介绍了彩色三维激光扫描测量系统的工作原理，推导出空间三维坐标的光平面方程测量模型。提出了系统结构参数的优化设计方法，进行了优化实验，根据实验结果，确定了测量系统的最佳参数值。基于这些参数建造的测量系统，在250 mm×200 mm×50 mm测量范围内，测量误差小于0.1 mm。

This paper introduces the principle of the color 3D laser scanning measurement. The light-plane-equation mathematical model of spatial 3D coordinates is derived. Optimum design for structure parameters of the measuring system is presented, experiments on the optimization of structure parameters were performed, and the structure parameters are confirmed to be the optimum from the experiment results analysis. The measurement error of the system, established on these optimum structure parameters, is less than 0.1 mm in measurement range of 250 mm×200 mm×50 mm.