TWI632347B - Method for integrating three-dimensional image and laser scanning ranging - Google Patents

Abstract

The invention relates to a method for integrating a stereo image and a laser scanning and ranging. It mainly uses a plurality of laser rangefinders to scan the cross section of the tunnel waiting for the measured object, and adds an area positioning function to convert the cross section. Spatial positioning and absolute coordinate relationship, combined with multiple digital cameras to simultaneously take a cross-section of the object to be measured, followed by 3D point cloud modeling to construct the stereo image and stereo image data of the laser ranging result, and then use the laser The three-dimensional image data and the three-dimensional image image data of the range-finding result are telescopically matched, and the automatic defect identification module automatically performs the identification of the cracks and water seepage points of the matching image data. Information effects such as structure displacement of test object and crack width, length, trend and spatial distribution.

Description

Stereoscopic image and laser scanning distance measuring integration method

The invention relates to a method for integrating stereoscopic images and laser scanning ranging, in particular to a method that combines laser ranging, image shooting, area positioning and three-dimensional modeling techniques to perform dynamic full-section detection.

According to the traditional method or equipment for measuring large or 3D space depth objects, it is not ideal. For tunnel construction measurement and safety inspection, it is mostly measured with a full station, and the tunnel section measurement is mainly used. Due to the limited sampling quantity of traditional cross-section measurement methods, and the acquisition of sampling points still needs to be judged by experience, the quality control of measurement construction cannot be mastered with the uncertain quality of personnel. It is often necessary to make up for the measurement of cross-section data. , Not in line with economic benefits, and the quality of the test results are also variables.

Therefore, the inventor of this case developed the "stereoscopic image measurement device" of China's announcement No. M506956, which mainly includes an image acquisition group, a pattern projection group and a control group, wherein the image acquisition group is a camera On a base that can rotate vertically and horizontally, the pattern projection group can project feature projection components to the object to be photographed, so that the camera can adjust various shooting angles by rotation, capture digital images of different angles, and then control Group integration completes a three-dimensional image measurement. In this way, during the measurement, the distance in the left and right directions of the tunnel is measured at a fixed point to capture the image Take the group set at the center of the tunnel, and then set the pattern projection group next to the image capturing group, and then project the feature projection component on the tunnel lining through the pattern projection group light source, and then adjust the vertical rotation direction of the second frame of the image capturing group to let The camera shoots the projection feature projection part on the tunnel lining to capture the image data, and then transmits the digital image taken by the fixed-point lining to the control group for image integration, so as to overlap the captured image with the fixed value of the previous captured image Area, and then move the image capture group to the next certain point, and repeat the previous adjustment steps to complete the entire tunnel shooting.

However, because the "stereoscopic image measurement device" of the Chinese National Announcement No. M506956 is measured, the tunnel must be closed first, followed by selecting a certain point in the tunnel, and then measuring the distance in the left and right directions of the tunnel to convert the image The capturing group is set at the center of the tunnel, and a pattern projection group is set to project the feature projection parts in the tunnel, and then shooting is performed. When the fixed-point shooting operation is completed and the next certain point is moved, the previous adjustment steps must be repeated. Therefore, the shooting of the entire tunnel is completed step by step. Therefore, the measurement speed of the "stereoscopic image measuring device" of the Chinese announcement No. M506956 is quite slow and lacks inconvenience.

The reason is that, in view of the fact that the existing "stereoscopic image measurement device" of the Chinese National Announcement No. M506956 still has the above-mentioned defects in measurement, the inventor is assisted by his many years of manufacturing and design experience and knowledge in related fields Invented by many ingenuity.

The present invention relates to a method for integrating stereoscopic images and laser scanning ranging. Its main purpose is to provide a technique that combines laser ranging, image shooting, area positioning and three-dimensional modeling technology to perform dynamic full-section Method of detection.

In order to achieve the above-mentioned implementation objective, the present inventors have developed a method for integrating stereoscopic images and laser scanning ranging, which is mainly implemented based on an integrated device for stereoscopic images and laser scanning ranging, the stereoscopic images and laser scanning ranging The integrated device system includes: An action detection unit, the action detection unit includes a mobile carrier, and a set of vertical plates are mounted on the mobile carrier, and a number of laser rangefinders are respectively arranged at equal angles on the front and rear faces of the set of vertical plates And a number of digital cameras; an area positioning unit, the area positioning unit includes a positioning tag and a digital positioning base station, the positioning tag is installed on the action detection unit, and the digital positioning base station is placed in a standby Around the measured object, and the signal is connected between the positioning base station and the positioning tag; a control processing unit is built in the control processing unit with a laser ranging processing module, an image processing module, a The mobile positioning processing module, an integrated computing module, a three-dimensional modeling module and a three-dimensional image matching module are operated by the microprocessor of the control processing unit connected to the built-in modules, and the The control processing unit is connected to the mobile vehicle, laser rangefinder and digital camera of the motion detection unit with signals, and the control processing unit is connected to the positioning base station signal of the regional positioning unit ; Its implementation steps include: A. Section detection of the object to be tested: the mobile carrier of the action detection unit is actuated, so that the action detection unit travels along the movement line of the object to be tested, and the action detection unit is activated Several laser rangefinders and digital cameras are used to synchronize the two-dimensional laser beam scanning and two-dimensional image shooting of the cross-section of the object to be measured The distance between the cross-sections, and the appearance photos of the cross-sections of the test object corresponding to the corresponding positions are taken by the digital cameras, so that after the mobile detection unit passes the test object, the entire cross-section of the test object is obtained Dimension data, and full-section appearance data of the entire object to be measured, and then send the full-section dimension data and appearance data to the laser ranging processing module and image processing module of the control processing unit to receive and perform corresponding space Positioning record; B. Positioning of the motion detection unit: when the motion detection unit travels along the object to be tested, the location tag set on the motion detection unit detects the signal strength of multiple positioning base stations pre-arranged around the object to be tested To calculate the inter-action of the respective positioning unit and the base station detecting the approximate distance from the following three more positioning between a base station is known from the movement detection unit, to obtain the value of trigonometric function operation detection unit Refer to the relative position of the positioning base station, and then transmit the measured position data of the motion detection unit to the mobile positioning processing module of the control processing unit to receive, and obtain the motion detection unit in the space of the object to be measured by calculation and conversion Absolute coordinate position; C. Integration of stereo image and laser ranging map data: the integrated computing module of the control processing unit continues to process all the objects to be measured after processing the laser ranging processing module and the mobile positioning processing module The cross-sectional size data and the absolute coordinate position data of the mobile detection unit are integrated to obtain the absolute cross-sectional absolute coordinate data of the object under test, and then the three-dimensional modeling module uses the absolute cross-sectional absolute value of the object under test Coordinate data establishes 3D point cloud data and performs 3D point cloud modeling to obtain the stereo image of the laser ranging result, and enables the stereo modeling module to create a 3D point cloud from the full-section image data of the object to be measured 3D point cloud modeling to obtain 3D image data, and then the 3D image data matching module will match the 3D image data and the 3D image data of the laser ranging result to the telescopic matching to The test was obtained and its appearance corresponds to the appearance condition of the structure.

As described above, the integrated method of stereo image and laser scanning ranging, wherein the area positioning unit further includes an electronic compass, and an inertial navigation system is provided in the electronic compass, so that the electronic compass is installed in the action The mobile carrier of the detection unit is connected to the signal of the control processing unit, so that when the action detection unit travels along the object to be measured, the electronic compass is provided with an inertial navigation system to obtain the positioning data of the action detection unit, And make a global positioning system correct the correct path through the inertial navigation system, and obtain the position of the mobile detection unit through the real-time differential or post-processing differential positioning measurement technology of the global positioning system, and then position the mobile detection unit Received by the mobile positioning processing module of the control processing unit, and calculated and converted to obtain the absolute coordinate position of the action detection unit in the space such as the object to be measured.

As described above, the integrated method of stereo image and laser scanning ranging, wherein the control processing unit is further constructed with an automatic defect recognition module, the automatic defect recognition module The three-dimensional image data of the laser distance measurement result and the integrated image data after the stereo image image data are matched and matched are automatically identified.

In this way, the present invention uses multiple laser rangefinders to scan the cross section of the tunnel waiting for the measured object, and adds an area positioning function to convert the spatial positioning and absolute coordinate relationship of the cross section, and also combines multiple digital cameras to synchronize Cross-section shooting of the object to be measured, followed by 3D point cloud modeling to construct the 3D image data and 3D image image data of the laser ranging result, and then the 3D image data and the 3D image image data of the laser ranging result are nested Matching, automatic flaw recognition module automatically identifies the cracks and water seepages of the matching map, according to this, it can achieve fast, accurate and automatic analysis of the information effect of the structure of the object to be measured and the width, length, direction and spatial distribution of the crack .

(1) ‧‧‧Motion detection unit

(11) ‧‧‧Mobile Vehicle

(12) ‧‧‧set plate

(13) ‧‧‧Laser rangefinder

(14) ‧‧‧Digital camera

(2) ‧‧‧Regional positioning unit

(21) ‧‧‧Locating label

(22) ‧‧‧ positioning base station

(23) ‧‧‧Electronic compass

(3) ‧‧‧Control processing unit

(31) ‧‧‧Laser ranging processing module

(32) ‧‧‧Image processing module

(33) ‧‧‧Mobile positioning processing module

(34) ‧‧‧Integrated computing module

(35) ‧‧‧Three-dimensional modeling module

(36) ‧‧‧ Three-dimensional image matching module

(37) ‧‧‧Defect automatic identification module

(4) ‧‧‧Object to be tested

The first picture: the architecture of the present invention

Figure 2: Side view of the action detection unit of the present invention

The third picture: the state diagram of the laser range finder of the present invention on the assembly plate

Figure 4: State diagram of the positioning base station of the present invention relative to the object

Figure 5: Flowchart of the present invention

Figure 6: The state diagram of the laser range finder of the present invention to scan the side object

In order to enable the technical means of the present invention and the effects it can achieve, a more complete and clear disclosure can be made. The detailed description is as follows. Please refer to the disclosed drawings and figures:

First of all, please refer to the first figure, which is the integration method of stereoscopic image and laser scanning ranging of the present invention, which is mainly implemented based on an integrated device of stereoscopic image and laser scanning ranging, the stereoscopic image and laser scanning ranging The integrated device includes: An action detection unit (1), please refer to the second and third figures, the action detection unit (1) includes a mobile vehicle (11), and a mobile vehicle (11) is provided with a A circular group stand (12), and a laser range finder (13) is arranged every 30 degrees on the front end surface of the circular group stand (12), so as to be installed on the circular group stand (12) Twelve laser rangefinders (13), and the rear end surface of the circular assembly stand (12) is respectively provided with a digital camera (14) at a position opposite to each laser rangefinder (13). Twelve digital cameras (14) are installed on the circular assembly stand (12), and the laser rangefinder (13) and the digital camera (14) protrude from the front end of the mobile carrier (11), and Positioned in front of the mobile vehicle (11) to avoid undue interference; an area positioning unit (2), please also refer to the fourth figure, so that the area positioning unit (2) includes a positioning label (21 ), Several positioning base stations (22) and an electronic compass (23), the positioning tag (21) is installed on the action detection unit (1), and the positioning base stations (22) are arranged on a The object under test (4) is around, and each positioning base station (2) 2) Each has its unique identification code, and the ultra-narrow pulse electromagnetic wave signal is connected between the positioning base station (22) and the positioning label (21), and the electronic compass (23) is installed on the mobile detection unit (1 ) On the mobile carrier (11), and an inertial navigation system [INS] is provided in the electronic compass (23); a control processing unit (3), the control processing unit (3) may be a notebook computer or Tablet computers, etc., are built in the control processing unit (3) a laser ranging processing module (31), an image processing module (32), a mobile positioning processing module (33), an integrated computing Program modules such as module (34), a three-dimensional modeling module (35), a three-dimensional image matching module (36) and a defect automatic identification module (37), so that the control processing unit (3) The microprocessor, etc. are connected to the operation of the built-in modules, and the mobile vehicle (11), laser rangefinder (13) and digital camera (14) of the motion detection unit (1) and the control process The unit (3) is connected by a wired or wireless signal, the wired signal is mainly connected by a signal line, and the wireless signal is communicated by The components are connected via a wireless network, etc., and the positioning base station (22) and electronic compass (23) of the regional positioning unit (2) and the control processing unit (3) are connected by a wired or wireless signal, and the laser The ranging processing module (31) receives and processes the distance measurement data of the laser detection device (13) of the action detection unit (1), and receives and processes the action detection unit (1) from the image processing module (32) The image data of the digital camera (14) is received by the mobile positioning processing module (33) to process the positioning data of the mobile detection unit (1) measured by the electronic compass (23) and the positioning base station (22), and the other The integrated computing module (34) processes the laser measurement processing module (31) and the mobile positioning processing module (33) after the object to be measured (4) full-section size data and the mobile detection unit (1) The absolute coordinate position data is integrated and calculated to obtain the full-section absolute coordinate data of the object (4), and then the three-dimensional modeling module (35) uses the full-section absolute coordinates of the object (4) Data to create three-dimensional point cloud data and carry out 3D point cloud modeling to obtain the stereo image data of the laser ranging result, and make the stereo modeling module (35) 3D point cloud data is created from the full-section image data of the measured object (4), and 3D point cloud modeling is performed to obtain the stereoscopic image data, and then the stereoscopic image matching module (36) The stereoscopic image data and the stereoscopic image data are matched with each other to obtain the appearance of the object to be measured (4) and the structure corresponding to the appearance, and the defect automatic identification module (37) is used for the laser measurement The anomalies of cracks and water seepage in the integrated image data after the three-dimensional image data and the three-dimensional image image data are matched and matched are automatically identified.

According to this, when the present invention integrates the stereoscopic image and the laser scanning ranging, please refer to the fifth figure as well, and the implementation steps include: A. Cross-section detection of the object to be measured: when the tunnel is waiting for the object to be measured (4) During the section detection, the control processing unit (3) operates the mobile vehicle (11) of the motion detection unit (1) to move the motion detection unit (1) along the tunnel moving line, please Also refer to the sixth figure, and activate the twelve laser rangefinders (13) and digital cameras (14) on the action detection unit (1) to synchronize the tunnel lining section and its cracks and water seepage 2D laser beam scanning and 2D imaging Shooting, to measure the distance between the twelve laser rangefinders (13) and the tunnel lining section respectively, and the twelve digital cameras (14) to shoot the tunnels corresponding to their respective positions Photograph of the appearance of the lining section, accordingly, when the action detection unit (1) passes through the tunnel, you can obtain the entire tunnel lining full section size data and the entire tunnel lining full section appearance data, and then the full section size The data and appearance data are sent to the laser ranging processing module (31) and the image processing module (32) of the control processing unit (3) respectively to receive and perform corresponding spatial positioning records; B. Action detection unit positioning: when action detection When the unit (1) travels along the tunnel, the global positioning system (GPS) can be used in conjunction with the electronic compass (23) and the positioning label (21) and the area positioning functions of several positioning base stations (22) to obtain the action detection unit (1) The absolute coordinate position in the tunnel is to use the inertial navigation system [INS] in the electronic compass (23) to instantly convert the acceleration signal of the coordinate system of the motion detection unit (1) into the acceleration under the navigation coordinate system through the attitude matrix, and Will convert After the acceleration and gravity are corrected, integration is performed to obtain the positioning data of the motion detection unit (1). The global positioning system [GPS] can be corrected back to the correct path by the inertial navigation system [INS] and passed through the global positioning system [ GPS] real-time differential [RTK] or post-processing differential positioning measurement technology to accurately obtain the position of the motion detection unit (1), and detect the pre-arrangement by the bit label (21) set on the motion detection unit (1) Signal strength of multiple positioning base stations (22) around the tunnel waiting for the test object (4) to calculate the approximate distance between the mobile detection unit (1) and each positioning base station (22), which is three-dimensional positioning every 50 ~ 100 A positioning base station (22) is placed around the tunnel waiting for the measurement object (4). According to this, more than three positioning base stations (22) can send ultra-narrow pulsed electromagnetic wave signals to the positioning of the mobile detection unit (1) at any time Tags (21), and receive the ultra-narrow pulse electromagnetic wave signals fed back by the positioning tags (21) of the action detection unit (1), and then use the ultra-narrow pulse signals and positioning tags (21) sent by each positioning base station (22) ) Time difference of feedback signal Operator, in order to achieve the positioning station (22) a distance (1) between the action and the detecting means, then from the three base stations is known more positioning movement detection unit (1) of the room (22), a triangular function The relative position of the motion detection unit (1) and the reference positioning base station (22) is obtained by numerical values. Here, the electronic compass (23) and the positioning tag (21) and several positioning base stations (22) and other regional positioning units (2) ) The measured position data of the action detection unit (1) is sent to the mobile positioning processing module (33) of the control processing unit (3) for reception, and after spatial positioning and adjustment calculation, the action detection can be converted to obtain the action detection The absolute coordinate position of unit (1) in the space such as a tunnel; C. Integration of stereoscopic image and laser ranging map: the laser beams of the tunnel lining section are scanned synchronously by multiple laser rangefinders (13) , And add data obtained by regional positioning functions such as electronic compass (23), positioning label (21) and several positioning base stations (22), that is, integrated calculation module (34) of the control processing unit (3) for integrated calculation , In order to convert the spatial positioning and absolute coordinate relationship of the cross section, to obtain the full cross section absolute coordinate data of the tunnel waiting to be measured (4), and then the three-dimensional modeling module (35) of the control processing unit (3) will Measured object (4) Absolute coordinate data of full cross-section is modeled by 3D point cloud to obtain laser ranging results 3D image data, and the 3D modeling module (35) uses the full-section image data of the object to be measured (4) to perform 3D point cloud modeling to obtain 3D image data, and then the 3D image data matching module (35) 36) Match the stereo image data and the stereo image image data of the laser ranging result to the telescopic matching to obtain the appearance of the object to be measured (4) and the structure at the position corresponding to the appearance of the object to be processed by the control The automatic defect recognition module (37) of the unit (3) automatically recognizes the flaws and abnormalities in the cracks and water seepage points in the integrated map data after the three-dimensional image data and the three-dimensional image image data of the laser ranging result are matched and matched. The present invention integrates the three-dimensional image data of the laser ranging result and the three-dimensional image image data to display the complete appearance shape of the object to be measured (4) from the three-dimensional image, and further shows the to-be-measured from the three-dimensional image data of the laser ranging result The physical structure of the object (4), so after integrating the two, the appearance of the object (4) and the information of the physical structure can be obtained at the same time, so that the automatic defect identification module (37) can be more accurate and convenient Recognize the abnormal damages such as cracks and water seepage of the test object (4), Here, using the spatial information model of the present invention in conjunction with digital video detection technology, to quickly, Accurate and automatic analysis of tunnel waiting to be measured (4) structural displacement and crack width, length, trend and spatial distribution and other information.

The foregoing embodiments or drawings do not limit the implementation of the integrated method of stereoscopic image and laser scanning ranging of the present invention. The present invention can be applied not only to tunnel waiting objects (4), but also to busy highways, or For the dynamic safety monitoring of indoor and outdoor structures, any appropriate changes or modifications by those with ordinary knowledge in the technical field should be regarded as not departing from the patent scope of the present invention.

As can be seen from the above structure and embodiments, the present invention has the following advantages:

1. The integrated method of three-dimensional image and laser scanning ranging of the present invention uses laser ranging synchronous sensing and area positioning technology, which can quickly provide high-precision, three-dimensional absolute coordinates and multi-point displacement of the full section of the tunnel lining Monitoring technology.

2. The integrated method of three-dimensional image and laser scanning and ranging in the present invention uses image three-dimensional modeling technology to scan the tunnel lining structure, which can provide a highly efficient and economical method of tunnel lining detection to reconstruct the tunnel lining stereo image data.

3. The integrated method of stereoscopic image and laser scanning ranging of the present invention matches the corrected image with laser cross-sectional full-range coordinate data, which can correct the original deformation error of the image.

4. The integrated method of 3D image and laser scanning distance measurement of the present invention is based on the 3D point cloud data processing technology and is applied from the concept of 3D modeling of the structure. It can also provide accurate modeling and spatial positioning of the geometric dimensions of the tunnel lining space. And comparison and identification functions.

5. The integrated method of three-dimensional image and laser scanning ranging of the present invention uses spatial information model combined with digital image measurement technology to automatically identify the tunnel lining texture crack image, which can quickly obtain the tunnel lining structure displacement and crack width , Length, direction and spatial distribution.

6. The integrated method of stereo image and laser scanning ranging of the present invention is a tunnel action detection system that combines laser scanning measurement technology and stereo image matching technology to meet modern tunnel maintenance management and quickly establish a database to achieve early warning. efficacy.

7. The integration method of the stereoscopic image and the laser scanning distance measurement method of the present invention is low in cost, and there is no need to arrange a scanning station, and it is less man-made and convenient to use, and can be quickly applied to dynamic safety monitoring.

To sum up, the embodiments of the present invention can indeed achieve the expected effect, and the specific structure disclosed by it has not only not been seen in similar products, nor has it been disclosed before the application, and has fully complied with the provisions of the Patent Law and As required, I filed an application for an invention patent in accordance with the law, urged to be granted an examination, and granted the patent.

Claims (3)

A stereo image and laser scanning and ranging integration method is mainly implemented based on a stereo image and laser scanning and ranging integration device. The stereo image and laser scanning and ranging integration device includes: an action detection unit, the action detection The unit includes a mobile carrier, and a set of vertical plates are mounted on the mobile carrier, and a number of laser rangefinders and digital cameras are provided at equal angles on the front and rear faces of the set of vertical plates; an area The positioning unit is such that the regional positioning unit includes a positioning label and a plurality of positioning base stations, the positioning label is installed on the action detection unit, and the positioning base stations are arranged around a test object, and A signal is connected between the positioning base station and the positioning tag; a control processing unit is built in the control processing unit with a laser ranging processing module, an image processing module, a mobile positioning processing module, An integrated computing module, a three-dimensional modeling module and a three-dimensional image matching module, which are operated by the microprocessor of the control processing unit connected to the built-in modules, and The control processing unit is connected to the mobile vehicle, laser rangefinder and digital camera of the motion detection unit with signals, and the control processing unit is connected to the positioning base station signal of the area positioning unit; its implementation steps include: A. Detection of the cross-section of the object to be tested: the mobile vehicle of the action detection unit is actuated so that the action detection unit travels along the movement line of the object to be tested, and several laser distance measurements on the action detection unit are started And several digital cameras to synchronize the two-dimensional laser beam scanning and two-dimensional image shooting of the cross-section of the object to be measured, so that the distances from the cross-section of the object to be measured are measured by the several laser rangefinders Size, and the respective appearance photos of the cross-section of the object under test corresponding to the corresponding positions are taken by the digital cameras, so that after the mobile detection unit passes the object to be tested, the data of the entire cross-sectional size of the entire object to be tested and the entire The full-section appearance data of the object to be measured, and then send the full-section size data and appearance data to the laser ranging processing module and the image processing module of the control processing unit to receive and perform corresponding spatial positioning records Recording; B. Positioning of the motion detection unit: when the motion detection unit travels along the object to be tested, the bit label set on the motion detection unit detects the signal strength of a plurality of positioning base stations arranged in advance around the object to be tested Calculate the approximate distance between the action detection unit and each positioning base station, and then use the trigonometric function value to obtain the relative position of the action detection unit and the reference positioning base station based on the known distance between the three or more positioning base stations. Transmit the measured position data of the motion detection unit to the mobile positioning processing module of the control processing unit to receive, and obtain the absolute coordinate position of the motion detection unit in the space to be measured etc. through calculation and conversion; C. Stereo image Integration with laser distance measurement data: the integrated calculation module of the control processing unit continues to process the laser cross-section processing module and the mobile positioning processing module after processing the data of the full cross-sectional size of the object to be measured and the action detection The absolute coordinate position data of the unit is integrated to obtain the absolute cross-sectional absolute coordinate data of the object under test, and then the three-dimensional modeling module uses the object under test 3D point cloud data is created from the absolute coordinate data of the full cross section, and 3D point cloud modeling is performed to obtain a stereo image of the laser ranging result, and the stereo modeling module uses the full cross section image of the object to be measured Data to create 3D point cloud data, and 3D point cloud modeling to obtain stereo image data, and then the stereo image data matching module will match the stereo image data and the stereo image image data of the laser ranging result to the telescopic matching, In order to obtain the appearance of the object to be tested and the structure state corresponding to the appearance. As described in the first item of patent application, the integrated method of stereoscopic image and laser scanning ranging, wherein the area positioning unit further includes an electronic compass, and an inertial navigation system is provided in the electronic compass to enable the electronic compass The mobile vehicle mounted on the action detection unit is connected to the control processing unit signal to make the action detection unit use the inertial navigation system inside the electronic compass to obtain the action when traveling along the object to be measured Detect the positioning data of the unit, and make a global positioning system correct the correct path through the inertial navigation system, and obtain the position of the mobile detection unit through the real-time differential or post-processing differential positioning measurement technology of the global positioning system. The position data of the motion detection unit is sent to the mobile positioning processing module of the control processing unit for receiving, and the absolute coordinate position of the motion detection unit in the space of the object to be measured is obtained through calculation and conversion. As described in item 1 of the patent application scope, the method for integrating stereoscopic images and laser scanning ranging, wherein the control processing unit is further constructed with a defect automatic identification module, the defect automatic identification module will target the laser The defect and anomaly in the integrated image data after the matching of the stereo image data and the stereo image image data of the result are automatically identified.