The invention relates to an
elbow pipe three-dimensional scanning detection method, a three-dimensional scanning
system,
computer equipment and a computer readable storage medium, and the
elbow three-dimensional scanning detection method comprises the steps: scanning a target bent
pipe through a
scanner, and obtaining first three-dimensional
point cloud data of the target bent
pipe under a first coordinate reference
system; synchronously tracking the position and posture of the
scanner during each scanning through a tracker to obtain the posture data of the
scanner under the second coordinatereference
system; according to the
pose data, converting the first three-dimensional
point cloud data into a second coordinate reference system to obtain second three-dimensional
point cloud data under the second coordinate reference system; and detecting characteristic parameters of the target
elbow according to the second three-dimensional point
cloud data. According to the invention, the problem of low detection efficiency of the bent pipe characteristics in the related technology is solved, and the detection efficiency of the elbow characteristics is improved.