CN104677273B - The equidistant acquisition method of three-dimensional laser scanner data and system - Google Patents
The equidistant acquisition method of three-dimensional laser scanner data and system Download PDFInfo
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Abstract
The invention provides a kind of equidistant acquisition method of three-dimensional laser scanner data and system, methods described includes：N is carried out to region to be measuredpSecondary profile prescan；2*N is obtained according to prescan resultpThe contour line in bar region to be measured, and from 2*NpContour line most long is selected in bar contour line as reference contour；Reference contour is pressed into the default uniform deciles of sweep span Tol, so as to calculate the angle, θ that probe radially swings every timei；Radially wobbling angle, θiUnder, the angle [alpha] that probe axially rotates every time is obtained by iteration transition interpolation between each contour line and next contour linei,j；Successively according to respectively radially wobbling angle, θiAnd this radially wobbles axial anglec of rotation α under anglei,jLaser scanning is carried out, the three-dimensional space data point in region to be measured is obtained.Method and system of the present invention, can as far as possible be met the uniform, fine data collection point of expected sweep span.
Description
Technical field
The present invention relates to laser scanning field, and in particular to a kind of equidistant acquisition method of three-dimensional laser scanner data and be
System.
Background technology
Three-dimensional laser scanner is a kind of novel three-dimensional coordinate-measuring instrument for being integrated with various new and high technologies, is connect using non-
Touch high-rate laser metering system, the three-dimensional data of the array geometric figure on measurand surface is obtained in a cloud form, its
The general principle of laser ranging has evolved into ripe, and the accuracy and validity of data acquisition are also ensured, but its data is adopted
The method of collection is still worth inquiring into, traditional collecting method-isogonism acquisition method, as shown in figure 1, passing through two steppings respectively
Motor control probe radially wobbles and axial-rotation, probe first it is default radially wobble angle under uniform axially rotation
Turn, often rotate once (fixed value between usually 0.5 °~3 °) and gather a point data, swept after completing scanning in one week
The default angle of an automatic swing (being often referred to raise) (fixed value between usually 1 °~5 °) is retouched, is continued next
The scanning in week, until scanning process all terminates.Angle and axially the angle of rotation is every time that this radial direction swings every time
Result is caused by the collecting method of fixed value：Nearby data acquisition is excessively intensive, and remote data collection is excessively sparse.
Beijing Mine and Metallurgy General Inst proposes a kind of self-adapting data collection side on the basis of traditional data acquisition method
Method, in scanning process, prescan is carried out to next scanning element, according to scanning result to the angle, θ for radially wobbling and axial direction
The angle [alpha] of rotation is adjusted, and scans next point according to the result θ ' and α ' after adjustment, and its principle is as shown in Fig. 2 the party
Method becomes more meticulous and certain effect is served in uniformity data acquisition, but, the method requirement control radially wobbles
The stepper motor of stepper motor and control axial-rotation is required for running constantly back and forth, while the profile shown in figure is in practice
Do not exist, tool bears the character of much blindness.The method not only greatly reduces the efficiency of data acquisition, and to the damage of instrument compared with
For serious, it is impossible to meet actual demand.
Foreign countries there is no people to study the collecting method of three-dimensional laser scanner, a kind of therefore the three of highly effective of active demand
The dimension equidistant acquisition method of laser scanner data.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of equidistant acquisition method of three-dimensional laser scanner data and is
System, can as far as possible be met the uniform, fine data collection point of expected sweep span.
To achieve the above object, the present invention is achieved by the following technical programs：
In a first aspect, the present invention provides a kind of equidistant acquisition method of three-dimensional laser scanner data, including：
N is carried out to region to be measuredpSecondary profile prescan；
2*N is obtained according to prescan resultpThe contour line in bar region to be measured, and from 2*NpSelected in bar contour line most long
Contour line as reference contour；
Reference contour is pressed into the default uniform deciles of sweep span Tol, is radially swung every time so as to calculate probe
Angle, θi；
Radially wobbling angle, θiUnder, scanned by iteration transition interpolation between each contour line and next contour line
The angle [alpha] that head axially rotates every timei,j；
Successively according to respectively radially wobbling angle, θiAnd this radially wobbles axial anglec of rotation α under anglei,jLaser is carried out to sweep
Retouch, obtain the three-dimensional space data point in region to be measured.
Wherein, it is described by NpSecondary prescan result obtains 2*NpThe contour line in bar region to be measured, and from 2*NpBar contour line
In select contour line most long and include as reference contour：NpThe result of secondary prescan intersects at same with initial orientation line
Point, two parts are divided into by intersection point by each scanning result, so as to obtain 2*NpThe contour line in bar region to be measured；Calculate 2*NpBar
The length of contour line, and contour line most long is therefrom selected as reference contour；It is 1 by reference contour numbering, by inverse
Clockwise is 2,3 to remaining contour line numbering ..., 2*Np, it is stipulated that 2*NpTaken turns on the basis of next contour line of bar contour line
Profile.
Wherein, it is described that reference contour is pressed into the default uniform deciles of sweep span Tol, so as to calculate probe radially
The angle, θ for swinging every timeiIncluding：
The angle, θ that the probe radially swings every timeiCalculate in the following manner：
θi=Θi-Θi-1=arcsin (Rn,i/Sn,i)-arcsin(Rn,i-1/Sn,i-1)
In formula, ΘiAngle between the ray and initial orientation line that are sent after radially wobbling for probe i ＆ lt, i >=1,
Θ0=0；Rn,iRay and the intersection point of reference contour the hanging down to initial orientation line sent after radially wobbling for probe i ＆ lt
Straight distance；Sn,iThe intersection point of the ray that is sent after radially wobbling for probe i ＆ lt and reference contour to laser scanning head away from
From wherein n=1 represents that the ray that probe sends intersects with reference contour.
Wherein, it is described to radially wobble angle, θiUnder, each contour line and next contour line and between pass through iteration transition
Interpolation obtains the angle [alpha] that probe axially rotates every timei,jIncluding：
The angle [alpha] that the probe axially rotates every timei,jCalculate in the following manner：
αi,j=Tol × 360/ (2 π × rn,i,m)
In formula, Tol is expected sweep span；Rn,iThe ray and reference wheel sent after radially wobbling for probe i ＆ lt
Vertical range of the intersection point of profile to initial orientation line；rn,i,mIt is Rn,iWith Rn+1,iBetween the m times iteration transition interpolation obtain
Distance value.
Second aspect, the present invention provides a kind of equidistant acquisition system of three-dimensional laser scanner data, including：
The space coordinates of information setting unit, the attitude information for setting probe, including probe and initial
Azimuth and inclination angle during position, and probe radial extension；
Pre-scanning unit, for carrying out N to region to be measuredpSecondary profile prescan；
Select unit, for obtaining 2*N according to prescan resultpThe contour line in bar region to be measured, and from 2*NpBar contour line
In select contour line most long as reference contour；
Computing unit, for reference contour to be pressed into the default uniform deciles of sweep span Tol, calculating respectively radially wobbles angle
Degree θiAnd this radially wobbles axial anglec of rotation α under anglei,j；
Wherein, angle, θ is being radially wobblediUnder, obtained by iteration transition interpolation between each contour line and next contour line
To the angle [alpha] that probe axially rotates every timei,j；
Equidistant scanning element, for successively according to respectively radially wobbling angle, θiAnd this radially wobbles the axial anglec of rotation under angle
Degree αi,jLaser scanning is carried out, the three-dimensional space data point in region to be measured is obtained.
Wherein, the select unit is specifically for by NpSecondary prescan result obtains 2*NpThe contour line in bar region to be measured,
And from 2*NpContour line most long is selected in bar contour line as reference contour；Wherein, NpThe result of secondary prescan with it is initial
Rhumb line intersects at same point, and each scanning result is divided into two parts by intersection point, so as to obtain 2*NpBar region to be measured
Contour line；Calculate 2*NpThe length of bar contour line, and contour line most long is therefrom selected as reference contour；By reference wheel
Profile numbering is 1, is counterclockwise 2,3 to remaining contour line numbering ..., 2*Np, it is stipulated that 2*NpBar contour line it is next
Contour line on the basis of bar contour line.
Wherein, the computing unit is specifically for calculating the angle, θ that probe radially swings every timei,
Wherein, the angle, θ that probe radially swings every timeiCalculate in the following manner：
θi=Θi-Θi-1=arcsin (Rn,i/Sn,i)-arcsin(Rn,i-1/Sn,i-1)
In formula, ΘiAngle between the ray and initial orientation line that are sent after radially wobbling for probe i ＆ lt, i >=1,
Θ0=0；Rn,iRay and the intersection point of reference contour the hanging down to initial orientation line sent after radially wobbling for probe i ＆ lt
Straight distance；Sn,iThe intersection point of the ray that is sent after radially wobbling for probe i ＆ lt and reference contour to laser scanning head away from
From wherein n=1 represents that the ray that probe sends intersects with reference contour.
Wherein, the computing unit is specifically for calculating the angle [alpha] that probe axially rotates every timei,j,
Wherein, the angle [alpha] that the probe axially rotates every timei,jCalculate in the following manner：
αi,j=Tol × 360/ (2 π × rn,i,m)
In formula, Tol is expected sweep span；Rn,iThe ray and reference wheel sent after radially wobbling for probe i ＆ lt
Vertical range of the intersection point of profile to initial orientation line；rn,i,mIt is Rn,iWith Rn+1,iBetween the m times iteration transition interpolation obtain
Distance value.
By above description, the equidistant acquisition method of three-dimensional laser scanner data of the present invention and system can
To be met the uniform, fine data collection point of expected sweep span as far as possible, that is, realize equidistant collection.Both traditional number had been solved
The uneven problem of the data point that obtains according to acquisition method, also achieves data acquisition personnel and expects that the result of scanning meets certain
The requirement of precision, it is to avoid the gathered data of blindness.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 shows the schematic diagram of three-dimensional laser scanner traditional data acquisition method-isogonism acquisition method principle；
Fig. 2 shows the signal of the three-dimensional laser scanner self-adapting data acquisition method that Beijing Mine and Metallurgy General Inst proposes
Figure；
Fig. 3 shows the flow chart of the equidistant acquisition method of three-dimensional laser scanner data provided in an embodiment of the present invention；
Fig. 4 shows that the principle of the equidistant acquisition method of three-dimensional laser scanner data provided in an embodiment of the present invention is illustrated
Figure；
Fig. 5 shows the iteration mistake that the equidistant acquisition method of three-dimensional laser scanner data provided in an embodiment of the present invention is related to
Cross interpolation method schematic diagram；
Fig. 6 shows that the interactive interface of the equidistant acquisition system of three-dimensional laser scanner data provided in an embodiment of the present invention shows
It is intended to；
Fig. 7 a show the schematic diagram of the point data that traditional data acquisition method is obtained；
Fig. 7 b show the schematic diagram of the point data that embodiment of the present invention collecting method is obtained；
Fig. 8 a show the schematic diagram of the modeling result of traditional gathered data；
Fig. 8 b show the schematic diagram of the modeling result of embodiment of the present invention gathered data；
Fig. 9 shows the structural representation of the equidistant acquisition system of three-dimensional laser scanner data provided in an embodiment of the present invention
Figure.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, clear, complete description is carried out to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Embodiment one
Fig. 3 shows the flow chart of the equidistant acquisition method of three-dimensional laser scanner data that the embodiment of the present invention one is provided.
The equidistant acquisition method of three-dimensional laser scanner data described in the inventive embodiments one includes：
Step 101：N is carried out to region to be measuredpSecondary profile prescan (Np>=1, by user according to the complicated feelings in region to be measured
Condition sets).
Step 102：2*N is obtained according to prescan resultpThe contour line in bar region to be measured, and from 2*NpSelected in bar contour line
Contour line most long is taken out as reference contour.
In this step, it is described by NpSecondary prescan result obtains 2*NpThe contour line in bar region to be measured, and from 2*NpBar
Contour line most long is selected in contour line to be included as reference contour：NpThe result of secondary prescan intersects with initial orientation line
In same point, each scanning result is divided into by two parts by intersection point, so as to obtain 2*NpThe contour line in bar region to be measured；Calculate
2*NpThe length of bar contour line, and contour line most long is therefrom selected as reference contour；It is by reference contour numbering
1, it is counterclockwise 2,3 to remaining contour line numbering ..., 2*Np, it is stipulated that 2*NpNext contour line of bar contour line be
Reference contour.
Step 103：Reference contour is pressed into the uniform decile (Tol of default sweep span Tol>0, by user according to demand
Setting), so as to calculate the angle, θ that probe radially swings every timei。
In this step, what probe swung radially wobbles angle, θiCalculate in the following manner：
θi=Θi-Θi-1=arcsin (Rn,i/Sn,i)-arcsin(Rn,i-1/Sn,i-1)
In formula, ΘiBetween the ray and initial orientation line that are sent after radially wobbling for probe i ＆ lt angle (i >=1,
Θ0=0)；Rn,iThe intersection point of the ray that is sent after radially wobbling for probe i ＆ lt and reference contour is to initial orientation line
Vertical range (n=1 represents that the ray that probe sends intersects with reference contour)；Sn,iFor probe i ＆ lt radially wobbles
The intersection point of the ray that sends afterwards and reference contour to laser scanning head distance (n=1, represent ray that probe sends and
Reference contour intersects).
Step 104：Radially wobbling angle, θiUnder, iteration transition interpolation is passed through between each contour line and next contour line
Obtain the angle [alpha] that probe axially rotates every timei,j。
In this step, probe axial-rotation angle [alpha]i,jCalculate in the following manner：
αi,j=Tol × 360/ (2 π × rn,i,m)
In formula, Tol is expected sweep span；Rn,iThe ray and reference wheel sent after radially wobbling for probe i ＆ lt
Vertical range of the intersection point of profile to initial orientation line (n >=1 represents that the ray that probe sends intersects with nth bar contour line)；
rn,i,mIt is Rn,iWith Rn+1,iBetween the m times iteration transition interpolation obtain distance value (n >=1, represent ray that probe sends with
Nth bar contour line intersects).
Step 105：Successively according to respectively radially wobbling angle, θiAnd this radially wobbles axial anglec of rotation α under anglei,jCarry out
Laser scanning, obtains the three-dimensional space data point in region to be measured.
For example bright above-mentioned steps 102~104 below, as shown in figure 4, obtaining the 2 of region to be measured by 2 prescans
Individual section general information；Each scanning result is divided into two parts in point of intersection, so as to obtain 4 contour lines in region to be measured；
4 length of contour line are calculated, and therefrom selects contour line most long as reference contour；It is by reference contour numbering
1, it is counterclockwise 2,3 and 4 to remaining contour line numbering, it is stipulated that taken turns on the basis of the 4th article of next article of contour line of contour line
Profile.
Reference contour is pressed into the default uniform deciles of sweep span Tol, it is illustrated that the thickened portion of middle reference contour is
I-th section after uniform decile, can calculate the angle, θ of probe i ＆ lt swing accordinglyi；Radially wobbling angle, θiUnder,
The angle [alpha] that probe axially rotates every time is obtained by iteration transition interpolation between each contour line and next contour linei,j。
As shown in figure 5, scanned by iteration transition interpolation between each contour line and next contour line for being calculated
The angle that head axially rotates every time.Initial rn,i,0=Rn,i, by controlling rn,i,0The distance of rotation calculates α equal to Toli,0, this
When rn,i,0Iteration is rn,i,1, successively iteration transition interpolation obtain each αi,j, until rn,i,mWith Rn+1,iBetween rotate distance be less than
Tol, iteration ends.
The equidistant acquisition method of three-dimensional laser scanner data provided in an embodiment of the present invention, first according to default scanning side
Case completes the general profile scanning (process is referred to as radially preferential prescan) in region to be measured；Secondly analysis prescanned data, counts
The work order for calculating the uniform, fine scanning of control scanner (obtains the angle of the angle and axial-rotation for radially wobbling every time
Degree), it is ensured that the data uniform, fine (process is referred to as axially preferential fine homogeneous scanning) of collection.
As shown in fig. 6, when specifically used, the space of the attitude information of invisible scanning head, including probe first is sat
The azimuth and inclination angle of mark and initial position；Secondly radial extension is set according to the performance of instrument；Radially preferential prescan is set
(angle is 0 ° and represents that transversely prescan obtains horizontal profile general information scheme, and angle is obtained for 90 ° of expressions along longitudinal prescan
To sectional elevation general information, prescan scheme at any angle can be set), start " starting radially preferential prescan " button and obtain
Take some profile informations；Each section is divided by intersection point and obtains region contour line to be measured, and therefrom choose contour line most long and made
On the basis of contour line.Then the tolerance of axially preferential Uniform Scanning is set, i.e., expected sweep span starts " initially axially excellent
First Uniform Scanning " button, that is, obtain the different angle, θs that probe swings every timei, and respectively radially wobbling angle, θiUnder, scanning
The axial-rotation angle [alpha] of headi,j, finally according to respectively radially wobbling angle, θiAnd corresponding axial-rotation angle [alpha]i,jSwept
Retouch, obtain the data acquisition results of uniform, fine.
The method is applied to the 3 D laser scanning in underground mine goaf, and Fig. 7 a are to be obtained using traditional data acquisition method
The point data for arriving, the data point information that Fig. 7 b are obtained for the collecting method provided using the present invention.Fig. 8 a and Fig. 8 b distinguish
It is the Goaf Area reconstructed results obtained using the point data of distinct methods collection.Table 1 is contrasted for the technical parameter of two schemes
Contrasted with object information.
The technical parameter contrast and object information contrast of 1 liang of scheme of table
By the equidistant acquisition method of three-dimensional laser scanner data of present invention description, each gathered data point of input is capable of achieving
Between expected spacing, successively according to radially preferential prescan and axial preferential Uniform Scanning scheme, expection is met as far as possible
The uniform, fine data collection point of spacing.Both solved the problems, such as that the data point that traditional data acquisition method is obtained was uneven,
Realize data acquisition personnel and expect that the result of scanning meets the requirement of certain precision, it is to avoid the gathered data of blindness.
The present invention improves the effect of scanning on the basis of the efficiency that ensure that scanning, while also avoiding the blind of scanning
Mesh.
Embodiment two
Fig. 9 shows the structural representation of the equidistant acquisition system of three-dimensional laser scanner data that the embodiment of the present invention two is provided
Figure.The equidistant acquisition system of three-dimensional laser scanner data described in the inventive embodiments two includes：
The space coordinates of information setting unit 91, the attitude information for setting probe, including probe and just
Azimuth and inclination angle during beginning position, and probe radial extension；
Pre-scanning unit 92, for carrying out N to region to be measuredpSecondary profile prescan；
Select unit 93, for obtaining 2*N according to prescan resultpThe contour line in bar region to be measured, and from 2*NpBar profile
Contour line most long is selected in line as reference contour；
Computing unit 94, for reference contour to be pressed into the default uniform deciles of sweep span Tol, calculating respectively radially wobbles
Angle, θiAnd this radially wobbles axial anglec of rotation α under anglei,j；
Wherein, angle, θ is being radially wobblediUnder, obtained by iteration transition interpolation between each contour line and next contour line
To the angle [alpha] that probe axially rotates every timei,j；
Equidistant scanning element 95, for successively according to respectively radially wobbling angle, θiAnd this radially wobbles axial-rotation under angle
Angle [alpha]i,jLaser scanning is carried out, the three-dimensional space data point in region to be measured is obtained.
Wherein, the select unit 93 is specifically for by NpSecondary prescan result obtains 2*NpThe profile in bar region to be measured
Line, and from 2*NpContour line most long is selected in bar contour line as reference contour；Wherein, NpThe result of secondary prescan with
Initial orientation line intersects at same point, and each scanning result is divided into two parts by intersection point, so as to obtain 2*NpBar area to be measured
The contour line in domain；Calculate 2*NpThe length of bar contour line, and contour line most long is therefrom selected as reference contour；By base
Quasi- contour line numbering is 1, is counterclockwise 2,3 to remaining contour line numbering ..., 2*Np, it is stipulated that 2*NpBar contour line
Contour line on the basis of next contour line.
Wherein, the computing unit 94 is specifically for calculating the angle, θ that probe radially swings every timei,
Wherein, the angle, θ that probe radially swings every timeiCalculate in the following manner：
θi=Θi-Θi-1=arcsin (Rn,i/Sn,i)-arcsin(Rn,i-1/Sn,i-1)
In formula, ΘiAngle between the ray and initial orientation line that are sent after radially wobbling for probe i ＆ lt, i >=1,
Θ0=0；Rn,iRay and the intersection point of reference contour the hanging down to initial orientation line sent after radially wobbling for probe i ＆ lt
Straight distance；Sn,iThe intersection point of the ray that is sent after radially wobbling for probe i ＆ lt and reference contour to laser scanning head away from
From wherein n=1 represents that the ray that probe sends intersects with reference contour.
Wherein, the computing unit 94 is specifically for calculating the angle [alpha] that probe axially rotates every timei,j,
Wherein, the angle [alpha] that the probe axially rotates every timei,jCalculate in the following manner：
αi,j=Tol × 360/ (2 π × rn,i,m)
In formula, Tol is expected sweep span；Rn,iThe ray and reference wheel sent after radially wobbling for probe i ＆ lt
Vertical range of the intersection point of profile to initial orientation line；rn,i,mIt is Rn,iWith Rn+1,iBetween the m times iteration transition interpolation obtain
Distance value.
System described in the embodiment of the present invention can perform the method described in above-described embodiment, its know-why and beneficial effect
Really similar, here is omitted.
Above example is merely to illustrate technical scheme, rather than its limitations；Although with reference to the foregoing embodiments
The present invention has been described in detail, it will be understood by those within the art that：It still can be to foregoing each implementation
Technical scheme described in example is modified, or carries out equivalent to which part technical characteristic；And these are changed or replace
Change, do not make the spirit and scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution.
Claims (8)
1. a kind of equidistant acquisition method of three-dimensional laser scanner data, it is characterised in that including：
N is carried out to region to be measuredpSecondary profile prescan；
2*N is obtained according to prescan resultpThe contour line in bar region to be measured, and from 2*NpWheel most long is selected in bar contour line
Profile is used as reference contour；
Reference contour is pressed into the default uniform deciles of sweep span Tol, so as to calculate the angle that probe radially swings every time
Degree θi；And radially wobbling angle, θiUnder, probe is obtained by iteration transition interpolation between each contour line and next contour line
The angle [alpha] for axially rotating every timei,j；
Successively according to respectively radially wobbling angle, θiAnd this radially wobbles axial anglec of rotation α under anglei,jLaser scanning is carried out, is obtained
The three-dimensional space data point in region to be measured.
2. method according to claim 1, it is characterised in that described that 2*N is obtained according to prescan resultpBar region to be measured
Contour line, and from 2*NpContour line most long is selected in bar contour line to be included as reference contour：NpThe knot of secondary prescan
Fruit intersects at same point with initial orientation line, each scanning result is divided into two parts by intersection point, so as to obtain 2*NpBar is treated
Survey the contour line in region；Calculate 2*NpThe length of bar contour line, and contour line most long is therefrom selected as reference contour；
It is 1 by reference contour numbering, is counterclockwise 2,3 to remaining contour line numbering ..., 2*Np, 2*NpBar contour line
Contour line on the basis of next contour line.
3. method according to claim 2, it is characterised in that described that reference contour is pressed into default sweep span Tol
Uniform decile, so as to calculate the angle, θ that probe radially swings every timeiIncluding：
The angle, θ that the probe radially swings every timeiCalculate in the following manner：
θi=Θi-Θi-1=arcsin (Rn,i/Sn,i)-arcsin(Rn,i-1/Sn,i-1)
In formula, ΘiAngle between the ray and initial orientation line that are sent after radially wobbling for probe i ＆ lt, i >=1, Θ0=
0；Rn,iThe intersection point of the ray sent after radially wobbling for probe i ＆ lt and reference contour to initial orientation line it is vertical away from
From；Sn,iThe intersection point of the ray that is sent after radially wobbling for probe i ＆ lt and reference contour to laser scanning head distance,
Wherein n=1, represents that the ray that probe sends intersects with reference contour.
4. method according to claim 3, it is characterised in that described to radially wobble angle, θiUnder, each contour line with it is next
The angle [alpha] that probe axially rotates every time is obtained by iteration transition interpolation between bar contour linei,jIncluding：
The angle [alpha] that the probe axially rotates every timei,jCalculate in the following manner：
αi,j=Tol × 360/ (2 π × rn,i,m)
In formula, Tol is expected sweep span；Rn,iThe ray and reference contour sent after radially wobbling for probe i ＆ lt
Intersection point to initial orientation line vertical range；rn,i,mIt is Rn,iWith Rn+1,iBetween the distance that obtains of the m times iteration transition interpolation
Value.
5. a kind of equidistant acquisition system of three-dimensional laser scanner data, it is characterised in that including：
The space coordinates and initial position of information setting unit, the attitude information for setting probe, including probe
When azimuth and inclination angle, and probe radial extension；
Pre-scanning unit, for carrying out N to region to be measuredpSecondary profile prescan；
Select unit, for obtaining 2*N according to prescan resultpThe contour line in bar region to be measured, and from 2*NpSelected in bar contour line
Contour line most long is taken out as reference contour；
Computing unit, for reference contour to be pressed into the default uniform deciles of sweep span Tol, calculating respectively radially wobbles angle, θi
And this radially wobbles axial anglec of rotation α under anglei,j；Wherein, angle, θ is being radially wobblediUnder, each contour line and next wheel
The angle [alpha] that probe axially rotates every time is obtained by iteration transition interpolation between profilei,j；
Equidistant scanning element, for successively according to respectively radially wobbling angle, θiAnd this radially wobbles axial anglec of rotation α under anglei,j
Laser scanning is carried out, the three-dimensional space data point in region to be measured is obtained.
6. system according to claim 5, it is characterised in that the select unit according to prescan result specifically for obtaining
To 2*NpThe contour line in bar region to be measured, and from 2*NpContour line most long is selected in bar contour line as reference contour；Its
In, NpThe result of secondary prescan intersects at same point with initial orientation line, and each scanning result is divided into two parts by intersection point,
So as to obtain 2*NpThe contour line in bar region to be measured；Calculate 2*NpThe length of bar contour line, and therefrom select contour line most long
As reference contour；It is 1 by reference contour numbering, is counterclockwise 2,3 to remaining contour line numbering ..., 2*Np,
2*NpContour line on the basis of next contour line of bar contour line.
7. system according to claim 6, it is characterised in that the computing unit is radially every specifically for calculating probe
The angle, θ of secondary swingi,
Wherein, the angle, θ that probe radially swings every timeiCalculate in the following manner：
θi=Θi-Θi-1=arcsin (Rn,i/Sn,i)-arcsin(Rn,i-1/Sn,i-1)
In formula, ΘiAngle between the ray and initial orientation line that are sent after radially wobbling for probe i ＆ lt, i >=1, Θ0=
0；Rn,iThe intersection point of the ray sent after radially wobbling for probe i ＆ lt and reference contour to initial orientation line it is vertical away from
From；Sn,iThe intersection point of the ray that is sent after radially wobbling for probe i ＆ lt and reference contour to laser scanning head distance,
Wherein n=1, represents that the ray that probe sends intersects with reference contour.
8. system according to claim 7, it is characterised in that the computing unit is axially every specifically for calculating probe
The angle [alpha] of secondary rotationi,j,
Wherein, the angle [alpha] that the probe axially rotates every timei,jCalculate in the following manner：
αi,j=Tol × 360/ (2 π × rn,i,m)
In formula, Tol is expected sweep span；Rn,iThe ray and reference contour sent after radially wobbling for probe i ＆ lt
Intersection point to initial orientation line vertical range；rn,i,mIt is Rn,iWith Rn+1,iBetween the distance that obtains of the m times iteration transition interpolation
Value.
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