针对机器人工作范围有限引起扫描范围小的问题，建立了一种由机器人﹑便携式线激光3维扫描仪以及旋转平台构成的多轴激光扫描系统。利用半径已知的球体作为参照工具，机器人手持便携式扫描仪对球体进行扫描，精确标定了便携式扫描仪与机器人的方位关系。同时，提出了一种标定转台中心轴线的方法，该方法利用旋转平台上的参考球，在两个不同高度的旋转圆心精确标定出了转轴的方位。实验结果表明，该多轴激光扫描系统可以多角度、多方位对大尺寸物体进行扫描，并有着稳定、灵活以及精度高的特点。

To deal with the limitation of robot’s working range, a multiple axes laser 3D scanning system is constructed by robot, a portable 3D laser scanner and turntable. Using a sphere with a known diameter as calibration tool, the pose of the portable scanner relative to the robot is calibrated accurately by scanning the sphere and computing the center position of the sphere. Meanwhile, a method is proposed to calibrate the pose of the turntable relative to the robot. In this approach, several rotational angles of turntable and two different height of the sphere are made to determine the rotational axis of turntable. Experiment results show that the multiple axes laser scanning system can measure the object of large scales from multiple angles and directions. Meanwhile, this system is robust flexible and of high measurement accuracy.