CN111578862B - Point cloud precision calibration device and method for ground three-dimensional laser scanner - Google Patents
Point cloud precision calibration device and method for ground three-dimensional laser scanner Download PDFInfo
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- CN111578862B CN111578862B CN202010461721.8A CN202010461721A CN111578862B CN 111578862 B CN111578862 B CN 111578862B CN 202010461721 A CN202010461721 A CN 202010461721A CN 111578862 B CN111578862 B CN 111578862B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The invention discloses a point cloud precision calibration device and method for a ground three-dimensional laser scanner, which comprises the following steps: the laser scanning device comprises a movable carrier, wherein the movable carrier is provided with a rotating part, and the rotating part is respectively connected with a lifting part for carrying a laser scanner and a scanner telescopic part for carrying a target object; the scanning angle of the adjusting laser scanner is adjustable so as to check the influence of the scanning horizontal inclination angle on the point cloud precision; the angle between the direction of the target object and the incident direction of the laser scanner is adjustable so as to check the influence of the scanning vertical inclination angle on the point cloud precision. The invention has the beneficial effects that: the ground three-dimensional laser scanner is practical in engineering practice, accuracy and reliability of accuracy calibration are improved.
Description
Technical Field
The invention relates to the technical field of point cloud precision detection of laser scanners, in particular to a device and a method for detecting and correcting point cloud precision of a three-dimensional ground laser scanner.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The three-dimensional laser scanning technology is known as 'another technical revolution in the surveying and mapping field following the GPS technology'. The three-dimensional laser scanning technology breaks through the traditional single-point measurement method, can quickly extract massive three-dimensional coordinate data and texture data on the surface of the object, and is widely applied to engineering practice production by virtue of the advantages of non-contact property, rapidity, initiative and the like. However, the scanner inevitably generates errors when acquiring data, and with the rapid development of the ground three-dimensional laser scanner, the problem of point cloud accuracy receives more and more attention.
The inventor finds in the research that: in engineering practice, the ground three-dimensional laser scanner may cause measurement accuracy to be reduced and even measurement errors to occur after long-time use, abrasion, vibration or other reasons, and may cause engineering accidents when the measurement accuracy is serious, so that the measurement accuracy evaluation and verification of the three-dimensional laser scanning system are crucial to the control of point cloud data quality and engineering result quality; in different engineering fields or when different mapping projects and mapping objects are faced, the three-dimensional laser scanner may cause detection errors of different degrees due to differences of detection environments or detection targets, so that requirements of different projects on accuracy of acquired point clouds are greatly different from allowable error thresholds, and specific detection schemes need to be formulated for different projects.
Disclosure of Invention
In view of the above, the invention provides a device and a method for detecting and correcting point cloud precision of a ground three-dimensional laser scanner, which can perform point cloud precision influence factor tests and analyses on three-dimensional laser scanners of different models and accurately calculate the inside and outside coincidence precision of the instruments, thereby realizing more standard and practical precision detection and correction of the ground three-dimensional laser scanner in engineering practice.
In a first aspect of an embodiment of the present invention, a point cloud accuracy calibration apparatus for a ground three-dimensional laser scanner is disclosed, including: the laser scanning device comprises a movable carrier, wherein the movable carrier is provided with a rotating part, and the rotating part is respectively connected with a lifting part for carrying a laser scanner and a scanner telescopic part for carrying a target object;
the scanning angle of the adjusting laser scanner is adjustable so as to check the influence of the scanning horizontal inclination angle on the point cloud precision; the angle between the direction of the target object and the incident direction of the laser scanner is adjustable so as to check the influence of the scanning vertical inclination angle on the point cloud precision.
In a second aspect of the embodiments of the present invention, a method for calibrating point cloud accuracy of a ground three-dimensional laser scanner is disclosed, which includes:
determining a target position of a target object, so that the center of the laser scanner is aligned with the target object;
when the influence of a scanning horizontal inclination angle on the point cloud precision is researched, the direction of a target object is unchanged, and the horizontal incidence angle of the laser scanner is adjusted; respectively collecting point cloud information under different horizontal incident angles;
when the influence of scanning vertical inclination angles on point cloud precision is researched, the horizontal incidence angle of the laser scanner is unchanged, the included angle between the direction of a target object and the incidence direction of the laser scanner is changed, and point cloud information under different included angles is respectively obtained;
when the influence of the scanning distance on the point cloud precision is researched, the horizontal and vertical incidence angles of the laser scanner are kept unchanged, the measuring distance between a target object and the scanner is changed, and point cloud information under different distances is respectively obtained;
when the influence of colors on the point cloud precision is researched, the colors of the target objects arranged on different target object fixing plates are different, and point cloud information of the target objects with different colors is respectively collected;
when the influence of the environment on the point cloud precision is researched, the mobile carrier is controlled to collect the point cloud information of the target object under different environments.
Further, still include:
the number of point clouds in a unit area and the characteristic length and width information of a target are extracted, the internal and external coincidence precision of the scanner is calculated through a formula, and the influence of each factor on the point cloud precision is researched.
Compared with the prior art, the invention has the beneficial effects that:
the lifting device can be provided with scanners of various types, is convenient for instrument precision comparison, and selects the three-dimensional laser scanner suitable for actual engineering projects.
The rotatable disc device can be provided with a plurality of telescopic arm devices, a plurality of comparison groups can be arranged, and the telescopic arm devices can rotate in the horizontal plane, so that the variable of the distance between the three-dimensional scanner and the target object in each group of tests in the horizontal incident angle test is ensured to be the same.
The telescopic arm is telescopic and rotatable, the target object fixing device can fix a target object and can rotate by an angle, the adjustment of an incident horizontal inclination angle, a vertical inclination angle and a distance is convenient, the using method ensures that the variable of the distance between the three-dimensional scanner and the target object in each group of tests in horizontal and vertical incidence angle tests is the same, the work of comparing by using a total station in the traditional precision calibration test is avoided, the accuracy of the inside and outside coincidence precision calibration of the scanner is improved, walls and the like are not needed, and the target object can be replaced at any time.
Additional features and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 shows a schematic structural diagram of a point cloud precision calibration device of a three-dimensional ground laser scanner according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a mobile carrier and an elevator according to an embodiment of the present invention;
FIG. 3 is a schematic view of a rotary part according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a structure of a scanner telescopic part according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a target object fixing device according to an embodiment of the present invention;
fig. 6 shows a schematic working diagram of a point cloud precision calibration device of a three-dimensional ground laser scanner according to an embodiment of the present invention;
FIG. 7 is a schematic top view illustrating a horizontal tilt angle calibration provided by an embodiment of the present invention;
FIG. 8 is a schematic left-side view illustrating a vertical tilt angle calibration according to an embodiment of the present invention;
the system comprises an engineering truck 1, a scanner lifting part 2, a rotating part 3, a telescopic part 4, a target object fixing device 5 and an infrared emitting device 6, wherein the engineering truck is connected with the scanner lifting part through a connecting rod;
1-1 engineering truck main body, 1-2 wheels;
2-1, 2-2, 2-3 scanner mounting bases;
3-1, a disc main body, 3-2, a first rotary hinged support and 3-3, wherein the first rotary hinged support is connected with a bearing;
4-1, 4-2 and 4-3 spherical hinges;
5-1 target object fixing plate, 5-2 first connecting bolts, 5-3 second rotating hinged supports, 5-4 lifting rotating bases, 5-5 second connecting bolts and 5-6 bolt holes.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example one
According to an embodiment of the present invention, an embodiment of a point cloud accuracy calibration device of a ground three-dimensional laser scanner is provided, and fig. 1 is a schematic structural diagram of a point cloud accuracy calibration device of a ground three-dimensional laser scanner according to an embodiment of the present invention.
Referring to fig. 1, the point cloud accuracy calibration device of the ground three-dimensional laser scanner includes: a moving carrier provided with a rotating part 3, wherein the rotating part 3 is respectively connected with a scanner lifting part 2 for carrying a laser scanner and an expansion part 4 for carrying a target object; the scanner lifting part 2 is also provided with an infrared transmitting device 6 for determining the orientation of the target object and ensuring the accuracy of the distance in the distance calibration test.
Wherein, remove the carrier and adopt machineshop car 1, refer to fig. 2, and machineshop car 1 structure includes: the engineering truck main body 1-1 is used for fixing and bearing the whole device; wheels 1-2 are arranged at the bottom of the engineering truck main body 1-1 to realize the movement of the engineering truck 1; the rotating part 3 and the scanner lifting part 2 are both arranged on the engineering truck main body 1-1.
The engineering vehicle 1 is movable, can carry out the precision of scanner and examine the school work in multiple detection environment, can be more favorable to the detection scheme of project in actual engineering design according to the testing result.
The scanner lifting and lowering section 2 includes: the lifting device comprises a lifting body 2-1, a lifting rod 2-2 connected with the lifting body 2-1 and a mounting seat connected with the lifting rod 2-2. Referring to fig. 2, the elevating body 2-1 is used to support the elevating rod 2-2, the scanner mounting base 2-3, and the three-dimensional laser scanner for testing.
The rotating portion 3 includes: a disc main body 3-1 capable of rotating in a horizontal direction, at least one first rotary hinge support 3-2 for connecting a telescopic part 4, which is arranged in a circumferential direction of the disc main body 3-1; the disc main body 3-1 is connected with the movable carrier and the scanner lifting part 2 through a connecting bearing 3-3.
Specifically, referring to fig. 3, the rotating part 3 is embedded in the truck body 1-1, and 6 first rotating hinge supports 3-2 are circumferentially installed on the disc body 3-1.
In a specific embodiment, the engineering truck 1 can move by means of wheels 1-2, the lifting rod 2-2 on the lifting body 2-1 can lift, and the disc main body 3-1 can rotate in the horizontal direction.
The expansion portion 4 includes: at least two sections of telescopic arms connected through hinges; one section of telescopic arm is hinged with the rotating part 3, and the other section of telescopic arm is connected with the target object fixing device 5.
Specifically, referring to fig. 4, the telescopic part 4 comprises a first section of telescopic arm 4-1, a second section of telescopic arm 4-2 and a spherical hinge 4-3, wherein the two sections of telescopic arms are telescopic and connected through the spherical hinge 4-3, so that the degree of freedom of the second section of telescopic arm 4-2 in space is ensured. The first telescopic arm section 4-1 is connected to the disc main body 3-1 through a first rotary hinge support 3-2.
The object fixing device 5 includes: the device comprises a connecting piece connected with a second section of telescopic arm 4-2, a lifting rotating base 5-4 connected with the connecting piece, a second rotating hinged support 5-3 arranged on the lifting rotating base 5-4, and a target fixing plate 5-1 connected with the second rotating hinged support 5-3.
Specifically, referring to fig. 5, the target fixing device 5 is connected with a second section of telescopic arm 4-2 through a second connecting bolt 5-5, a second rotating hinged support 5-3 is installed on the lifting rotating base 5-4, the second rotating hinged support 5-3 is connected with a target fixing plate 5-1 through a first connecting bolt 5-2, and a bolt hole 5-6 is reserved in the target fixing plate 5-1 and used for installing a prism. The prism is used for determining the angle or distance by mounting the prism before measuring the target A4 paper in the angle measurement and distance measurement process.
The second rotary hinged support 5-3 can rotate in the horizontal plane under the rotation drive of the lifting rotary base 5-4; the lifting shaft of the lifting rotary support 5-4 is fixed with a rotary hinged support 5-3, the lifting shaft which is telescopic up and down can realize lifting at a height of 5-3, and the base which rotates 5-4 can drive 5-3 to rotate.
Meanwhile, the second rotary hinged support 5-3 can rotate in the vertical direction to drive the position of the target fixing plate 5-1 to move in space. The target object fixing plate is connected with a rotating shaft of the rotating hinged support 5-3 through a 5-2 bolt, and the shaft can rotate, so that the 5-1 target object fixing plate is driven to rotate in a vertical plane.
In a particular embodiment, when the height and angle of the target object need to be adjusted, the telescopic arm and the target object fixing means 5 need to be coordinated at the same time. The first rotary hinged support 3-2 ensures that the telescopic arm rotates and lifts in a vertical plane, the spherical hinge 4-3 ensures that the second telescopic arm 4-2 can rotate in space, the lifting rotary base 5-4 can ensure that a target object lifts in a vertical direction and rotates in a horizontal plane, and the second rotary hinged support 5-3 can ensure that the target object rotates in the vertical plane.
Example two
According to the patent embodiment of the invention, an embodiment of a point cloud precision calibration method of a ground three-dimensional laser scanner is provided, which specifically comprises the following steps:
(1) before starting the detection, the mobile engineering vehicle 1 reaches a designated detection place, fixes the position of the mobile engineering vehicle, installs the three-dimensional laser scanner on the scanner lifting part 2, adjusts the height of the lifting body 2-1 to enable the instrument height of the three-dimensional laser scanner to be 1.5 meters, and levels the instrument.
(2) The telescopic part 4 is attached to the rotatable disc through the first rotary hinge support 3-2, the whole device is shown in fig. 6, and the prism is then attached to the object fixing plate 5-1 through the reserved bolt hole 5-6.
(3) When the influence of a scanning horizontal inclination angle on the point cloud precision is researched, the inclination angle of the second telescopic arm 4-2 is adjusted to enable the second telescopic arm to be parallel to the ground, the inclination angle of the first telescopic arm 4-1 is adjusted, the infrared transmitting device 6 is used for transmitting infrared rays to determine the position of a target object on the target object fixing plate 5-1, the central position of the three-dimensional laser scanner is enabled to be flush with the central position of the target object, at the moment, the telescopic length of the second telescopic arm 4-2 is adjusted, and the distance between the three-dimensional laser scanner and the target object is enabled to be 2 meters (the distance can be set by oneself).
The position at this time is the initial position of the target object in the test, the scanning horizontal incidence angle is 90 degrees, the prism is scanned, the point is automatically recorded by the three-dimensional laser scanner at this time (the position of the prism point is recorded after the prism is scanned by the three-dimensional scanner on the market at present), and the position of the scanning point is determined as the initial position and the initial angle in the control panel of the scanner. The prism was then removed and a piece of black a4 paper (the target of this experiment) was attached to the target mounting plate 5-1, and the first target scan was performed and the data saved. Next, by controlling the rotation of the rotating part 3, the system composed of the telescopic arm and the target fixing device 5 is rotated 15 ° with respect to the first scanning, 5-1 is installed with the prism again and scanned, then the control panel of the scanner is checked whether the direction information of the point is moved 15 ° with respect to the initial position, if there is a deviation in the angle, the rotating part 3 is finely adjusted, and then the target black a4 paper is pasted on 5-1 to scan and save the data. Then, the rotating part 3 is sequentially rotated by 30 °, 45 °, 60 ° and 75 °, and the rotation in the horizontal plane is realized by adjusting the lifting rotating base 5-4 in the target fixing device 5, so that the target fixing plate 5-1 is always parallel to the first scanning time, as shown in fig. 7.
At this time, the horizontal incident angles of the scanner are 75 °, 60 °, 45 °, 30 °, and 15 °, respectively. And installing a prism to record and adjust the point location every time the angle is adjusted, then detaching the prism to fix and scan the target object, and storing the scanning point cloud data every time.
(4) When the influence of the scanning vertical inclination angle on the point cloud precision is researched, the target object is fixedly adjusted to the initial position, the scanning vertical incidence angle is 90 degrees, the prism is installed, the point position is scanned and recorded, and then the target object is well fixed for scanning and data storage. Next, rotation in the vertical plane is achieved by adjusting the second rotating hinge-bearing 5-3 of the object fixing device 5 so that the vertical incidence angles of scanning are 75 °, 60 °, 45 °, 30 °, and 15 °, respectively, as shown in fig. 8.
And when the angle is adjusted once, the prism is installed for scanning and the angle is finely adjusted, then the target object is fixed for scanning, and the scanning point cloud data is recorded and stored.
(5) When the influence of the scanning distance on the accuracy of the point cloud is researched, the engineering truck 1 is moved to a wider flat ground, a positive direction of the three-dimensional scanner is determined, infrared rays are emitted to determine a straight line, a tripod is placed at a position 5 meters away from the scanner on the straight line, a prism is installed, the tripod is adjusted to enable the prism to be flush with the central position of the three-dimensional laser scanner, the prism is scanned to record point positions, a target object fixing device 5 is installed on the tripod, and A4 paper is placed on the tripod to scan.
The test is respectively carried out along straight lines at intervals of 10 meters, 20 meters, 30 meters, 40 meters, 50 meters and 100 meters, and the scanning point cloud data is stored.
In this embodiment, the prism is scanned before the target object is scanned, and the scanned prism position information is recorded by the scanner, so that the accuracy of scanning the horizontal incident angle, the vertical incident angle and the scanning distance after the position of the target object is adjusted each time can be ensured.
(6) When the influence of the color of the target on the accuracy of the point cloud is researched, the A4 paper with different colors is replaced on the target fixing plate 5-1 at the initial position, and data are respectively scanned, recorded and saved. Or a plurality of telescopic arms and target object fixing devices 5 can be arranged on the rotating part 3 through the first rotating hinged support 3-2, target objects with different colors are arranged on each device and are all adjusted to initial positions, and scanning point cloud data are respectively scanned and stored.
(7) When the influence of the environment on the point cloud precision is researched, the engineering truck 1 is remotely controlled to a specified place, the telescopic arm and the target object fixing device 5 are installed, the target object is adjusted to an initial position, the scanning distance, the scanning angle, the scanning color and other variables are fixed, point cloud information of the target object is collected in different environments respectively, for example, scanning is carried out at different times of a day or at the same time of a sunny day, a cloudy day and a foggy day, and scanning point cloud data are stored.
In this embodiment, the disc main body 3-1 of the rotating portion 3 may be provided with a plurality of telescopic arms, so that a control group may be set when influences of various factors are respectively explored in a test, the above steps are repeated to obtain point cloud data, and accuracy of a data analysis result is improved.
The evaluation of the accuracy of the point cloud data obtained in the embodiment under different detection factor conditions is performed from the following three aspects:
1) number of point clouds per unit area. The number of the point clouds can visually represent the interval between adjacent points obtained by scanning, and indirectly represent the scanning precision;
2) characteristic length and width of the target. The influence of each factor on the precision of the scanning point cloud can be judged by counting and analyzing the conditions of the two aspects in each experimental data;
3) the internal and external coincidence accuracy of the instrument can be expressed by the following formula
Wherein m represents a median error; n represents the number of observations; v represents the number of corrections.
The length characteristics of the target (a standard length of 297mm for a sheet of a4 paper) are chosen below to illustrate the effect of different horizontal tilt angles on the accuracy of the internal and external fit of the instrument:
TABLE 1 Observation data at different horizontal incidence angles
The internal coincidence accuracy of the scanner refers to that the same target is observed for multiple times under the same position and the same parameter setting, the dispersion between each observed value is compared, and the index can reflect the stability of the instrument under different observation conditions.
The accuracy of in-instrument coincidence when the horizontal incidence tilt angle is 15 can be expressed as
Respectively calculating the middle errors under different horizontal incidence inclination angles, and analyzing the influence of the horizontal incidence inclination angles on the in-instrument coincidence precision, | m1A smaller value indicates better internal stability of the instrument.
The external coincidence accuracy of the scanner refers to that the same target is observed for multiple times under the same parameter setting at the same position, the deviation degree of each observed value and the target quasi-true value is compared, and the index can reflect the measurement accuracy.
The accuracy of the out-of-instrument coincidence when the horizontal incidence inclination is 15 can be expressed as
Respectively calculating the middle errors under different horizontal incidence inclination angles, and analyzing the influence of the horizontal incidence inclination angles on the external coincidence precision of the instrument, | m2A smaller value indicates a higher accuracy.
In this embodiment, when the influence of horizontal inclination, vertical inclination, scanning distance, target object color and environmental factors on the point cloud precision is explored, the influences of the factors such as the detection device condition and the project condition on the variables such as the angle, the distance, the target object color and the environment can be designed or changed automatically to meet the requirements of different users and different projects.
The embodiment of the invention realizes the practical precision calibration of the ground three-dimensional laser scanner in engineering practice, and improves the accuracy and reliability of the precision calibration.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. The utility model provides a device is examined and proofreaded to ground three-dimensional laser scanner's point cloud precision which characterized in that includes: the laser scanning device comprises a movable carrier, wherein the movable carrier is provided with a rotating part, and the rotating part is respectively connected with a lifting part for carrying a laser scanner and a scanner telescopic part for carrying a target object;
the scanning angle of the laser scanner is adjustable so as to check the influence of the scanning horizontal inclination angle on the point cloud precision; the angle between the direction of the target object and the incident direction of the laser scanner is adjustable so as to check the influence of the scanning vertical inclination angle on the point cloud precision.
2. The apparatus for calibrating point cloud accuracy of a three-dimensional laser scanner for ground as claimed in claim 1, wherein the rotating part comprises: the scanner comprises a disc main body capable of rotating in the horizontal direction, and at least one mounting support arranged in the circumferential direction of the disc main body and used for connecting a telescopic part of a scanner; the disc main body is connected with the movable carrier and the lifting part through connecting bearings respectively.
3. The apparatus for calibrating point cloud accuracy of a three-dimensional laser scanner for ground as claimed in claim 1, wherein said elevating section comprises: the lifting body, with the lifter of this body coupling that goes up and down, and with the mount pad that the lifter is connected.
4. The apparatus for calibrating point cloud accuracy of a three-dimensional laser scanner for ground as claimed in claim 1, wherein said scanner expansion part comprises: at least two sections of telescopic arms connected through hinges; one section of telescopic arm is hinged with the rotating part, and the other section of telescopic arm is connected with the target object fixing device.
5. The apparatus for calibrating point cloud accuracy of a three-dimensional laser scanner for ground as claimed in claim 4, wherein the target fixing means comprises: the device comprises a connecting piece connected with a telescopic arm and a lifting rotary base connected with the connecting piece, wherein a rotary hinged support is installed on the lifting rotary base, and a target fixing plate is connected with the rotary hinged support.
6. The device for calibrating the point cloud precision of the ground three-dimensional laser scanner as claimed in claim 5, wherein the rotating hinge support can rotate in a horizontal plane under the rotation of the lifting rotating base; meanwhile, the rotary hinged support can rotate in the vertical direction to drive the position of the target object fixing plate to move in the space.
7. The device for calibrating point cloud accuracy of three-dimensional laser scanner on the ground as claimed in claim 5, wherein the target fixing plate is provided with bolt holes for installing prisms.
8. The device for calibrating point cloud accuracy of a three-dimensional laser scanner for ground as claimed in claim 1, wherein said elevating portion is further provided with an infrared emitting device.
9. A point cloud precision calibration method of a ground three-dimensional laser scanner is characterized by comprising the following steps:
determining a target position of a target object, so that the center of the laser scanner is aligned with the target object;
when the influence of a scanning horizontal inclination angle on the point cloud precision is researched, the direction of a target object is unchanged, and the horizontal incidence angle of the laser scanner is adjusted; respectively collecting point cloud information under different horizontal incident angles;
when the influence of scanning vertical inclination angles on point cloud precision is researched, the horizontal incidence angle of the laser scanner is unchanged, the included angle between the direction of a target object and the incidence direction of the laser scanner is changed, and point cloud information under different included angles is respectively obtained;
when the influence of the scanning distance on the point cloud precision is researched, the horizontal and vertical incidence angles of the laser scanner are kept unchanged, the measuring distance between a target object and the scanner is changed, and point cloud information under different distances is respectively obtained;
when the influence of colors on the point cloud precision is researched, the colors of the target objects arranged on different target object fixing plates are different, and point cloud information of the target objects with different colors is respectively collected;
when the influence of the environment on the point cloud precision is researched, the mobile carrier is controlled to collect the point cloud information of the target object under different environments.
10. The method for calibrating point cloud accuracy of the three-dimensional laser scanner on the ground as claimed in claim 9, further comprising: the number of point clouds in a unit area and the characteristic length and width information of a target are extracted, the internal and external coincidence precision of the scanner is calculated through a formula, and the influence of each factor on the point cloud precision is researched.
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