The utility model discloses a power line inspection shaft tower modeling laser radar system after improvement, including laser scanning head and lidar sensor, the lidar sensor includes laser scanninghead, one side of laser scanning head is equipped with the prism, laser scanning head and storage controlling unit module electric connection, laser scanning head's input is connected with power module's output electricity, laser scanning head's input is connected with the output of POS module electricity. The utility model discloses power line inspection shaft tower modeling laser radar system after improvement, trade to vertical installation through the equipment with former horizontal installation, can fine elimination beat aloft useless, increase the utilization efficiency of some clouds,the elevation effect of shaft tower is strengthened, the trilateral laser point cloud that has once can be guaranteed in flight, vertical beating obtained effectual utilization to aerial some cloud inthe past, twice has been beaten to some cloud in front and back, can be with coming from the test data precision, point cloud density obtains effectual increase, the characteristic is more obvious.