1060 results about "Scanner" patented technology

The invention provides a double-pulse high-frequency switching power supply control method and system for precise electroplating, and relates to the field of electroplating, and the method comprises the steps: collecting area surface data through a three-dimensional scanner, and obtaining a three-dimensional model; extracting a high-curvature area grid according to the three-dimensional model, and calculating to obtain a surface concave-convex degree index; performing current field simulation, and calculating current density vector distribution; when the deviation of the current density vector distribution exceeds a preset deviation threshold value, pulse parameters are optimized through a genetic algorithm; selecting a pulse parameter which is most matched with the surface concave-convex degree index, and carrying out iterative calculation to obtain updated current density vector distribution; based on the difference between the updated current density vector distribution and the initial distribution, predicting a coating thickness value, and determining a preliminary evaluation index; and optimizing pulse parameters to obtain a final control scheme of uniform current distribution. According to the method, pulse parameters can be dynamically optimized according to the geometrical shape of the workpiece, and uniform current distribution and stable plating quality are realized.

The invention discloses a nondestructive testing method for a welding seam of a steel structure. The method comprises the steps that firstly, morphology data of the surface of a building steel structure are obtained through a high-precision laser scanner and an electromagnetic induction technology; coating thickness distribution and weld surface roughness are analyzed based on the morphology data, and a surface information matrix is constructed; then automatically adjusting ultrasonic wave beam parameters of the ultrasonic phased array by using the adaptive parameter regulation and control model and executing detection to obtain a preliminary ultrasonic echo signal; the time-frequency domain difference between the preliminary echo and the reference signal is calculated through an echo signal compensation model, and secondary compensation is completed to obtain an optimized ultrasonic echo signal; fusing the optimized echo signal, the morphology data and the surface information matrix to construct a detection data set, and adopting a pre-trained steel structure detection model to realize defect detection; and finally, evaluating the confidence of a detection result by adopting a three-dimensional confidence evaluation model, performing grading, and performing local re-detection and parameter adjustment on a low-confidence region to form closed-loop optimization. According to the method, the surface state of the steel structure can be adaptively matched, the accuracy of echo signals and the defect detection precision are improved, and the detection reliability is guaranteed through three-dimensional confidence evaluation.

A system for surface analysis of a cable layer. The system comprises an in-line surface scanner arrangement and a controller. The in-line surface scanner arrangement is for scanning a cable layer in or received from a cable manufacturing line, the scanner arrangement comprising one or more non-contact distance scanners arranged to measure distance to an outer surface of the received cable layer. The controller is arranged to receive scan data of the outer surface of the received cable layer based on signals received from the in-line surface scanner arrangement; extract surface texture data from the scan data; determine one or more properties of the surface of the cable layer based on the surface texture data; compare at least one determined property with one or more threshold criteria; and identify at least one of a surface feature of interest, a deviation, or a defect based on the comparison.

The invention discloses a tunnel point cloud high-precision splicing method based on rotation and translation constraint, and belongs to the technical field of engineering measurement and three-dimensional laser scanning. The method comprises the following steps: a data acquisition stage: acquiring absolute coordinates and relative point cloud data of each station through collaborative operation of a total station and a frame station scanner, and completing scanning of a target tunnel section; a point cloud data preliminary transformation stage: performing translation transformation on relative point cloud data of each station by using absolute coordinates of a rack station scanner, and preliminarily transforming the relative point cloud data into a global coordinate system; a two-stage registration stage based on rotation translation constraint: carrying out two-stage registration on the relative point cloud data of the adjacent sites after preliminary transformation; and a global point cloud model generation stage: unifying the relative point cloud data of all sites to a tunnel construction global coordinate system through two-stage registration, and generating a complete tunnel three-dimensional point cloud model. According to the invention, through rotation translation constraint and a two-stage registration strategy, the millimeter-level splicing precision is ensured, and the cost and the operation difficulty are reduced at the same time.

The invention discloses a large-area concrete pouring vibrating and leveling device and a using method, and belongs to the field of concrete pouring construction. Comprising a walking and stabilizing system, accurate positioning is achieved through four-wheel independent driving, and a hydraulic supporting column and a sliding rail weight box cooperate to dynamically balance overturning moment; the multi-degree-of-freedom telescopic arm system drives an end effector to perform three-dimensional positioning through a multi-stage hydraulic telescopic sleeve and covers a large-area operation area; the intelligent vibrating-leveling execution system and the modularized vibrating system are adopted, eight groups of high-frequency vibrating rods are carried on a main / expansion plate, an ultrasonic sensor is embedded in a rod body protection cylinder to generate a compactness cloud picture in real time, and a hose is driven to integrate a strain sensor to invert the slump; the self-adaptive leveling system and the laser grid scanner construct a three-dimensional elevation model, and the hydraulic elevation regulator realizes + / -0.1 degree grade gradient control. According to the method, traditional layering limitation is broken through, efficiency is improved, porosity and flatness errors are reduced, and manual safety risks are thoroughly eliminated.

The invention discloses a large-diameter super-long permanent steel casing sinking positioning system and a construction method thereof. The large-diameter super-long permanent steel casing sinking positioning system comprises an adjustable lifting guide frame, an inner wall supporting component and a positioning monitoring and dynamic closed-loop deviation rectifying system. The guide frame is a double-layer guide frame with adjustable height so as to meet the sinking of steel casings with different lengths; transverse support members are arranged on the inner wall of the steel casing at equal intervals to prevent water pressure difference between the inside and outside of the steel casing at the deepwater position or local deformation under the action of impact load; the monitoring and dynamic closed-loop correction system comprises a total station scanner and a double-shaft inclinometer, the plane position and perpendicularity of the steel casing are fed back in real time, the steel casing is fixed through an automatic position adjusting jack and a V-shaped pressing block, the plane position and perpendicularity of the steel casing are dynamically corrected in real time, and it is ensured that the top face of the casing meets the construction standard. According to the positioning system and the construction method thereof, the technical problems of poor adaptability, low positioning precision, delayed deviation correction response and the like in the sinking process of a large-diameter super-long steel casing in a complex stratum in a deepwater area can be solved.

Apparatuses, systems, and techniques to detect potential security risks using application program interface (API) scanners. In at least one embodiment, software is scanned to identify one or more APIs of different categories and the position of the APIs and associated code in an executable file may be altered to reduce one or more potential risks.

The invention provides an intelligent warehousing equipment state information acquisition method and system, and relates to the technical field of intelligent warehousing, and the intelligent warehousing equipment state information acquisition method comprises the steps: obtaining the initial state data, collected by a multi-mode sensor group, of intelligent warehousing equipment, the multi-mode sensor group at least comprises a laser scanner, an ultra-wideband positioning base station and an equipment vibration sensor; performing dynamic estimation on the initial state data to obtain a prediction track of the intelligent storage equipment; generating a scanning path of the laser scanner according to the predicted track; and scanning the intelligent storage equipment based on the scanning path to obtain state information of the intelligent storage equipment. According to the intelligent storage equipment state information acquisition method and system, the technical problems of high equipment state updating delay and low acquisition efficiency caused by polling acquisition and PLC dependence in related technologies are solved.

The invention provides an anti-swing closed-loop control method and system for a grab bucket, and relates to the technical field of grab bucket remote control. According to the method, the swing angle, real-time space coordinates and swing posture data of the grab bucket, the operation speed of a portal crane hoisting mechanism, the angular speed of a swing mechanism, the material grabbing weight and the operation parameters of a luffing mechanism are collected; the method comprises the following steps: dividing stages according to an operation process and removing invalid data to obtain a grab bucket anti-swing evaluation data set; converting coordinates based on scanner data to obtain a collaborative data set, and associating the evaluation data set to obtain grab bucket comprehensive motion data; a multi-body three-dimensional model is established in combination with a slice analysis extraction rule, and mechanical analysis is carried out to obtain swing parameters; and the speed compensation amount is calculated to obtain a control signal, the grab bucket is inhibited from swinging in the preset swinging period, swinging of the grab bucket can be effectively inhibited, and the precision and stability of automatic operation of the portal crane are guaranteed.

The system and techniques disclosed herein perform advanced and automatic age verification. The age verification system (AVS) is designed for automated and accurate age-restricted access control and age verification for the sale of age-controlled products. For example, the AVS can be employed to perform age-verification to permit the legal sale / purchase of age-controlled products such as alcohol, tobacco, cannabis, and the like, and Also, the AVS can be used to control legal access to age-restricted areas such as casinos, movie theaters, bars, and the like. The AVS can include a scanner for scanning a barcode printed on an identification (ID) card, an application, and a computer unit having output devices for generating visual, audible, and electronic signals to view, alert, and control age-restricted entry and control the sale of age-controlled products. The AVS can include automatic door lock functionality that supports age-restricted access control.

The invention discloses a tunnel back break detection method, which relates to the technical field of tunnel engineering, and comprises the following steps: step 1, control point measurement; step 2, tunnel scanning; 3, reconstructing a point cloud; step 4, generating a section; and step 5, performing overbreak and underbreak comparison and report output. The invention provides a three-dimensional laser cooperative scanning method integrating a total station and a handheld scanner, aiming at the problems that the efficiency of the scanner of the total station is high but the cost is too high, the efficiency of a common total station is low, and the precision of the handheld scanner is insufficient in the traditional tunnel detection technology. By combining total station control point calibration and handheld device dynamic scanning, the advantages of the total station control point calibration and the handheld device dynamic scanning are fully fused, the limitation of a single device is broken through, the tunnel detection precision and efficiency are improved, a more economical and efficient detection solution is provided for complex tunnel engineering, collaborative optimization of the precision and efficiency is achieved, and the tunnel detection efficiency is improved. And the method has important engineering application value and popularization significance.

A method of performing a quality inspection of a vulcanized joint of a power cable during manufacturing of the vulcanized joint, the method comprising: a) obtaining, from a laser scanner, measurements of an outer surface of an inner semiconducting layer provided over a conductor joint which joints conductors of two power cable sections, and of a transition area between the outer surface and outer surfaces of a respective inner semiconducting layer of the two power cable sections, b) obtaining, from a laser scanner, measurements of an outer surface of a tapering section of an insulation layer arranged around a respective one of the inner semiconducting layers of the two cable sections, c) processing the measurements obtained in step a) and in step b), the processing involving generating one or a respective 3-d model of the outer surfaces and evaluating an outer surface quality of the outer surfaces based on the one or more 3-d models, d) presenting a conclusion regarding surface quality based on the evaluation, e) obtaining, from a laser scanner, measurements of an outer surface of a joint insulation arranged around the inner semiconducting layer that is provided over the conductor joint, the joint insulation having been provided over the inner semiconducting layer provided around the conductor joint after step d), and f) processing measurements obtained from the laser scanner in step e), the processing involving determining an insulation thickness or an outer diameter of the joint insulation, and g1) presenting the insulation thickness or outer diameter, and / or, g2) evaluating the insulation thickness or outer diameter, and presenting a conclusion regarding the insultation thickness or outer diameter based on the comparison.

An apparatus and method for adaptive slide imaging using a selected scanning profile is disclosed. The apparatus includes a scanner configured to capture a macro image of a slide and including a stage configured to hold the slide, an optical sensor configured to convert an image into one or more electrical signals, and an optical system configured to form the image of the slide on the optical sensor. The apparatus includes at least a processor and a memory containing instructions configuring the at least a processor to receive the macro image of the slide from the scanner, extract metadata from the macro image of the slide, determine a classification category of the slide, retrieve a scanning profile as a function of the classification category of the slide, and image, using the optical system and optical sensor of the scanner, the slide as a function of the scanning profile.

Application of the design: Mounting and securing mobile phones and / or scanners and other devices and providing power and / or wireless transmission functions to such devices. Key features of the design: Shape. View or photograph that best illustrates the main features of the design: Perspective View 1 (1.1). The dashed lines in the view indicate parts of the multi-function holder for electrical devices that do not form part of the design sought to be registered. 1.1) Perspective View; 1.2) Perspective View; 1.3) Front View; 1.4) Rear View; 1.5) Left Side View; 1.6) Top View; 1.7) Bottom View

The invention relates to the field of deformation monitoring, in particular to an underground pipeline deformation real-time monitoring method and device, equipment and a medium. The method comprises the steps that through real-time connection with equipment such as an optical fiber sensor and a three-dimensional laser scanner, spectral signals can be received in real time, three-dimensional point cloud data can be collected, and data collection delay is avoided. In a data processing link, whether a strain distribution map is generated based on a spectral signal or a deformation displacement vector is determined from three-dimensional point cloud data, an efficient algorithm is adopted to quickly complete calculation and analysis, and the data processing time is greatly shortened. Moreover, the electronic equipment continuously monitors the strain distribution map and the deformation displacement vector in real time, and once it is monitored that the strain gradient and the displacement change rate of the monitoring node in the pipeline deformation field model exceed threshold values, an early warning mechanism is triggered immediately, deformation early warning information is generated, and the real-time performance of underground pipeline deformation monitoring is improved.

The invention discloses a low-cost unpowered plate trailer real-time positioning method and device, a storage medium and a computer program product, and the method comprises the steps: configuring a scanner at a tractor end, configuring a passive label at a plate trailer end, collecting a unique device ID periodically broadcasted by the passive label through the scanner, and determining the grade of the received RSSI value of the unique equipment ID through the scanner, and sending a traction signal to the plate trailer end based on the grade of the RSSI value. According to the invention, the trailer end is sensed based on the tractor head, so that high-cost-performance and high-availability positioning tracking of the power-free trailer is realized. According to the invention, the trailer end can be sensed based on the tractor end, and high-cost-performance and high-availability positioning and tracking of the power-free trailer can be realized.

The invention relates to the technical field of engineering construction measurement and control, and discloses a calibration method for positioning and attitude determination of a heading machine, which comprises the following steps: constructing a data acquisition module, a route making module, a real-time dynamic monitoring module, an execution module, a feedback module and an optimization module; the data acquisition module is used for completing comprehensive acquisition of multi-source data of the heading machine, a route, an environment and an obstacle, the route making module is used for fusing the multi-source data to carry out path planning and error compensation, and the real-time dynamic monitoring module is used for realizing heading machine pose tracking and emergency correction through visual marking points and a laser scanner. The execution module is used for converting an optimal tunneling path into a driving motor control instruction, the feedback module is used for collecting deviation data of an actual operation pose and a planned path in real time and returning the deviation data, the optimization module realizes long-term self-adaptive optimization of the system, and finally, precision, safety and high efficiency of the tunneling operation of the tunneling machine in a complex underground environment are realized.

The invention belongs to the field of three-dimensional model construction, and particularly relates to a road management method of a smart city based on digital twinning. The method aims at solving the problems that traditional modeling depends on two-dimensional or limited section data, geometric accuracy is insufficient, road association is difficult to dynamically reflect, and large deviation is shown in traffic management strategy optimization. The method comprises the following steps: arranging a high-precision laser scanner on a road to obtain a point cloud, and carrying out gross error removal and curvature self-adaptive thinning pretreatment; carrying out point cloud integration registration (screening reference features, calculating descriptor similarity matching, and eliminating accumulative errors through least squares, graph optimization and a Levenberg-Marquardt algorithm), and carrying out point cloud integration registration (screening reference features, calculating descriptor similarity matching, and eliminating accumulative errors through least squares, graph optimization and a Levenberg-Marquardt algorithm); constructing an urban road digital twinborn model; and finally, simulating signal lamp timing and lane management and control based on the model, and outputting an optimal strategy through multi-objective optimization. The model fidelity is improved, congestion is effectively relieved, and the traffic efficiency is improved.

The invention provides a high-precision positioning method and system for a solid insulation tubular busbar embedded foundation. The method comprises the following steps: respectively carrying out fine construction on a transformer, a switch cabinet and a prefabricated cabin embedded foundation according to first, second and third types of standards based on an electrical layout diagram; acquiring a basic point cloud by using a portable laser scanner, and performing multi-station complementary scanning, denoising and densifying in case of shielding; registering and fusing the point cloud and the equipment graph in the BIM, automatically fusing when the deviation is smaller than a first threshold value, semi-automatically correcting when the deviation is between two threshold values, and manually intervening when the deviation is larger than a second threshold value; simulating a pipe bus path in the combined three-dimensional model, automatically optimizing conflicts, and re-planning if the curvature does not conform to; flexible connection is arranged between the end of the transformer and the outlet of the prefabricated cabin, and the flexible connection is prolonged or customized according to deviation selection standards. The construction precision and efficiency of the solid insulation tubular busbar embedded foundation can be improved, the stability and reliability of equipment installation are enhanced, the operation and maintenance cost is reduced, and the overall operation quality of a transformer substation is improved.

The invention provides a calibration method, a calibration device, a tracking type scanning system and a storage medium, and the method comprises the steps: scanning a reference object on the calibration device through a scanner, and obtaining first scanning data corresponding to the reference object in a scanning coordinate system; acquiring the pose of the marker on the scanner and the pose of the calibration device by using a tracker; calibrating equipment parameters of the scanner based on the true value corresponding to the reference object and the first scanning data; based on the pose of the marker and the pose of the calibration device, converting the first scanning data to a tracking coordinate system of a tracker; and based on the true value corresponding to the reference object and the first scanning data under the tracking coordinate system, completing rigid body transformation relation calibration between the local coordinate system corresponding to the marker and the scanning coordinate system. Through the method, calibration errors can be reduced to improve measurement precision.

The invention relates to the technical field of steam turbine blade measurement, in particular to a special bidirectional measuring tool for a conical surface of a steam turbine blade, which comprises a detection table and a driving motor fixedly mounted on the inner top surface of the detection table, a detection disc is fixedly mounted at the output end of the driving motor, and a bracket is arranged at the side edge of the side surface of the detection table; a conical surface detection scanner is fixedly installed at the top end of the support, an installation structure is arranged between the support and the detection table, four installation plates distributed in an annular array are fixedly installed on the top face of the detection disc, and positioning assemblies are arranged on the installation plates. The automatic detection device has the beneficial effects that the detection disc is driven by the driving motor to rotate, the scanner is automatically reset in cooperation with linkage of the shifting rod, the shifting plate and the inclined push plate, the rotating seat is automatically overturned and reset after detection is completed, feeding of the next batch is facilitated, automatic circulation of feeding, detection, discharging and reset is formed, manual intervention is reduced, and the overall detection continuity is improved.

The invention relates to a high and steep slope real-time monitoring method and system based on multi-source data fusion and cooperative enhancement. The method comprises the following steps: scanning a slope provided with a corner reflector array by using a synthetic aperture radar (SAR); performing real-time differential correction on data acquired by the radar by taking the corner reflector in the stable region as a reference so as to eliminate common noise; meanwhile, a three-dimensional laser scanner is used for obtaining point cloud data of the slope; coordinate registration and fusion of radar data and point cloud data are realized through the corner reflector array, so that a three-dimensional deformation field of the slope is generated. The method provided by the invention has the advantages of high monitoring precision, high signal-to-noise ratio and good data reliability.

The invention provides a safety partition and safety path control method and system for a series press line, and belongs to the technical field of press control. The method comprises the steps that a mode selection instruction is received, a whole line operation mode is recognized, and safety partition configuration is generated; collecting safety signals and moving trajectory data in real time, and establishing a whole line safety control model and a stamping unit safety sub-model in a bus safety controller; calling a whole-line safety control model and a safety sub-model to compare and evaluate a safety state in real time, and triggering safety operation according to a whole-line operation mode when the safety state is abnormal; in the teaching or running process of the carrying path, a safety motion state machine is established for the carrying equipment in the activated partition, and safety control is conducted on the carrying path; and when a person needs to enter the line body, responding to a maintenance request, automatically planning a fault maintenance small partition, executing energy locking and activating a safety scanner to dynamically monitor the position of the person according to a safety partition configuration mode. According to the invention, accurate matching of the security resources and the production requirements is realized.

The invention provides a multi-dimensional measurement territorial space planning topographic survey device and method, and belongs to the technical field of topographic survey, the multi-dimensional measurement territorial space planning topographic survey device comprises a base, a three-dimensional laser scanner and a ground penetrating radar, multiple groups of first electric cylinders on the base are connected with a supporting table through connecting pieces, and a horizontal detector is arranged at the bottom of the supporting table; a lifting assembly and a moving assembly are arranged above the supporting table, the lifting assembly is detachably connected with the moving assembly through a plurality of locking assemblies, and the three-dimensional laser scanner is installed on the moving assembly. A measuring assembly is arranged between the supporting table and the moving assembly. The ground penetrating radar is installed at the bottom of the supporting table. A controller is arranged above the supporting table, and a battery module is arranged on the base. According to the device, the three-dimensional laser scanner is matched with the ground penetrating radar and the measuring assembly, all-directional detection of the terrain is achieved, the limitation of a single detection means can be effectively broken through, comprehensive and accurate data support is provided for territorial space planning, and the scientificity and feasibility of the scheme are further improved.

Examples provide a smart bagging station including a halo array of sensor devices generating sensor data associated with a detection zone surrounding the smart bagging station. The smart bagging station includes barcode scanners in a curved arrangement within a recessed sensor device housing located behind a bagging device. As a user places an item into a bag, the item is automatically scanned by the barcode scanners without re-orienting the item or passing it across a scanning sensor. Other sensor devices, including RFID tag readers, cameras, and / or weight sensors are located at multiple locations above the bagging device, below the bagging device, on the sides of the bagging device, and / or behind the bagging device creating a detection zone encompassing the bagging area. Items within the detection zone are automatically identified using different types of sensor data without requiring the manual scanning for faster and more efficient checkout.

In various embodiments, a system for detecting an obscurant on an environment surface includes a light source; a scanner; a receiver that detects scattered reflection returns, some of which may be below a detection threshold; and a processor. The processor determines whether the portion below the threshold corresponds to an obscurant on an environment surface, including by: receiving a new point cloud including a group of points corresponding to the environment surface, clustering at least a portion of the group of points to form a projected shape, and clustering into a candidate cluster at least a portion of the portion below the threshold that belong to projected locations within the shape. The obscurant candidate cluster is compared with a previously determined cluster to determine whether a detected change conforms to a detected physical movement of the system. If so, the obscurant candidate cluster is an obscurant on the environment surface.

The invention provides a building crack detection method and system, electronic equipment and a storage medium, and relates to the technical field of building crack detection, and the method comprises the steps: collecting target building surface temperature field distribution data through an infrared thermal imager, and synchronously collecting three-dimensional point cloud data through a laser scanner; a temperature gradient distribution diagram is generated based on the temperature field distribution data, and a potential crack area is positioned through phase difference analysis; performing super-resolution reconstruction on the potential crack region by adopting a multi-scale feature pyramid network, and enhancing edge information of a temperature anomaly region; performing voxelization processing on the three-dimensional point cloud data of the potential crack area to obtain a three-dimensional voxel grid; the enhanced edge information and the three-dimensional voxel grid are fused through an attention mechanism, a detection result containing the position, width and depth of the crack is output, infrared temperature data and laser point cloud data can be fused, and precise detection of the position, width and depth of the building crack is achieved through super-resolution reconstruction, voxelization and attention mechanism fusion processing.

Particular embodiments described herein include an apparatus for providing RFID-based locations for items located in an indoor environment including an RFID scanner to transmit interrogating RFID signals and to receive RFID identifiers for RFID tags, the RFID tags being affixed to the items in the indoor environment. The apparatus can additionally include an indoor location tracking device to determine a current location of the apparatus within the indoor environment, wherein the apparatus is mobile and configured to be moved throughout the indoor environment. The apparatus can further include an RFID-location processor to receive RFID data from the RFID scanner and location data from the indoor location tracking device, correlate portions of the RFID data with portions of the location data, and generate RFID-based location data for the items located in the indoor environment based, at least in part, on the correlated portions of the RFID data and the location data.

The invention discloses a reduced scale model pile body test structure which comprises a test box, a model pile and a laser scanner, a test soil body is laid in the test box, the model pile is vertically inserted into the test soil body, a reaction wall is installed on one side of the test box, a jack is installed on the reaction wall, and a thrust plate is installed at the front end of the jack; a target is installed on the model pile, and the laser scanner is located above one side of the target. According to the hollow nylon pipe model pile, it is guaranteed that lateral mechanical behaviors are similar, and the material cost and the machining difficulty are greatly reduced; the nylon pipe can also be used as an inclinometer pipe, so that the sensor is convenient to arrange; meanwhile, a grooving pipe inertia moment correction formula is introduced to accurately calculate the actual inertia moment of the grooved pipe, and similar errors are reduced; meanwhile, a strain gauge and a target are matched to comprehensively monitor the model pile from internal deformation, surface strain to top displacement; the surface of the model pile is roughened, so that the surface roughness of the model pile is equivalent to that of a concrete pile, slurry is injected into a pile-soil gap, and the simulation authenticity of the interface friction characteristic is improved.

The invention provides an equipment calibration method, a tracking type scanning system and a storage medium, the equipment calibration method is applied to the tracking type scanning system, the tracking type scanning system comprises a tracker and a scanner, and the method comprises the following steps: scanning a reference object by using the scanner to obtain scanning data corresponding to the reference object; the tracker is used for tracking a marker on the scanner, the pose of the marker is obtained, and the relative position between the marker and the scanner is fixed; converting scanning data under a scanning coordinate system of the scanner into a tracking coordinate system of the tracker based on the pose of the marker; and completing rigid body transformation relation calibration between the local coordinate system corresponding to the marker and the scanning coordinate system based on the true value corresponding to the reference object and the scanning data under the tracking coordinate system. According to the method, the equipment calibration efficiency can be improved.