For each laser scanner, get its laser scanner center coordinates and initial pose:

[0076] Obtain the relative position of the prism center with respect to the laser scanner center;

[0077] Obtaining the coordinates of the prism center when the laser scanner rotates around itself at a plurality of preset angles, so as to obtain a plurality of prism center coordinates corresponding to the plurality of preset angles;

[0078] The coordinates of the center of the plane circle where the prism rotates are obtained by fitting the coordinates of the center of several prisms;

[0079] The center coordinates of the laser scanner are obtained according to the relative posture, the center coordinates of several prisms and the center coordinates of the circle;

[0080] The initial posture of the laser scanner is obtained according to the center coordinates of the laser scanner, the center coordinates of several prisms and the relative postures.

[0081] The present invention utilizes the principle and method of space geometry and surface fitting, obtains the coordinates of the center of the plane circle where the prism rotates according to the fitting of a number of prism center coordinates, obtains the center coordinates of the laser scanner according to the relative posture, a number of prism center coordinates and the center coordinates, and then obtains the initial posture of the laser scanner according to the center coordinates of the laser scanner, a number of prism center coordinates and the relative posture, thereby realizing accurate calculation of the center coordinates and the initial posture of the laser scanner, thereby generating a laser scanner installation distribution map according to the acquired laser scanner center coordinates and initial posture, and adjusting the installation position of each laser scanner according to the laser scanner installation distribution map that can intuitively reflect the distribution position of each laser scanner, and can quickly adjust and arrange the position of the laser scanner according to the actual surveying and mapping construction needs, effectively improving the installation efficiency of the laser scanner and improving the work efficiency of surveying and mapping engineering construction.

[0082] Furthermore, the step of fitting the coordinates of the center of the plane circle on which the prism rotates according to the coordinates of the center of the prism includes:

[0083] The coordinates of the center of the plane circle where the prism rotates are obtained by the following formula:

[0084]

[0085]

[0086] In the above formula, (e,f) is the coordinate of the center of the circle; X i Y is the horizontal coordinate of the prism center coordinate corresponding to the i-th preset angle; i is the ordinate in the prism center coordinates corresponding to the i-th preset angle.

[0087] Plane fitting can find the optimal plane model so as to fit the data points with the minimum error. Combined with the matrix solving method, the parameters of the optimal fitting plane can be found by solving the matrix equation. The present invention combines plane fitting and matrix solving to obtain the center coordinates of the plane circle where the prism rotates, fully considers the information of all data points, reduces the influence of individual data points on the fitting results, and can obtain more accurate fitting results, thereby ensuring the subsequent accurate acquisition of the center coordinates of the laser scanner. In addition, matrix operations are efficient and concise. The present invention can greatly simplify the calculation process of plane fitting through matrix solving.

[0088] In this embodiment, the specific steps of fitting the coordinates of the center of the plane circle where the prism rotates according to the coordinates of the center of the prism are described below through the following specific process:

[0089] Assuming that the laser scanner is rotating in a relatively flat plane, the equation of the plane circle can be set to (xe) 2 +(yf) 2 =r 2 , where (e,f) is the coordinate of the center of the circle, and r is the radius of the circle;

[0090] Substituting the coordinates of the prism centers into the equation of the plane circle, we obtain the following system of equations:

[0091]

[0092] Expanding and simplifying the above equation, we get:

[0093]

[0094] Subtract the above equation to eliminate r 2 ,get:

[0095]

[0096] The above equations can be organized into matrix form:

[0097]

[0098] Write the above formula as:

[0099]

[0100] Thus we get:

[0101]

[0102] Solve the above formula to get the coordinates of the center of the circle.

[0103] In this embodiment, after obtaining the coordinates of the center of the circle, obtaining the center coordinates of the laser scanner according to the relative posture, the center coordinates of the plurality of prisms and the coordinates of the center of the circle includes:

[0104] Since the Z coordinate of the laser scanner changes relatively little during rotation, the average value of the Z coordinates of several prism center coordinates can be taken as the Z coordinate of the prism rotation center:

[0105]

[0106] According to the relative position (ΔX, ΔY, ΔZ) of the prism center with respect to the laser scanner center, the center coordinates of the laser scanner are obtained as (e+ΔX, f+ΔY, Z+ΔZ).

[0107] Furthermore, the method for setting up a laser scanner, after obtaining the center coordinates of the laser scanner according to the relative posture, the center coordinates of the plurality of prisms and the center coordinates of the circle, further comprises:

[0108] Calculate the vertical distances from the center coordinates of several prisms to the plane where the plane circle is located to obtain several vertical distances;

[0109] If any vertical distance exceeds the preset error limit, the coordinates of the center of the sphere where the prism rotates are obtained by fitting according to the coordinates of the center of the prism;

[0110] Update the center coordinates of the laser scanner according to the sphere center coordinates and relative pose.

[0111] It should be noted that the laser scanner center coordinates obtained according to the relative posture, a number of prism center coordinates and the circle center coordinates and the laser scanner center coordinates updated according to the sphere center coordinates and the relative posture are coordinates in the world coordinate system.

[0112] It should be noted that when all vertical distances do not exceed the preset error limit, it means that the laser scanner is rotating in a relatively flat plane, and the results of fitting the plane circle and calculating the center coordinates of the laser scanner are relatively reliable; if any vertical distance exceeds the preset error limit, it means that the laser scanner is not rotating in a plane and may be shaking up and down. At this time, it is necessary to calculate the center coordinates of the laser scanner by other means, such as fitting a sphere.

[0113] In this embodiment, it is assumed that the equation of the plane circle fitted above is AAx+BBy+CCz+DD=0, where AA, BB, CC are the normal vector coefficients of the plane, and DD is a constant; for a number of prism center coordinates (X i ,Y i ,Z i ), the vertical distance d from the point to the fitting plane i It can be calculated by the following formula:

[0114]

[0115] After fitting a plane circle through a number of prism center coordinates and obtaining the center coordinates of the laser scanner based on the relative posture of the center coordinates of the plane circle and the number of prism center coordinates, in order to ensure that the laser scanner rotates in a relatively flat plane, the present invention realizes a flatness check of the fitted plane by calculating a number of vertical distances and comparing them with preset error limits. When any vertical distance exceeds the preset error limit, the center coordinates of the laser scanner are calculated and updated by fitting a sphere, thereby ensuring the precision and accuracy of the center coordinates of the laser scanner.

[0116] In addition, compared with plane fitting, the present invention adopts spherical fitting to calculate the required results, which can more accurately capture the curvature and shape characteristics and provide more accurate and higher precision fitting results.

[0117] Furthermore, the step of fitting the coordinates of the center of the sphere on which the prism rotates according to the plurality of prism center coordinates includes:

[0118] The coordinates of the center of the sphere where the prism rotates are obtained by the following formula:

[0119]

[0120]

[0121] In the above formula, (A, B, C) is the coordinate of the center of the sphere; R r is the radius of the sphere; (X i ,Y i ,Z i ) is the prism center coordinate corresponding to the i-th preset angle.

[0122] Spherical fitting can more accurately capture the spherical or approximately spherical features of the data, thereby providing a more accurate fitting result. The present invention uses linear algebra and statistical methods to solve the parameters of the best fitting sphere by combining matrices, comprehensively considers the information of all data points, reduces the influence of individual data points on the fitting results, and improves the fitting accuracy, thereby ensuring the subsequent accurate acquisition of the center coordinates of the laser scanner. In addition, by constructing and solving matrix equations, the parameters of the fitting sphere, such as the coordinates of the center of the sphere and the radius of the sphere, can be easily calculated, thereby improving the calculation efficiency.

[0123] In this embodiment, the specific steps of obtaining the coordinates of the center of the sphere where the prism rotates according to the center coordinates of the prism are fitted are described below through the following specific process:

[0124] Assume that the equation of the sphere is (XA) 2 +(YB) 2 +(ZC) 2 =R r 2 , where (A, B, C) are the coordinates of the center of the sphere, Rr is the radius of the sphere;

[0125] Substituting the coordinates of the prism center into the spherical equation, we get the following system of equations:

[0126]

[0127] Expanding the system of equations yields:

[0128]

[0129] Let a=-2A, b=-2B, c=-2C, d=A 2 +B 2 +C 2 -R r 2 , then the above equation can be transformed into:

[0130]

[0131] Write the above formula as:

[0132]

[0133] Thus we get:

[0134]

[0135] Then the coordinates of the center of the sphere (A, B, C) and the radius of the sphere R r for:

[0136]

[0137] In this embodiment, after obtaining the coordinates of the center of the sphere, the coordinates of the center of the laser scanner can be obtained as (A+ΔX, B+ΔY, C+ΔZ) based on the relative position (ΔX, ΔY, ΔZ) of the center of the prism relative to the center of the laser scanner.

[0138] Further, the initial posture of the laser scanner is obtained according to the center coordinates of the laser scanner, the center coordinates of the plurality of prisms and the relative postures, including:

[0139] A constraint equation is established based on the correspondence between the world coordinates of the prism center and the local coordinates of the laser scanner at each preset angle, the coordinates of the prism center and the relative postures;

[0140] The laser scanner rotation matrix is ​​obtained based on the constraint equation;

[0141] The initial posture of the laser scanner is obtained according to the laser scanner rotation matrix.

[0142] The present invention establishes a constraint equation based on the correspondence between the world coordinates of the prism center and the local coordinates of the laser scanner at each preset angle, a number of prism center coordinates and relative postures, obtains the laser scanner rotation matrix based on the constraint equation, and finally obtains the initial posture of the laser scanner based on the laser scanner rotation matrix that can accurately describe the rotation state of the laser scanner in three-dimensional space, thereby ensuring the high accuracy of the initial posture information; moreover, the operation of the rotation matrix is ​​relatively simple, and the posture change of the laser scanner can be conveniently calculated through operations such as matrix multiplication and transposition, which enables the initial posture information of the laser scanner to be efficiently obtained in real-time scanning or scenarios where a large amount of data needs to be processed quickly, which helps the present invention to quickly generate a laser scanner installation distribution map, improve the laser scanner installation efficiency, and thereby improve the actual surveying and mapping engineering construction efficiency.

[0143] Furthermore, in obtaining the laser scanner rotation matrix based on the constraint equation, the constraint equation is expressed by the following formula:

[0144] P i -P scanner =R·R z (α i )·p local ;

[0145]

[0146] In the above formula, α i is the i-th preset angle; P i The laser scanner rotates around itself α i The coordinates of the center of the prism when the angle is scanner is the center coordinate of the laser scanner; R is the rotation matrix of the laser scanner; R z (α i ) is the laser scanner rotation around the Z axis α i The rotation matrix of the angle; p local is the relative position of the prism center relative to the laser scanner center.

[0147] In this embodiment, P i The laser scanner rotates around itself α i The coordinates of the center of the prism when the angle is i The prism center coordinates corresponding to the angle, which are the coordinates in the world coordinate system.

[0148] Furthermore, the constraint equation is established according to the correspondence between the world coordinates of the prism center and the local coordinates of the laser scanner at each preset angle, a plurality of prism center coordinates and relative positions, including:

[0149] Assume that the laser scanner rotates around itself by α iWhen the angle is i (X i ,Y i ,Z i ), the world coordinates P of the prism center obtained from the total station measurement can be transformed by posture transformation i Converted to the local coordinate system of the laser scanner, the first formula is obtained:

[0150] p i =R -1 (P i -P scanner );

[0151] In the above formula, P i The laser scanner rotates around itself α i The coordinates of the center of the prism when the angle is scanner is the center coordinate of the laser scanner; R is the rotation matrix of the laser scanner, specifically the rotation matrix of the local coordinate system of the laser scanner relative to the world coordinate system; R -1 is the inverse matrix of the laser scanner rotation matrix;

[0152] By knowing the preset angles of the prism and the relative position of the prism center to the center of the laser scanner, the point coordinates p in the local coordinate system of the laser scanner can be calculated. i , and get the second formula:

[0153] p i =R i ·p local ;

[0154] Among them, p local is the relative position of the prism center relative to the laser scanner center; R i is the rotation angle α of the laser scanner around itself i The rotation matrix when i It can be expressed by the following third formula:

[0155]

[0156] Among them, R z (α i ) is the rotation of the laser scanner around the Z axis α i The rotation matrix of the angle;

[0157] According to the first, second and third formulas above, the constraint equations can be established based on the correspondence between the world coordinates of the prism center and the local coordinates of the laser scanner at each preset angle, several prism center coordinates and relative postures:

[0158] P i -P scanner= R·R z (α i )·p local 。

[0159] It should be noted that when calculating the rotation matrix of the laser scanner by solving the constraint equation in the present invention, at least three sets of known preset angles and the corresponding prism center coordinates when the laser scanner rotates around its own axis by a preset angle are required. To avoid instability or deviation of the calculation result caused by noise in the known data, it is preferably to use more known data to solve the constraint equation. For example, four sets of preset angles and the corresponding prism center coordinates when the laser scanner rotates around its own axis by a preset angle are used. This helps to reduce the uncertainty caused by insufficient data or errors, enhance the robustness of the constraint equation, and at the same time provide over-constraint to adapt to measurement errors, making the calculation result more stable and reliable, so as to obtain a more accurate rotation matrix of the laser scanner.

[0160] In this embodiment, the least squares method can be used to fit the rotation matrix of the laser scanner, so that the obtained rotation matrix of the laser scanner is more reliable.

[0161] It should be noted that the angular values of the several preset angles need to be evenly distributed. For example, rotation angles close to 0°, 90°, 180° and 270° are used to maximize the constraint on the rotation matrix of the laser scanner and reduce the decoupling problem that may be caused by uneven angle distribution. If the selected preset angles are very close, such as 0°, 10° and 20°, it may lead to insufficient constraint (geometric degradation) during fitting of the trajectory points and the rotation matrix of the laser scanner cannot be uniquely determined.

[0162] Further, for the method of installing a laser scanner, after fitting the center coordinates of the sphere where the prism rotates based on the center coordinates of several prisms, it further includes:

[0163] Calculating the radius residuals between the center coordinates of several prisms and the center coordinates of the sphere respectively;

[0164] If any radius residual exceeds the preset error range, re-obtain the coordinates of the prism center when the laser scanner rotates around its own axis by several preset angles.

[0165] In this embodiment, the radius residuals between the center coordinates of several prisms and the center coordinates of the sphere are calculated respectively through the following formula:

[0166]

[0167] It should be noted that if all radius residuals are within the preset error range, it means that the spherical fitting result is good, the laser scanner shakes left and right within an acceptable range, and the obtained prism center coordinates are relatively accurate and reliable; if any radius residual exceeds the preset error range, the laser scanner shakes left and right significantly, and the fitting result is unreliable, which will lead to the subsequent calculation of the center coordinates of the laser scanner and the initial posture of the laser scanner obtained based on the fitting of the center coordinates of the sphere where the prism rotates. The accuracy of the laser scanner installation distribution map is low, which ultimately affects the laser scanner installation efficiency. At this time, re-measurement or analysis is required.

[0168] The present invention calculates the radius residual of the prism center coordinates and the spherical center coordinates, and compares the radius residual with a preset error range. If any radius residual exceeds the preset error range, the coordinates of the prism center when the laser scanner rotates around itself by several preset angles are re-obtained, so as to re-fit the plane circle where the prism rotates or the spherical surface where the prism rotates, thereby ensuring the accuracy of the laser scanner center coordinates and the initial posture of the laser scanner.

[0169] In addition, the present invention checks and corrects the rotation of the scanner by fitting a plane circle or a spherical surface, thereby ensuring the stability and accuracy of the scanner during the measurement process.

[0170] Furthermore, the step of obtaining the coordinates of the center of the prism when the laser scanner rotates around itself by a plurality of preset angles includes:

[0171] The total station is controlled to measure the coordinates of the prism center when the laser scanner rotates around itself for several preset angles based on the positive and negative mirror measurement method, the multi-round measurement method and the zeroing measurement method, and the measurement data is fed back to obtain the coordinates of the prism center when the laser scanner rotates around itself for several preset angles.

[0172] When the present invention uses a total station to measure the coordinates of the prism center when the laser scanner rotates around itself at several preset angles, it also adopts a positive and negative mirror measurement method, a multiple measurement method and a zeroing measurement method, thereby minimizing measurement errors.

[0173] Among them, the positive and negative mirror measurement method of the total station can eliminate or reduce the influence of instrument error and observation error on angle measurement. The instrument error mainly includes the sighting axis error, the horizontal axis error and the vertical axis tilt error. Through the positive and negative mirror measurement, these errors can offset or weaken each other to a certain extent.

[0174] In the horizontal angle measurement of the total station, the horizontal angle observation value of one measurement round obtained by the positive and negative mirror measurement method is expressed by the following formula:

[0175]

[0176] In the above formula, LL is the reading when observing from the left side of the disk (positive mirror); RR is the reading when observing from the right side of the disk (reverse mirror).

[0177] Theoretically, when there is no error, the difference between the positive and negative mirror observations should be 180°, but due to instrument errors and observation errors, the actual difference will deviate. By calculating the average value of the positive and negative mirror observations, the impact of these errors can be reduced.

[0178] The multi-round measurement method of the total station is to reduce the impact of accidental errors by repeating observations of the same angle multiple times. Accidental errors are inevitable, but they are random and compensatory. By increasing the number of rounds, accidental errors can offset each other in multiple observations, thereby improving measurement accuracy.

[0179] Assume that n measurements are made and the observation value of each measurement is β i (i=1,2,…,n), then the average value of the angle is:

[0180]

[0181] In order to measure the accuracy of the multi-measurement method, the mean error of the observation value can also be calculated. According to the error theory, when the number of observations is large enough, the mean error m of the observation value can be expressed as:

[0182]

[0183] The zeroing measurement method is to return the horizontal dial reading of the total station to zero after each measurement in one direction when performing angle measurements in multiple directions, and then perform measurements in the next direction. This can check whether there is a cumulative error in the measurement process; if there is a cumulative error in the measurement process, the difference between the measured values ​​in each direction and the measured value in the starting direction will be abnormal.

[0184] Let the reading of the starting direction be M 0 , the reading in the i-th direction is M i , then the angle between the i-th direction and the starting direction is:

[0185] θ i =M i -M 0 .

[0186] The present invention measures the center coordinates of a prism by using a total station as a high-precision measuring instrument, thereby reducing human errors and significantly improving the accuracy of the measuring result.

[0187] With the assistance of the total station and the 360° prism, the present invention makes the establishment of the point cloud station more flexible and convenient, and no longer requires a certain degree of overlap between the point cloud stations. In this way, they can be quickly adjusted and arranged according to actual construction needs, greatly improving work efficiency. The present invention can provide a laser scanner installation distribution map in real time, so that construction personnel can better grasp the situation on the construction site, provide a more accurate basis for construction decision-making, and further improve the quality and efficiency of engineering construction.

[0188] In this embodiment, based on the above-mentioned laser scanner installation method, a method for acquiring point cloud data for surveying and mapping engineering is also proposed:

[0189] Step 1: Work preparation, including instrument preparation, engineering preparation and personnel preparation, requiring that the instrument indicators and control point accuracy meet the engineering requirements;

[0190] Step 2: Place the total station at the selected measuring point, fix it with a tripod, perform centering and leveling operations to ensure the horizontality and verticality of the instrument, turn on the power of the instrument, and start the instrument;

[0191] Step 3: Place the laser scanner at the preset position, fix it with a tripod, turn on the power of the instrument, wait for the instrument to start up, place the prism ball as required (if necessary), and clarify its placement and accuracy requirements;

[0192] Step 4: Build a local area network, Bluetooth or WIFI, and connect the robot total station and laser scanner to the same network; check the stability of the network connection to ensure that the system can communicate with the two instruments normally. Test the accuracy of data transmission to ensure that the measurement data can be accurately transmitted between the system and the instrument;

[0193] Step 5: Manually operate the total station to build a station at the layout location, and check the station information, including site coordinates, instrument height, etc., to ensure that the station accuracy meets the requirements;

[0194] Step 6: Arrange prisms on the control points (the non-prism mode can be used in special environments) to ensure that the prisms are firmly installed and accurately positioned; manually enter the coordinates of the backsight point or the rear intersection point, measure the coordinates of the backsight point with the total station, and compare them with the known control point coordinates to calculate the backsight inspection error; if the error is within the allowable range, continue with the subsequent operations; otherwise, analyze the cause of the error and make adjustments, and re-orient the backsight;

[0195] Step 7: The operating system sends instructions to the total station to measure the coordinates of the prism ball (if deployed) and the coordinates of the 360° prism on the laser scanner; the total station accurately measures the position of the prism, adopts the positive and negative mirror measurement method, the multi-round measurement method and the zeroing measurement method to minimize the measurement error, and transmits the coordinate data to the operating system;

[0196] Step 8: The operating system sends a command to the laser scanner to rotate it to several preset angles in sequence; while the laser scanner rotates, the operating system links the total station to measure the center coordinates of the 360° prism on the laser scanner at different angles; the coordinates of the 360° prism in various directions are measured by the total station, and the center of the plane circle where the prism rotates is fitted according to the method of the above embodiment, and then the center coordinates of the laser scanner are calculated based on this. If the flatness of the plane circle does not meet the tolerance limit, it is necessary to fit the spherical surface where the prism rotates, and then calculate the center coordinates of the laser scanner according to the coordinates of the center of the sphere; after calculating the center coordinates of the laser scanner, the constraint equation can be established through the correspondence between the world coordinates of the prism and the local coordinates of the scanner at each preset angle, several prism center coordinates and relative postures, so as to determine the initial posture of the laser scanner; at the same time, the station establishment error of the laser scanner is obtained, and the allowable range and judgment criteria of the error are clarified. If the error exceeds the allowable range, the cause is analyzed and corresponding corrective measures are taken, such as re-establishing the station or adjusting the instrument position.

[0197] Step 9: The operating system sends a command to the laser scanner to enter the scanning parameter setting interface; according to the measurement requirements, set the scanning range, resolution, scanning speed and other parameters, and after confirming that the scanning parameter settings are correct, save the settings and scan; the laser scanner scans the target area according to the set parameters to obtain point cloud data; during the scanning process, the quality and integrity of the scanned data are monitored in real time, and if there is any abnormality, the scanning is stopped and processed in time; after the scanning is completed, the data is automatically stored in the device;

[0198] Step 10: After scanning, carefully move the laser scanner to the new measurement location, re-set up and re-center it; repeat the measurement process from step 7 to step 9 to obtain more measurement data; if the total station needs to be moved or the vibration causes the leveling of the total station to fail, repeat the process from step 2 to step 9 and repeat the measurement process.

[0199] Accordingly, in order to solve the above technical problems, the embodiment of the present invention also provides a laser scanner installation system. Figure 2 , which is a structural schematic diagram of an embodiment of a laser scanner mounting system provided by the present invention.

[0200] In the laser scanner installation system, a laser scanner is initially installed at each preset installation position, and a prism is installed at the preset position of the laser scanner, such as Figure 2 As shown, the laser scanner installation system includes: a data acquisition module, a distribution map generation module and a scanner installation module;

[0201] Wherein, the data acquisition module is used to obtain the laser scanner center coordinates and initial posture of each laser scanner;

[0202] The distribution map generation module is used to generate a laser scanner setup distribution map based on the laser scanner center coordinates and initial posture of each laser scanner;

[0203] The scanner installation module is used to adjust each laser scanner according to the laser scanner installation distribution map to complete the installation of each laser scanner.

[0204] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0205] 1. The present invention utilizes the principle and method of spatial geometry and surface fitting, obtains the coordinates of the center of the plane circle where the prism rotates according to the fitting of a number of prism center coordinates, obtains the center coordinates of the laser scanner according to the relative posture, a number of prism center coordinates and the center coordinates, and then obtains the initial posture of the laser scanner according to the center coordinates of the laser scanner, a number of prism center coordinates and the relative posture, thereby achieving accurate calculation of the center coordinates and initial posture of the laser scanner, thereby generating a laser scanner installation distribution map according to the acquired laser scanner center coordinates and initial posture, and adjusting the installation position of each laser scanner according to the laser scanner installation distribution map that can intuitively reflect the distribution position of each laser scanner, and can quickly adjust and arrange the position of the laser scanner according to the actual surveying and mapping construction needs, thereby effectively improving the installation efficiency of the laser scanner and improving the work efficiency of surveying and mapping engineering construction.

[0206] 2. By implementing the above embodiments, high-precision center coordinates and initial posture of the laser scanner can be obtained. Theoretically, the position accuracy can reach 2mm, and the attitude accuracy can reach 0.5'. Compared with the existing laser point cloud, the post-processing process of in-house stitching is very time-consuming, requiring a lot of computing resources and time costs. At the same time, due to the complexity of the data processing process, errors are prone to occur, affecting the final model accuracy and quality. In the field of point cloud fusion, the present invention obtains high-precision center coordinates and initial posture of the laser scanner, and performs point cloud stitching based on the obtained high-precision center coordinates and initial posture of the laser scanner. This can greatly improve the accuracy and speed of point cloud stitching and fusion, significantly reduce errors in the in-house post-processing process, and effectively save time costs.

[0207] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for setting up a laser scanner, characterized in that: A laser scanner is initially installed at each preset installation position, and a prism is installed at the preset position of the laser scanner. The method includes: Obtaining the laser scanner center coordinates and initial posture of each laser scanner; generating a laser scanner setup distribution map according to the laser scanner center coordinates and initial posture of each laser scanner; Adjust each laser scanner according to the laser scanner installation distribution map to complete the installation of each laser scanner.

2. A method for installing a laser scanner as claimed in claim 1, characterized in that: The step of obtaining the center coordinates and initial posture of each laser scanner includes: For each laser scanner, get its laser scanner center coordinates and initial pose: Obtain the relative position of the prism center with respect to the laser scanner center; Obtaining the coordinates of the prism center when the laser scanner rotates around itself at a plurality of preset angles, so as to obtain a plurality of prism center coordinates corresponding to the plurality of preset angles; The coordinates of the center of the plane circle where the prism rotates are obtained by fitting the coordinates of the center of several prisms; The center coordinates of the laser scanner are obtained according to the relative posture, the center coordinates of several prisms and the center coordinates of the circle; The initial posture of the laser scanner is obtained according to the center coordinates of the laser scanner, the center coordinates of several prisms and the relative postures.

3. A method for installing a laser scanner as claimed in claim 2, characterized in that: The step of fitting the center coordinates of the plane circle on which the prism rotates according to the center coordinates of the prisms includes: The coordinates of the center of the plane circle where the prism rotates are obtained by the following formula: In the above formula, (e,f) is the coordinate of the center of the circle; X i Y is the horizontal coordinate of the prism center coordinate corresponding to the i-th preset angle; i is the ordinate in the prism center coordinates corresponding to the i-th preset angle.

4. A method for installing a laser scanner as claimed in claim 2, characterized in that: After obtaining the center coordinates of the laser scanner according to the relative posture, the center coordinates of the plurality of prisms and the center coordinates of the circle, the method further includes: Calculate the vertical distances from the center coordinates of several prisms to the plane where the plane circle is located to obtain several vertical distances; If any vertical distance exceeds the preset error limit, the coordinates of the center of the sphere where the prism rotates are obtained by fitting according to the coordinates of the center of the prism; Update the center coordinates of the laser scanner according to the sphere center coordinates and relative pose.

5. A method for installing a laser scanner as claimed in claim 4, characterized in that: The step of fitting the coordinates of the center of the sphere on which the prism rotates according to the coordinates of the center of the prism includes: The coordinates of the center of the sphere where the prism rotates are obtained by the following formula: In the above formula, (A, B, C) is the coordinate of the center of the sphere; R r is the radius of the sphere; (X i ,Y i ,Z i ) is the prism center coordinate corresponding to the i-th preset angle.

6. A method for installing a laser scanner as claimed in claim 2, characterized in that: The initial posture of the laser scanner is obtained according to the center coordinates of the laser scanner, the center coordinates of a plurality of prisms and the relative posture, including: A constraint equation is established based on the correspondence between the world coordinates of the prism center and the local coordinates of the laser scanner at each preset angle, the coordinates of the prism center and the relative postures; The laser scanner rotation matrix is ​​obtained based on the constraint equation; The initial posture of the laser scanner is obtained according to the laser scanner rotation matrix.

7. A method for setting up a laser scanner as claimed in claim 6, characterized in that: In the step of obtaining the laser scanner rotation matrix based on the constraint equation, the constraint equation is expressed by the following formula: P i -P scanner =R·R z (α i )·p local ; In the above formula, α i is the i-th preset angle; P i The laser scanner rotates around itself α i The coordinates of the center of the prism when the angle is scanner is the center coordinate of the laser scanner; R is the rotation matrix of the laser scanner; R z (α i ) is the laser scanner rotation around the Z axis α i The rotation matrix of the angle; p local is the relative position of the prism center relative to the laser scanner center.

8. A method for installing a laser scanner as claimed in claim 4, characterized in that: After obtaining the coordinates of the center of the sphere where the prism rotates according to the fitting of the plurality of prism center coordinates, the method further includes: Calculate the radius residuals of several prism center coordinates and sphere center coordinates respectively; If any radius residual exceeds the preset error range, the coordinates of the prism center when the laser scanner is rotated around itself by a certain preset angle are re-obtained.

9. A method for installing a laser scanner as claimed in claim 2, characterized in that: The step of obtaining the coordinates of the center of the prism when the laser scanner rotates around itself at a plurality of preset angles comprises: The total station is controlled to measure the coordinates of the prism center when the laser scanner rotates around itself for several preset angles based on the positive and negative mirror measurement method, the multi-round measurement method and the zeroing measurement method, and the measurement data is fed back to obtain the coordinates of the prism center when the laser scanner rotates around itself for several preset angles.

10. A laser scanner installation system, characterized in that: A laser scanner is initially installed at each preset installation position, and a prism is installed at the preset position of the laser scanner. The system includes: a data acquisition module, a distribution map generation module and a scanner installation module; Wherein, the data acquisition module is used to obtain the laser scanner center coordinates and initial posture of each laser scanner; The distribution map generation module is used to generate a laser scanner setup distribution map according to the laser scanner center coordinates and initial posture of each laser scanner; The scanner installation module is used to adjust each laser scanner according to the laser scanner installation distribution map to complete the installation of each laser scanner.

Images