CN112268523A - Laser three-dimensional measuring device and measuring method - Google Patents
Laser three-dimensional measuring device and measuring method Download PDFInfo
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- CN112268523A CN112268523A CN202011072862.7A CN202011072862A CN112268523A CN 112268523 A CN112268523 A CN 112268523A CN 202011072862 A CN202011072862 A CN 202011072862A CN 112268523 A CN112268523 A CN 112268523A
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention discloses a laser three-dimensional measuring device which comprises two double rotary joints, a laser emergent device, a collector and a processor, wherein the double rotary joints comprise a first rotary joint and a second rotary joint; one first rotary joint rotates theta c2, the second rotary joint rotates theta a2, and the laser emergent device is driven to rotate and then is aligned to a point to be measured; the other one drives the collector to rotate for shooting, so that a laser spot is formed on the collector at the point to be measured, the sum of the rotation angle of the first rotary joint and the angle of the laser spot deviating from the center in the horizontal direction in the collector is theta c1, and the sum of the rotation angle of the second rotary joint and the angle of the laser spot deviating from the center in the vertical direction in the collector is theta a 1; and the processor calculates the three-dimensional coordinates of the point to be measured according to the theta c2, the theta a2, the theta c1 and the theta a 1. The laser emergent device and the collector are arranged separately, and the measurement of the three-dimensional space with a large visual angle range is realized. The three-dimensional coordinates of the point to be measured are obtained through the rotation parameters, the method is convenient and rapid, the affected factors are fewer, and the measurement flexibility is higher.
Description
Technical Field
The invention belongs to the field of laser three-dimensional measurement, and particularly relates to a laser three-dimensional measurement device and a laser three-dimensional measurement method.
Background
The laser three-dimensional measurement technology can carry out full-automatic measurement without touching a measured object, thereby acquiring required data and information, carrying out certain processing and generating a real three-dimensional model.
The laser three-dimensional measuring device is widely applied to measuring work and can be applied to reverse solving of three-dimensional parts to obtain the accurate size and appearance of the parts; the method can be combined with technologies such as navigation positioning and the like, and can be used for obtaining large-area digital model information, establishing a three-dimensional model of the urban building and obtaining region position information; the method can be used for monitoring the micro deformation of large objects such as bridges, buildings, mountains and the like and predicting various disasters. Therefore, the function requirement of the three-dimensional measuring device is complex, the precision requirement is quite high, however, the function and the precision are often a pair of contradictions, and the compatibility is difficult. In the prior art, a laser and a collector are relatively fixed, so that a three-dimensional measurement area at the same fixed position is usually limited in a limited three-dimensional angle, a measured object is limited to a certain extent, the measured object cannot be replaced randomly, the three-dimensional measurement instrument cannot be flexibly adjusted to meet the three-dimensional measurement requirement in a full space range, especially when large targets in different directions are measured, the position and the direction of the measurement instrument are required to be moved frequently, an original point is moved, positioning integral measurement is difficult to realize once, the precision of the three-dimensional measurement is influenced, and the application range of the laser three-dimensional measurement instrument is limited.
Disclosure of Invention
The invention provides a laser three-dimensional measuring device and a measuring method aiming at overcoming the defects or the improvement requirements in the prior art, and aims to solve the problems that the existing laser three-dimensional measuring instrument is limited in measuring space range and cannot perform three-dimensional measurement in a multi-angle large range after being positioned once.
In order to achieve the above object, according to one aspect of the present invention, a laser three-dimensional measuring device is provided, which includes two double rotary joints with a distance of L and the same initial state, a laser emitter and a laser collector respectively mounted on the two double rotary joints, and a processor connected to the two double rotary joints, where the double rotary joints include a first rotary joint and a second rotary joint connected to the first rotary joint;
one of the double rotary joints drives the laser emergent device to rotate so as to align with a point D to be measured and emit laser to the point D to be measured, the rotation angle of the first rotary joint is theta c2, and the rotation angle of the second rotary joint is theta a 2; the other double-rotating joint drives the collector to rotate, so that the point D to be measured is located in the shooting range of the collector and forms a laser spot on the collector, the sum of the rotating angle of the first rotating joint and the angle of the laser spot deviating from the center in the collector in the horizontal direction is theta c1, and the sum of the rotating angle of the second rotating joint and the angle of the laser spot deviating from the center in the collector in the vertical direction is theta a 1; and the processor calculates the three-dimensional coordinates of the point D to be measured according to the rotation angles theta c2, theta a2, theta c1 and theta a1 of the two double-rotation joints.
Through foretell laser three-dimensional measuring device, can realize the separation setting of laser exitator and collector to can satisfy the measurement demand in the three-dimensional space of bigger visual angle, large range, all-round. Under the technical scheme, the three-dimensional coordinates of the point to be measured can be obtained through mathematical calculation according to the related rotation parameters, the method is convenient and fast, and the calculation result is not greatly influenced by the setting precision between the laser emergent device and the collector, so that the initial correction is simpler, and the precision of the obtained measurement result is higher.
In another aspect of the present invention, a measuring method of a laser three-dimensional measuring apparatus is provided, which is performed by using the above laser three-dimensional measuring apparatus, and includes the following steps:
s1, adjusting the double rotary joints under the laser emergent device and the collector to the same initial state, so that the second rotary joints of the two double rotary joints are parallel to each other, and the collector and the laser emergent device face to the same direction;
s2, adjusting the rotation theta c2 of the first rotary joint and the rotation theta a2 of the second rotary joint under the laser emergent device to enable the laser emitting path of the laser emergent device to be aligned with the point D to be measured;
s3, adjusting double rotary joints under the collector, enabling the laser emitter to emit laser to the point D to be measured, shooting the direction of the point to be measured by the collector until the point D to be measured is shot by the collector, and recording the sum theta c1 of the rotation angle of the first rotary joint under the collector and the angle of the laser spot deviating from the center in the horizontal direction in the collector, and the sum theta a1 of the rotation angle of the second rotary joint and the angle of the laser spot deviating from the center in the vertical direction in the collector;
and S4, the processor calculates the three-dimensional coordinates of the point D to be measured according to the rotation angles theta c2, theta a2, theta c1 and theta a 1.
By the measuring method, the orientation of the laser emergent device and the collector in the initial state is adjusted, then the laser emergent device is operated to irradiate the point to be measured, and the collector shoots the point to be measured, so that the three-dimensional coordinate of the point to be measured can be directly obtained through the adjusted angle parameter, and the measuring method is flexible to operate and convenient to measure. The laser emergent device can freely rotate and emit without being influenced by the collector, the collector can also realize shooting measurement without being influenced by the laser emergent device, the whole scheme is less limited by an application scene in use, the application is more flexible, the factors influencing a measurement result are fewer, the initial correction is simple, and the precision is higher.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a laser three-dimensional measuring device;
FIG. 2 is a schematic diagram I of three-dimensional coordinate calculation of a point to be measured by the laser three-dimensional measuring device;
fig. 3 is a schematic diagram of the laser three-dimensional measuring device for calculating three-dimensional coordinates of a point to be measured.
In the figure, 1, a laser emitter; 11. a laser light source; 12. a reflector group; 2. a collector; 3. a processor; 41. a first rotary joint; 42. a second rotary joint.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, the present invention provides a laser three-dimensional measuring device, which includes two double rotary joints with a distance L and the same initial state, a laser emitting device 1 and a laser collecting device 2 respectively mounted on the two double rotary joints, and a processor 3 connected to the two double rotary joints, where the double rotary joints include a first rotary joint 41 and a second rotary joint 42 connected to the first rotary joint 41. In the initial state, the first rotary joints 41 and the second rotary joints 42 of the two double rotary joints are parallel to each other, and the emitting direction of the laser emitting device 1 is the same as the orientation of the collector 2, so that the two double rotary joints can be adjusted conveniently.
In the process, the rotation angle of the first rotating joint 41 is thetac 2, the rotation angle of the second rotating joint 42 is thetaa 2, namely, the laser emitting device 1 is driven to firstly face the vicinity of the point to be measured D through the rotation of the first rotating joint 41, at the moment, the emitting path of the laser emitting device 1 is located in a plane formed by the point to be measured D and the rotation axis of the first rotating joint 41, and then the pitch angle of the laser emitting device 1 can be adjusted through the rotation of the second rotating joint 42, so that the emitting path is aligned with the point to be measured D. The other double-rotating joint drives the collector 2 to rotate, so that the point D to be measured is located in the shooting range of the collector 2, the point D to be measured forms a laser spot on the collector 2, and since the laser is not necessarily located at the positive center of the collector 2, in the process, the sum of the rotating angle of the first rotating joint 41 and the angle of the laser spot deviating from the center in the horizontal direction in the collector 2 is thetac 1, and the sum of the rotating angle of the second rotating joint 42 and the angle of the laser spot deviating from the center in the vertical direction in the collector 2 is thetaa 1, that is, the collector 2 is driven to approximately face the point D to be measured by the rotation of the first rotating joint 41, and then the second rotating joint 42 rotates to adjust the pitch angle of the collector 2, so that the point D to be measured falls into the collecting range of the collector 2; moreover, since the distance between the points to be measured is unknown, the acquisition range of the acquisition unit 2 can be determined according to the operation experience of the operator, so that the double rotary joints under the acquisition unit 2 can be crossed and repeatedly adjusted for multiple times until the conditions are met, and the adjustment times and the adjustment steps of the first rotary joint 41 and the second rotary joint 42 are not rigidly specified.
After the rotation angles θ c2, θ a2, θ c1 and θ a1 of the two double-rotation joints are obtained, the processor 3 can calculate the three-dimensional coordinates of the point D to be measured according to some mathematical principles and formulas.
Specifically, as shown in fig. 2, in the initial state, a three-dimensional coordinate system O1 is established by a rotation center point O1 of the double rotation joint under the finder 2, the rotation axis of the first rotation joint 41, the rotation axis of the second rotation joint 42, and the orientation direction of the finder 2, wherein the rotation axis of the first rotation joint 41 is the Z1 axis, the rotation axis of the second rotation joint 42 is the Y1 axis, and the orientation direction of the finder 2 is the X1 axis. In the initial state, a three-dimensional coordinate system O2 is established by the rotation center point O2 of the double rotation joint, the rotation axis of the first rotation joint 41, the rotation axis of the second rotation joint 42, and the emission direction of the laser emitter 1 under the laser emitter 1, wherein the rotation axis of the first rotation joint 41 is the Z2 axis, the rotation axis of the second rotation joint 42 is the Y2 axis, and the emission direction of the laser emitter 1 is the X2 axis. The three-dimensional coordinate of the point D to be measured in the three-dimensional coordinate system O1 is
The three-dimensional coordinate of the point D to be measured in the three-dimensional coordinate system O2 is
The specific calculation process is as follows:
the distance L between the two double-rotation joints, namely the distance between points O1 and O2 is L, the projection point of a point D to be measured in an X1Y1 plane is E, the projection point of the point E on an X1 axis is F, then the angle EO1F is theta c1, and the angle EO1D is theta a 1; angle EO2D is θ a2, and angle EO2F is complementary to θ c 2.
The side O1O2 ═ O1F + FO2, and the side O1F ═ EF × cot (θ c1), FO2 ═ EF × cot (pi- θ c2), and therefore,
Obtaining the three-dimensional coordinate of the point D to be measured in the three-dimensional coordinate system O1, and then obtaining the distance between the point D to be measured and the collector 2:
the distance between the point D to be measured and the laser emitting device 1 can also be obtained according to the three-dimensional coordinates of the point D to be measured in the three-dimensional coordinate system O2:
thereby completing the distance measurement of the point D to be measured.
As shown in fig. 3, for θ c1 and θ a1, the two angles do not refer to the rotation angles of the first rotating joint 41 and the second rotating joint 42 under the collector 2, because the point to be measured is not exactly located on the connecting line between the center point of the collector 2 and the point O1, and therefore, the points to be measured need to be considered together according to the positions of the points to be measured photographed on the collector 2. Fig. 3 is a schematic diagram illustrating that the collector 2 shoots a point D to be measured to form a laser spot D'. The method specifically comprises the following steps: first, the rotation angle of the first rotation joint 41 under the collector 2 is set to θ x1, the laser spot on the collector 2 is located at a point D ', the projection of the point D' on the central point of the collector 2 in the horizontal direction is set to a point D ", and the included angle between the point D" and the central point of the collector 2 with respect to the point O1 is set to θ x2, so that θ c1 is θ x1+ θ x 2. Furthermore, θ x1 is the rotation reading of the first rotary joint 41 and can be directly obtained, θ x2 is one angle in a right triangle formed by the point D ", the center point of the collector 2, and the point O1, and since the distance between the center point of the collector 2 and the rotation center point O1 of the dual rotary joint is a known condition and the distance between the center point of the collector 2 and the shot laser spot is a known condition, the angle θ x2 can be calculated by a mathematical formula, so as to obtain the angle θ c 1. Similarly, the rotation angle of the second rotation joint 42 under the collector 2 is set as θ y1, the projection of the point D ' on the central point of the collector 2 in the vertical direction is set as a point D ' ", and the included angle between the point D '" and the central point of the collector 2 with respect to the point O1 is set as θ y2, so that θ a1 is equal to θ y1+ θ y 2.θ y1 is a rotation reading of the second rotary joint 42, which can be directly obtained, and θ y2 can be calculated by the same principle as described above, and will not be described herein again. The angles θ x2 and θ y2 may be positive or negative.
The laser emergent device 1 and the collector 2 are respectively positioned on two double-rotation joints, the laser emergent device 1 and the laser emergent device 2 can be controlled to rotate separately, the laser emergent device and the laser emergent device are more flexible, the arrangement has no requirement on the installation precision between the collector 2 and the laser emergent device 1, the position between the two can be realized without repeatedly regulating and controlling as in the prior art, the distance between the point to be measured and the collector 2 can be obtained as long as the laser emergent device 1 is regulated to emit laser to the point to be measured, and the laser reflected by the point to be measured can be shot by the collector 2, the shooting range of the collector 2 is large, the laser emergent device 1 and the collector 2 can be flexibly placed according to the actual detection scene and environment, and the requirements of large-range, multi-angle and omnibearing three-dimensional measurement can be met.
In addition, a laser light source 11 is provided in addition to the double rotary joint of the laser emitting device 1, and a plurality of mirror groups 12 are provided between the laser light source 11 and the laser emitting device 1. The laser light source 11 is subjected to direction adjustment for multiple times through the reflector group 12, and finally emitted from the laser emitting device 1 to a point to be measured. The reflecting mirror group 12 may be composed of different numbers of reflecting mirror groups 12, and the specific number is designed according to the arrangement positions of the laser light source 11 and the laser emergent device 1.
The laser light source 11 is a point laser light source 11, and may be a solid laser, a gas laser, a fiber laser, or the like.
The collector 2 may be an area CCD or a line CCD, etc.
In fig. 1, the first rotary joint 41 and the second rotary joint 42 are shown separately in order to better illustrate the principle of the present invention, but actually, the first rotary joint 41 and the second rotary joint 42 are connected, and the rotation of the first rotary joint 41 moves the second rotary joint 42 together. Specifically, the first rotary joint 41 and the second rotary joint 42 may be perpendicular to each other and end-connected to form a double rotary joint; the first rotary joint 41 and the second rotary joint 42 may also be output shafts of motors, wherein one motor is connected to an output shaft of the other motor, so as to form a double rotary joint, and the motors may be stepper motors or servo motors. The double-rotation joint can also adopt other connection forming modes in the prior art, as long as the double-rotation joint can rotate around two directions for adjustment.
The invention also provides a measuring method of the laser three-dimensional measuring device, which is carried out by adopting the laser three-dimensional measuring device and comprises the following steps:
s1, adjusting the double rotary joints under the laser emitting device 1 and the double rotary joints under the collector 2 to the same initial state, so that the second rotary joints 42 of the two double rotary joints are parallel to each other, and the collector 2 and the laser emitting device 1 face the same direction;
s2, adjusting the first rotary joint 41 and the second rotary joint 42 under the laser emergent device 1 to rotate theta c2 and theta a2, so that the laser emitting path of the laser emergent device 1 is aligned with the point D to be measured;
s3, adjusting double rotary joints under the collector 2, enabling the laser emitter 1 to emit laser to the point D to be measured, enabling the collector 2 to shoot the point D to be measured until the collector 2 shoots the point to be measured, and recording the sum theta c1 of the angle of rotation of the first rotary joint 41 under the collector 2 and the angle of deviation of the laser spot from the center in the horizontal direction in the collector 2 and the sum theta a1 of the angle of rotation of the second rotary joint 42 and the angle of deviation of the laser spot from the center in the vertical direction in the collector 2;
and S4, the processor 3 calculates the three-dimensional coordinates of the point D to be measured according to the rotation angles theta c2, theta a2, theta c1 and theta a 1.
In an initial state, a three-dimensional coordinate system O1 is established with the rotation center point of the double rotary joint under the finder 2 as the origin, the rotation axis of the first rotary joint 41 as the Z1 axis, the rotation axis of the second rotary joint 42 as the Y1 axis, and the orientation direction of the finder 2 as the X1 axis; in the initial state, a three-dimensional coordinate system O2 is established with the center point of the double rotary joint under the laser emitter 1 as the origin, the rotation axis of the first rotary joint 41 as the Z2 axis, the rotation axis of the second rotary joint 42 as the Y2 axis, and the direction (emission) direction of the laser emitter 1 as the X2 axis.
The distance between the rotating central points of the two double rotating joints is L, and the three-dimensional coordinate of the point D to be measured in the three-dimensional coordinate system O1 is L
The three-dimensional coordinate of the point D to be measured in the three-dimensional coordinate system O2 is
Further, after S4, S5 may be further included, and the processor 3 calculates a distance between the point D to be measured and the collector 2 according to the three-dimensional coordinates of the point D to be measured in the three-dimensional coordinate system O1; or calculating the distance between the point D to be measured and the laser emitting device 1 according to the three-dimensional coordinates of the point D to be measured in the three-dimensional coordinate system O2.
In S2, after the first rotating joint 41 rotates θ c2, the exit path of the laser exit device 1 is located in the plane formed by the point D to be measured and the rotation axis of the first rotating joint 41, that is, after the laser exit device 1 is adjusted, the projection of the point D to be measured in the plane X2OY2 is located on the exit path of the laser exit device 1, so that the point D to be measured can be directly aligned with the second rotating joint 42 after the pitch angle of the laser exit device 1 is adjusted, and the adjustment is more convenient. In the process of adjusting the first rotary joint 41, the laser emitter 1 may be roughly directed toward the point D to be measured by rough adjustment with the naked eye or with the experience of the operator, and then the point D to be measured may be finely adjusted while observing with the optical monitor and the instruction laser, so as to ensure that the projection point of the point D to be measured on the plane X2OY2 is located on the emission path of the laser emitter 1 after the first rotary joint 41 is rotated. In the whole process, the adjustment and observation can be carried out for multiple times without once adjusting in place until the conditions are met, the recorded theta c2 is the angle between the final state and the initial state of the first rotating shaft, and the recorded theta a2 is the angle between the final state and the initial state of the second rotating shaft.
After completion of the adjustment at S2, the adjustment at S3 is performed. Because the distance of the point to be measured is unknown, the shooting range of the collector 2 including the point to be measured can be realized by judging and adjusting the distance according to the operation experience of an operator at a near place, and the distance can be adjusted from a small angle to a large angle step by step and tried, and the observation and adjustment can be assisted by the operator by combining the means of indicating light and optical monitoring in the prior art. The double rotary joints under the harvester 2 can be crossed and repeatedly adjusted a plurality of times until the conditions are satisfied, and the number of times and the adjustment procedure of the first rotary joint 41 and the second rotary joint 42 are not rigidly specified. The method obtains the rotation angle parameters of the double rotary joints according to the difference between the final state and the initial state of the double rotary joints, the measurement direction can be flexibly adjusted, and the method is suitable for measuring the three-dimensional space coordinates of a large-range target.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A laser three-dimensional measuring device is characterized by comprising two double-rotation joints with the distance of L and the same initial state, a laser emergent device and a collector which are respectively arranged on the two double-rotation joints, and a processor connected with the two double-rotation joints, wherein the double-rotation joints comprise a first rotation joint and a second rotation joint connected with the first rotation joint;
one of the double rotary joints drives the laser emergent device to rotate so as to align with a point D to be measured and emit laser to the point D to be measured, the rotation angle of the first rotary joint is theta c2, and the rotation angle of the second rotary joint is theta a 2; the other double-rotating joint drives the collector to rotate, so that the point D to be measured is located in the shooting range of the collector and forms a laser spot on the collector, the sum of the rotating angle of the first rotating joint and the angle of the laser spot deviating from the center in the collector in the horizontal direction is theta c1, and the sum of the rotating angle of the second rotating joint and the angle of the laser spot deviating from the center in the collector in the vertical direction is theta a 1; and the processor calculates the three-dimensional coordinates of the point D to be measured according to the rotation angles theta c2, theta a2, theta c1 and theta a 1.
2. The laser three-dimensional measuring device according to claim 1, wherein a three-dimensional coordinate system O1 is established by the rotation center point of the double rotary joint, the rotation axis of the first rotary joint, the rotation axis of the second rotary joint and the orientation direction of the collector in the initial state, and the three-dimensional coordinate of the point D to be measured in the three-dimensional coordinate system O1 is
3. The laser three-dimensional measuring device according to claim 2, wherein a three-dimensional coordinate system O2 is established by the rotation center point of the double rotary joint, the rotation axis of the first rotary joint, the rotation axis of the second rotary joint and the emitting direction of the laser emitter in the initial state, and the three-dimensional coordinate of the point D to be measured in the three-dimensional coordinate system O2 is the three-dimensional coordinate
4. The laser three-dimensional measuring device according to claim 3, wherein the processor calculates the distance between the point D to be measured and the collector according to the three-dimensional coordinates of the point D to be measured in a three-dimensional coordinate system O1;
or calculating the distance between the point D to be measured and the laser emitting device according to the three-dimensional coordinate of the point D to be measured in the three-dimensional coordinate system O2.
5. The laser three-dimensional measuring device according to claim 1, further comprising a laser light source located outside the double rotary joint, wherein a plurality of reflecting mirror groups are arranged between the laser light source and the laser emergent device.
6. The laser three-dimensional measuring device according to claim 5, wherein the laser light source is a point laser light source.
7. A measuring method of a laser three-dimensional measuring device is characterized by comprising the following steps:
s1, adjusting the double rotary joints under the laser emergent device and the collector to the same initial state, so that the second rotary joints of the two double rotary joints are parallel to each other, and the collector and the laser emergent device face to the same direction;
s2, adjusting the rotation theta c2 of the first rotary joint and the rotation theta a2 of the second rotary joint under the laser emergent device to enable the laser emitting path of the laser emergent device to be aligned with the point D to be measured;
s3, adjusting double rotary joints under the collector, enabling the laser emitter to emit laser to the point D to be measured, shooting the direction of the point to be measured by the collector until the point D to be measured is shot by the collector, and recording the sum theta c1 of the rotation angle of the first rotary joint under the collector and the angle of the laser spot deviating from the center in the horizontal direction in the collector, and the sum theta a1 of the rotation angle of the second rotary joint and the angle of the laser spot deviating from the center in the vertical direction in the collector;
and S4, the processor calculates the three-dimensional coordinates of the point D to be measured according to the rotation angles theta c2, theta a2, theta c1 and theta a 1.
8. The measuring method of the laser three-dimensional measuring device according to claim 7, wherein in S2, after the first rotation joint rotates θ c2, the exit path of the laser exit device is located in a plane formed by the point D to be measured and the rotation axis of the first rotation joint.
9. The measuring method of the laser three-dimensional measuring device according to claim 7, wherein two three-dimensional coordinate systems O1, O2 are established with the rotation center points of the two double rotary joints, the rotation axes of the respective first rotary joints, the rotation axes of the respective second rotary joints, the orientation directions of the collector and the laser emitter, respectively, in the initial state;
s5, the processor calculates the distance between the point D to be measured and the collector according to the three-dimensional coordinates of the point D to be measured in the three-dimensional coordinate system O1; or calculating the distance between the point D to be measured and the laser emitting device according to the three-dimensional coordinate of the point D to be measured in the three-dimensional coordinate system O2.
10. The measuring method of the laser three-dimensional measuring device according to claim 9, wherein the distance between the rotation center points of the two double rotary joints is L, and the point to be measuredD has three-dimensional coordinates in a three-dimensional coordinate system O1 of
The three-dimensional coordinate of the point D to be measured in the three-dimensional coordinate system O2 is
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