A portable three-dimensional laser scanner

Abstract

This application relates to the field of surveying equipment, specifically disclosing a portable 3D laser scanner, which includes a measuring mechanism and a housing. The housing has a mounting slot for placing the measuring mechanism, and the outer bottom wall of the housing has multiple supports and grooves for accommodating the supports. A base plate is fixedly mounted inside the housing, and a rotating disk is rotatably mounted on the base plate. Multiple guide grooves are formed on the rotating disk, and clamping columns are slidably mounted in the guide grooves. An upper clamping plate is fixedly connected to the clamping column. A support tray for supporting the measuring mechanism is raised and lowered on the rotating disk. A clamping mechanism is also provided on the rotating disk to drive the clamping columns along the guide grooves toward the center of the rotating disk as the support tray moves downwards, causing the upper clamping plate to clamp the measuring mechanism. This application offers good portability, and the 3D measuring instrument body is easy to assemble and disassemble, and exhibits high stability after installation.

Description

Technical Field

[0001] This application relates to the field of surveying equipment, and in particular to a portable 3D laser scanner. Background Technology

[0002] Three-dimensional laser scanning technology is a technique that uses high-speed laser scanning to quickly acquire three-dimensional coordinate data of the surface of the object being measured over a large area with high resolution. It can rapidly collect a large amount of spatial point information, providing a brand-new technical means for quickly building three-dimensional image models of objects.

[0003] A 3D laser scanning system mainly consists of a 3D laser scanner, a computer, a power supply system, a support frame, and supporting software. In traditional 3D laser scanners, the tripod used for support is separate from the scanner body, requiring separate handling and placement during use, which is inconvenient to carry and occupies a lot of space.

[0004] Furthermore, traditional 3D laser scanners are fastened to their tripods with bolts, requiring significant time for bolt installation and removal during assembly and disassembly, resulting in slow and inefficient processes. On the other hand, traditional 3D laser scanners utilize stepper motors to drive rotation and achieve self-locking, making them prone to swaying under wind or other external forces during actual use, which can negatively impact the quality of the collected digital terrain models. Summary of the Invention

[0005] To address the issues of poor portability, low assembly / disassembly efficiency, and poor stability of current 3D laser scanners, this application provides a portable 3D laser scanner.

[0006] The portable 3D laser scanner provided in this application adopts the following technical solution:

[0007] A portable 3D laser scanner, comprising:

[0008] The measuring mechanism includes a base and a three-dimensional measuring instrument body mounted on the base;

[0009] The housing has a mounting slot for placing the measuring mechanism.

[0010] At least three supports are hinged to the outer bottom wall of the box body, and multiple supports are distributed sequentially at intervals along the circumference of the box body. The outer bottom wall of the box body is provided with a groove for accommodating the supports.

[0011] The base plate is fixedly installed inside the housing;

[0012] A rotating disk is rotatably mounted on the base plate. The rotating disk has multiple guide grooves that extend radially along the rotating disk and are distributed at intervals around the axis of the rotating disk.

[0013] A horizontal rotation mechanism is used to drive the rotating disk to rotate or lock the rotating disk;

[0014] A support tray, which is lifted and lowered on the rotating disk, is used to support the base;

[0015] The clamping component includes a clamping post slidably disposed in the guide groove and an upper clamping plate fixedly connected to the top of the clamping post;

[0016] A clamping mechanism is used to drive the clamping column along the guide groove toward the center of the rotating disk as the support tray moves downward, so that the upper clamping plate clamps the base.

[0017] In use, multiple supports are removed from the grooves at the bottom of the housing, providing simultaneous support for the housing. The housing is opened, and the measuring mechanism is removed from its mounting slot and placed on the support tray. The tray moves downwards under the weight of the measuring mechanism, and the clamping mechanism, following the tray's downward movement, drives the clamping column along the guide groove towards the center of the rotating disk, causing the upper clamping plate to hold the base, thus fixing the measuring mechanism to the rotating disk. The rotating disk is then rotated via a horizontal rotation mechanism to adjust the angle of the measuring mechanism. After adjustment, the rotating disk is locked. This application integrates the 3D measuring instrument body and supports into a single unit within the housing, improving the device's portability. Furthermore, the absence of bolts during installation of the 3D measuring instrument body improves installation and disassembly efficiency. The clamping mechanism secures the measuring mechanism, enhancing its stability and reducing swaying caused by external forces such as wind, thereby improving surveying quality.

[0018] Furthermore, the clamping mechanism includes a plurality of connecting posts fixed to the periphery of the support tray, with each of the plurality of connecting posts corresponding to a plurality of clamping posts. A first slider is fixed to one end of each connecting post away from the support tray. The clamping posts are hollow, and a first sliding groove is provided on each of the opposite side walls of the clamping posts for the first slider to slide. The first sliding groove is inclined downward from the center of the rotating disk to the edge.

[0019] Furthermore, an elastic element is connected between the support tray and the rotating disk to drive them away from each other.

[0020] Furthermore, the base includes an upper body, a middle body, and a lower body fixedly connected from top to bottom. The cross-sectional profile of the middle body is smaller than that of the upper body and the lower body. The distance between the upper body and the lower body is greater than the thickness of the upper clamping plate. Side plates are fixedly connected to both sides of the upper body. The three-dimensional measuring instrument body is installed between the two side plates. When the upper clamping plate is clamped to the base, the side wall of the upper clamping plate abuts against the middle body, the top wall of the upper clamping plate abuts against the bottom wall of the upper body, and the clamping column abuts against the lower body.

[0021] When installing the measuring mechanism, it is placed on the support tray. The weight of the measuring mechanism overcomes the elastic force of the elastic element, causing the support tray to move downwards. The first slider slides along the first slide groove, causing the clamping column to slide along the guide groove toward the center of the rotating disk, thereby causing the upper clamping plate to move toward the base. When the upper clamping plate is clamped on the base, the side wall of the upper clamping plate abuts against the square body, and the top wall of the upper clamping plate abuts against the bottom wall of the square body, achieving stable clamping of the upper clamping plate on the base, which helps to improve the stability of the measuring mechanism. When it is necessary to unload the measuring mechanism, the operator lifts the measuring mechanism upwards. Under the action of the deformation force of the elastic element, the support tray moves upwards, the first slider slides along the first slide groove, causing the clamping column to slide along the guide groove toward the edge of the rotating disk, thereby separating the upper clamping plate from the base and realizing the disassembly of the measuring mechanism.

[0022] Furthermore, an upper magnet is fixedly provided at the bottom of the upper clamping plate, and a lower magnet is fixedly provided at the top of the lower body. The upper magnet and the lower magnet are in corresponding positions and magnetically repulsive.

[0023] When installing the measuring mechanism, the repulsion between the upper and lower magnets causes the lower body to experience not only the gravity of the measuring mechanism but also a downward magnetic repulsion. This helps increase the horizontal clamping force of the upper clamping plate on the measuring mechanism, thereby improving clamping stability. When unloading the measuring mechanism, the repulsion between the upper and lower magnets also helps the upper clamping plate to quickly separate from the lower body, making the unloading operation easier.

[0024] Furthermore, the horizontal rotation mechanism includes an outer gear ring coaxially fixed to the rotating disk and a first gear rotatably disposed on the base plate. The first gear meshes with the outer gear ring, and the base plate is provided with a first driving member for driving the first gear to rotate. The base plate is also provided with a locking mechanism for locking the outer gear ring.

[0025] The first drive component drives the first gear to rotate, which in turn drives the outer gear ring to rotate. The rotating disk rotates synchronously with the outer gear ring, thereby adjusting the angle of the three-dimensional measuring instrument body. After the angle of the three-dimensional measuring instrument body is adjusted, the locking mechanism locks the outer gear ring to keep the angle of the three-dimensional measuring instrument body stable.

[0026] Furthermore, the locking mechanism includes a brake disc slidably disposed on the base plate, the brake disc having a friction surface on the side near the outer gear ring, and a first drive assembly for driving the brake disc closer to or away from the outer gear ring on the base plate.

[0027] The first drive assembly drives the brake disc to approach and abut against the outer gear ring. The friction between the brake disc and the outer gear ring locks the outer gear ring, thereby locking the rotating disk. This helps to reduce the rotation of the 3D measuring instrument body under the action of external forces such as wind, and improves the stability of the 3D measuring instrument body. When it is necessary to release the lock of the outer gear ring, the first drive assembly drives the brake disc away from the outer gear ring.

[0028] Furthermore, a second sliding groove is provided on the base plate, and the first driving assembly includes a second slider that is slidably disposed in the second sliding groove. A second ferromagnetic block is fixedly connected to the second slider. The side of the brake disc away from the outer gear ring is fixedly connected to the second ferromagnetic block. An electromagnet for attracting the second ferromagnetic block is fixedly disposed on the base plate. An elastic pad is fixedly disposed in the second sliding groove, and one end of the elastic pad is fixedly connected to the second slider.

[0029] When the electromagnet is energized, the magnetic attraction of the electromagnet to the second ferromagnetic block overcomes the elastic force of the elastic pad, causing the second slider to slide along the second groove toward the electromagnet, thereby moving the brake disc away from the outer gear ring, releasing the outer gear ring and allowing it to rotate freely; when the electromagnet is de-energized, the elastic force of the elastic pad drives the second slider to slide along the second groove toward the outer gear ring, thereby causing the brake disc to abut against the outer gear ring and locking the outer gear ring.

[0030] Furthermore, a short shaft is rotatably provided on the side plate, the short shaft is fixedly connected to the three-dimensional measuring instrument body, a second gear is coaxially fixedly connected to the short shaft, a rack is slidably provided on the side plate, the rack meshes with the second gear, and a second drive assembly is provided on the side plate for driving the rack to translate along its own length direction.

[0031] The second drive component drives the rack to translate along its own length, which in turn drives the second gear to rotate. The rotation of the short shaft drives the three-dimensional measuring instrument body to rotate, thereby realizing the adjustment of the pitch angle of the three-dimensional measuring instrument body.

[0032] Furthermore, the second drive assembly includes a threaded rod rotatably disposed on the side plate, the threaded rod being threaded through the rack along the length direction of the rack, and a second drive member for driving the threaded rod to rotate is provided on the side plate.

[0033] The second driving component drives the threaded rod to rotate, which in turn drives the rack to translate along its own length, thereby driving the second gear to rotate. When the threaded rod stops rotating, the self-locking function of the thread locks the second gear, thereby improving the stability of the 3D measuring instrument body and helping to avoid the 3D measuring instrument body from swaying due to external forces such as wind.

[0034] In summary, this application includes at least one of the following beneficial technical effects:

[0035] 1. This application integrates the 3D measuring instrument body and the support into a single unit through a housing, improving the portability of the device;

[0036] 2. No bolts are needed when installing the 3D measuring instrument body, which improves the efficiency of installation and disassembly;

[0037] 3. The measuring mechanism is fixed by clamping, the rotating disk is locked by the cooperation of the brake disc and the external gear ring, and the pitch angle of the three-dimensional measuring instrument body is locked by the cooperation of the threaded rod, rack and pinion and the second gear, so as to reduce the swaying of the three-dimensional measuring instrument body caused by external forces such as wind, thereby improving the mapping quality. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application;

[0039] Figure 2 This is a schematic diagram used to illustrate the measuring mechanism in the embodiments of this application;

[0040] Figure 3 This is a structural schematic diagram mainly used to show the bottom of the box in the embodiments of this application;

[0041] Figure 4 This is a schematic diagram used to illustrate the bracket in the embodiments of this application;

[0042] Figure 5 This is a partial cross-sectional schematic diagram used to illustrate the horizontal rotation mechanism in the embodiments of this application;

[0043] Figure 6 This is a schematic diagram used to illustrate the clamping mechanism in the embodiments of this application;

[0044] Figure 7 This is a schematic diagram used in the embodiments of this application to mainly show another angle of the clamping mechanism;

[0045] Figure 8 yes Figure 7 An enlarged schematic diagram of part A in the middle.

[0046] Reference numerals: 1. Box body; 101. T-slot; 102. Receiving groove; 2. Box cover; 3. First rotating shaft; 4. First rotating seat; 5. First bracket; 501. First support rod; 502. Second support rod; 503. Third support rod; 504. First ferromagnetic block; 6. Magnet; 7. Second rotating shaft; 8. Second rotating seat; 9. Third rotating seat; 10. Second bracket; 11. Inclined block; 12. Limiting inclined surface; 13. Base plate; 14. Mounting shaft seat; 15. Clamping mechanism; 1501. Rotating disk; 1502. External gear ring; 1503. Guide groove; 1504. Clamping column; 1505. First sliding groove; 1506. First slider; 1507. Connecting column; 1508. Support plate; 1509. Elastic element; 1510. Upper clamping plate; 1511. 16. Upper magnet; 16. Horizontal rotation mechanism; 1601. Fixed base; 1602. First driving component; 1603. First gear; 1604. Second slide groove; 1605. Second slider; 1606. Elastic pad; 1607. Second ferromagnetic block; 1608. Brake disc; 1609. Electromagnet; 17. Measuring mechanism; 1701. Lower body; 1702. Lower magnet; 1703. Middle body; 1704. Upper body; 1705. Side plate; 1706. Short shaft; 1707. Three-dimensional measuring instrument body; 1708. Second gear; 1709. Fixed block; 1710. Mounting base; 1711. Threaded rod; 1712. Rack; 1713. Driven gear; 1714. Second driving component; 1715. Driving gear; 18. Placement groove. Detailed Implementation

[0047] The following is in conjunction with the appendix Figure 1-8 This application will be described in further detail.

[0048] This application discloses a portable 3D laser scanner. (See also...) Figure 1 The portable 3D laser scanner includes a measuring mechanism 17 and a housing 1. The housing 1 has a mounting slot 18 for placing the measuring mechanism 17. A lid 2 is hinged to the housing 1, and the housing 1 and the lid 2 are connected by a snap-fit. The lid 2 has a carrying handle for easy carrying.

[0049] Reference Figure 2 The measuring mechanism 17 includes a base and a three-dimensional measuring instrument body 1707 mounted on the base. The base includes an upper body 1704, a middle body 1703, and a lower body 1701 fixedly connected from top to bottom. The cross-sectional profile of the middle body 1703 is smaller than that of the upper body 1704 and the lower body 1701. Side plates 1705 are fixedly connected to opposite sides of the upper body 1704, and the three-dimensional measuring instrument body 1707 is mounted between the two side plates 1705.

[0050] Reference Figure 3The outer bottom wall of the housing 1 is hinged with at least three supports, and the supports are distributed sequentially at intervals along the circumference of the housing 1. The outer bottom wall of the housing 1 is also provided with a groove for accommodating the supports. In this embodiment, there are three supports, namely one first support 5 and two second supports 10; the groove on the outer bottom wall of the housing 1 includes a T-shaped groove 101 and a "door"-shaped receiving groove 102.

[0051] Reference Figure 4 The first bracket 5 and the second bracket 10 both include a first support rod 501, a second support rod 502 and a third support rod 503; wherein the first support rod 501 and the second support rod 502 are both hollow, the first support rod 501 is threadedly sleeved on the second support rod 502, and the second support rod 502 is threadedly sleeved on the third support rod 503.

[0052] Reference Figure 5 and Figure 6 A base plate 13 is fixedly installed in the housing 1. A mounting bearing 14 is rotatably mounted on the base plate 13, and a rotating disk 1501 is coaxially fixed to the mounting bearing 14. Multiple guide grooves 1503 are formed on the rotating disk 1501, extending radially along the rotating disk 1501. The multiple guide grooves 1503 are distributed at equal intervals around the axis of the rotating disk 1501. In this embodiment, four guide grooves 1503 are provided, and the included angle between two adjacent guide grooves 1503 is 90 degrees. (Refer to...) Figure 1 and Figure 5 A horizontal rotation mechanism 16 is provided on the base plate 13 for driving the rotating disk 1501 to rotate or locking the rotating disk 1501.

[0053] Reference Figure 5 and Figure 6 A support tray 1508 is mounted on the rotating disk 1501 to support the base of the measuring mechanism 17. A clamping column 1504 is slidably disposed in the guide groove 1503, and an upper clamping plate 1510 is fixed to the top of the clamping column 1504. The thickness of the upper clamping plate 1510 is less than the distance between the upper body 1704 and the lower body 1701. A clamping mechanism 15 is also provided on the rotating disk 1501 to drive the clamping column 1504 to move along the guide groove 1503 toward the center of the rotating disk 1501 as the support tray 1508 moves downward, so that the upper clamping plate 1510 clamps the base of the measuring mechanism 17.

[0054] In use, multiple supports are removed from the grooves at the bottom of the housing 1. The lengths of each support are adjusted by rotating the second support rod 502 and the third support rod 503, so that the three supports form a triangular pyramid shape and support the housing 1. The housing 1 is opened, and the measuring mechanism 17 is removed from the placement slot 18 and placed on the support tray 1508. The support tray 1508 moves downward under the weight of the measuring mechanism 17. As the support tray 1508 moves downward, the clamping mechanism 15 drives the clamping column 1504 to move along the guide groove 1503 toward the center of the rotating disk 1501, so that the upper clamping plate 1510 clamps the base, thereby fixing the measuring mechanism 17 onto the rotating disk 1501. The rotating disk 1501 is rotated by the horizontal rotation mechanism 16 to adjust the angle of the measuring mechanism 17. After adjustment, the rotating disk 1501 is locked.

[0055] This application integrates the 3D measuring instrument body 1707 and the bracket into a single unit via the housing 1, improving the portability of the device. At the same time, no bolts are required when installing the 3D measuring instrument body 1707, improving the efficiency of installation and disassembly. The clamping mechanism 15 is used to fix the measuring mechanism 17, improving the stability of the measuring mechanism 17 and reducing the swaying of the 3D measuring instrument body 1707 caused by external forces such as wind, thereby improving the mapping quality.

[0056] Reference Figure 3 A first rotating shaft 3 is fixedly installed in the T-slot 101, and a first rotating seat 4 is rotatably connected to the first rotating shaft 3. A first bracket 5 is fixedly connected to the first rotating seat 4. A second rotating shaft 7 is fixedly installed in the receiving slot 102, and a second rotating seat 8 is rotatably connected to both ends of the second rotating shaft 7. A third rotating seat 9 is rotatably connected to the second rotating seat 8, and two second brackets 10 are fixedly connected to the corresponding third rotating seats 9.

[0057] Reference Figure 3 Both the T-slot 101 and the receiving groove 102 have limiting inclined surfaces 12 on their inner walls, and the receiving groove 102 also has inclined blocks 11 on its inner wall. When the first support 5 and the second support 10 support the housing 1, the first rotating seat 4 and the second rotating seat 8 respectively abut against the corresponding limiting inclined surfaces 12, and the third rotating seat 9 abuts against the inclined blocks 11. The limiting inclined surfaces 12 and the inclined blocks 11 limit the outward opening angle of the first support 5 and the second support 10, which helps to improve the stability of the housing 1.

[0058] To accommodate the first bracket 5 in the T-slot 101 and the second bracket 10 in the receiving slot 102, refer to... Figure 3 and Figure 4 The end of the third support rod 503 is fixedly connected to the first ferromagnetic block 504, and magnets 6 are fixedly connected to the T-slot 101 and the receiving groove 102 at positions corresponding to the first ferromagnetic block 504.

[0059] When the first bracket 5 is housed in the T-slot 101 and the second bracket 10 is housed in the receiving slot 102, the magnet 6 attracts the corresponding first ferromagnetic block 504, which helps to prevent the first bracket 5 and the second bracket 10 from coming out, thereby improving the portability of the device. When it is necessary to remove the first bracket 5 and the second bracket 10, external force is used to overcome the magnetic attraction, and the first bracket 5 and the second bracket 10 can be pulled out from the corresponding slots.

[0060] The first support rod 501, the second support rod 502, and the third support rod 503 are all made of high-strength plastic material, which reduces weight and makes them easy to carry while ensuring strength.

[0061] Reference Figure 5 and Figure 6 The clamping mechanism 15 includes a plurality of connecting posts 1507 fixed to the periphery of the support tray 1508. The plurality of connecting posts 1507 correspond one-to-one with a plurality of clamping posts 1504. An inclined first slider 1506 is fixed to one end of the connecting post 1507 away from the support tray 1508.

[0062] Reference Figure 6 , Figure 7 and Figure 8 The clamping column 1504 is hollow, and each of its opposite side walls has a first sliding groove 1505. The two ends of the first slider 1506 are slidably disposed in the corresponding first sliding groove 1505. The first sliding groove 1505 is inclined downwards from the center to the edge of the rotating disk 1501. An elastic element 1509, which is a compression spring, connects the support tray 1508 and the rotating disk 1501 to drive them away from each other.

[0063] When installing the measuring mechanism 17, the measuring mechanism 17 is placed on the support tray 1508. The weight of the measuring mechanism 17 overcomes the elastic force of the elastic element 1509, causing the support tray 1508 to move downward. The first slider 1506 slides along the first slide groove 1505, causing the clamping column 1504 to slide along the guide groove 1503 toward the center of the rotating disk 1501, thereby causing the upper clamping plate 1510 to move toward the base of the measuring mechanism 17.

[0064] Reference Figure 8 When the upper clamping plate 1510 is clamped to the base of the measuring mechanism 17, the side wall of the upper clamping plate 1510 abuts against the side wall of the middle body 1703, the top wall of the upper clamping plate 1510 abuts against the bottom wall of the upper body 1704, and the side wall of the clamping column 1504 abuts against the side wall of the lower body 1701, thereby achieving stable clamping of the base of the measuring mechanism 17 by the upper clamping plate 1510, which helps to improve the stability of the measuring mechanism 17.

[0065] When the measuring mechanism 17 needs to be unloaded, the operator lifts the measuring mechanism 17 upwards. Under the deformation force of the elastic element 1509, the support tray 1508 moves upwards, and the first slider 1506 slides along the first slide groove 1505, causing the clamping column 1504 to slide along the guide groove 1503 toward the edge of the rotating disk 1501, thereby separating the upper clamping plate 1510 from the base of the measuring mechanism 17. In this way, the measuring mechanism 17 can be installed and disassembled without the use of screws for fastening, improving the efficiency of device installation and unloading.

[0066] To improve the stability of clamping, the side walls of the middle body 1703 and the lower body 1701, as well as the side of the clamping column 1504 and the upper clamping plate 1510 near the measuring mechanism 17 are all provided with anti-slip layers, which are hard rubber layers.

[0067] Furthermore, referring to Figure 8 An upper magnet 1511 is fixedly installed at the bottom of the upper clamping plate 1510, and a lower magnet 1702 is fixedly installed at the top of the lower body 1701. The upper magnet 1511 and the lower magnet 1702 are positioned correspondingly, and their magnetic repulsion is opposite at opposite ends.

[0068] When installing the measuring mechanism 17, the magnetic repulsion between the upper magnet 1511 and the lower magnet 1702 causes the lower body 1701 to experience not only the gravity of the measuring mechanism 17 but also a downward magnetic repulsion force. This helps increase the horizontal clamping force of the upper clamping plate 1510 on the measuring mechanism 17 and also increases the vertical pressure between the upper body 1704 and the upper clamping plate 1510, thereby improving clamping stability. When unloading the measuring mechanism 17, the repulsion between the upper magnet 1511 and the lower magnet 1702 also helps the upper clamping plate 1510 to quickly separate from the lower body 1703, making the unloading operation of the measuring mechanism 17 easier.

[0069] In order to adjust the measuring angle of the 3D measuring instrument body 1707, refer to Figure 5 and Figure 6 The horizontal rotation mechanism 16 includes an external gear ring 1502 coaxially fixed to the rotating disk 1501 and a first gear 1603 rotatably mounted on the base plate 13, the first gear 1603 meshing with the external gear ring 1502. The base plate 13 is provided with a first driving member 1602 for driving the first gear 1603 to rotate; the first driving member 1602 is a servo motor. The base plate 13 is also provided with a fixing seat 1601 for fixing the first driving member 1602. The base plate 13 is also provided with a locking mechanism for locking the external gear ring 1502.

[0070] Furthermore, referring to Figure 6The locking mechanism includes a brake disc 1608 slidably mounted on the base plate 13. A friction surface is provided on the side of the brake disc 1608 near the outer gear ring 1502. The friction surface is a concave arc surface adapted to the contour of the outer gear ring 1502, and a hard rubber layer is provided on the friction surface. A first drive assembly is provided on the base plate 13 for driving the brake disc 1608 closer to or further away from the outer gear ring 1502.

[0071] Specifically, refer to Figure 6 The base plate 13 has a second sliding groove 1604. The first driving assembly includes a second slider 1605 slidably disposed in the second sliding groove 1604. A second ferromagnetic block 1607 is fixedly connected to the second slider 1605. The side of the brake disc 1608 facing away from the outer gear ring 1502 is fixedly connected to the second ferromagnetic block 1607. An electromagnet 1609 for attracting the second ferromagnetic block 1607 is fixedly disposed on the base plate 13. An elastic pad 1606 is fixedly disposed in the second sliding groove 1604, and one end of the elastic pad 1606 is fixedly connected to the second slider 1605. The electromagnet 1609 and the first driving component 1602 can be connected in series to achieve synchronous energization and de-energization.

[0072] When the electromagnet 1609 is energized, the magnetic attraction of the electromagnet 1609 to the second ferromagnetic block 1607 overcomes the deformation force of the elastic pad 1606, causing the second slider 1605 to slide along the second slide groove 1604 toward the electromagnet 1609, thereby moving the brake disc 1608 away from the outer gear ring 1502. At this time, the first drive member 1602 drives the first gear 1603 to rotate, which in turn drives the outer gear ring 1502 to rotate. The rotating disk 1501 rotates synchronously with the outer gear ring 1502, thereby realizing the adjustment of the measurement angle of the three-dimensional measuring instrument body 1707 in the horizontal plane.

[0073] After the angle adjustment of the three-dimensional measuring instrument body 1707 is completed, the first driving component 1602 stops operating, and the electromagnet 1609 is de-energized. The deformation force of the elastic pad 1606 drives the second slider 1605 to slide along the second slide groove 1604 toward the outer gear ring 1502, thereby causing the brake disc 1608 to abut against the outer gear ring 1502 and lock the outer gear ring 1502, so that the angle of the three-dimensional measuring instrument body 1707 remains stable, which helps to reduce the rotation of the three-dimensional measuring instrument body 1707 under the action of external forces such as wind.

[0074] In order to adjust the pitch angle of the 3D measuring instrument body 1707, refer to Figure 2 , Figure 6 and Figure 7Two short shafts 1706 are rotatably mounted on the two side plates 1705, and the short shafts 1706 are fixed to the three-dimensional measuring instrument body 1707. One of the short shafts 1706 is coaxially fixed to a second gear 1708. A rack 1712 is slidably mounted on the side plate 1705, and the rack 1712 meshes with the second gear 1708. A second drive assembly is provided on the side plate 1705 to drive the rack 1712 to translate along its own length direction.

[0075] Specifically, refer to Figure 2 and Figure 7 A fixing block 1709 and a mounting base 1710 are fixedly connected to the outer side of the side plate 1705. The second drive assembly includes a threaded rod 1711 rotatably disposed between the fixing block 1709 and the mounting base 1710. The threaded rod 1711 is threaded through the rack 1712 along the length direction of the rack 1712. The rack 1712 has a rectangular cross-sectional profile and one side of the rack 1712 is attached to the side plate 1705. A second drive member 1714 for driving the threaded rod 1711 to rotate is provided on the side plate 1705. The second drive member 1714 is a servo motor mounted on the mounting base 1710. The output end of the second drive member 1714 is connected to a drive gear 1715. The drive gear 1715 meshes with a driven gear 1713. The driven gear 1713 is coaxially fixed to the threaded rod 1711.

[0076] The second driving component 1714 drives the active gear 1715 to rotate, which in turn drives the passive gear 1713 and the threaded rod 1711 to rotate, thereby driving the rack 1712 to translate along its own length direction, driving the second gear 1708 to rotate, and the short shaft 1706 to rotate, driving the three-dimensional measuring instrument body 1707 to rotate, thus realizing the adjustment of the pitch angle of the three-dimensional measuring instrument body 1707.

[0077] When the threaded rod 1711 stops rotating, the second gear 1708 is locked through the self-locking function of the thread, thereby locking the pitch angle of the three-dimensional measuring instrument body 1707, improving the stability of the three-dimensional measuring instrument body 1707, and helping to prevent the three-dimensional measuring instrument body 1707 from swaying due to external forces such as wind.

[0078] The implementation principle of a portable 3D laser scanner according to an embodiment of this application is as follows: In use, multiple supports are taken out from the grooves at the bottom of the housing 1, and the multiple supports simultaneously support the housing 1. The housing 1 is opened, and the measuring mechanism 17 is taken out from the placement slot 18 and placed on the support tray 1508. The support tray 1508 moves downward under the gravity of the measuring mechanism 17. As the support tray 1508 moves downward, the clamping mechanism 15 drives the clamping column 1504 to move along the guide groove 1503 toward the center of the rotating disk 1501, so that the upper clamping plate 1510 clamps the base, thereby fixing the measuring mechanism 17 on the rotating disk 1501. The rotating disk 1501 is driven to rotate by the horizontal rotating mechanism 16 to adjust the angle of the measuring mechanism 17 in the horizontal plane. After adjustment, the rotating disk 1501 is locked by the brake disc 1608. The pitch angle of the three-dimensional measuring instrument body 1707 is adjusted by the cooperation of the threaded rod 1711, the rack 1712 and the second gear 1708. After adjustment, the second gear 1708 is locked to fix the measuring angle of the three-dimensional measuring instrument body 1707.

[0079] This application integrates the 3D measuring instrument body 1707 and the bracket into a single unit via the housing 1, improving the portability of the device. At the same time, no bolts are required when installing the 3D measuring instrument body 1707, improving the efficiency of installation and disassembly. The clamping mechanism 15 is used to fix the measuring mechanism 17, improving the stability of the measuring mechanism 17 and reducing the swaying of the 3D measuring instrument body 1707 caused by external forces such as wind, thereby improving the mapping quality.

[0080] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A portable three-dimensional laser scanner, characterized by: include: The measuring mechanism includes a base and a three-dimensional measuring instrument body mounted on the base; The housing has a mounting slot for placing the measuring mechanism. At least three supports are hinged to the outer bottom wall of the box body, and multiple supports are distributed sequentially at intervals along the circumference of the box body. The outer bottom wall of the box body is provided with a groove for accommodating the supports. The base plate is fixedly installed inside the housing; A rotating disk is rotatably mounted on the base plate. The rotating disk has multiple guide grooves that extend radially along the rotating disk and are distributed at intervals around the axis of the rotating disk. A horizontal rotation mechanism is used to drive the rotating disk to rotate or lock the rotating disk; A support tray, which is lifted and lowered on the rotating disk, is used to support the base; The clamping component includes a clamping post slidably disposed in the guide groove and an upper clamping plate fixedly connected to the top of the clamping post; A clamping mechanism is used to drive the clamping column along the guide groove toward the center of the rotating disk as the support tray moves downward, so that the upper clamping plate clamps the base; the clamping mechanism includes a plurality of connecting columns fixed to the periphery of the support tray, the plurality of connecting columns corresponding one-to-one with the plurality of clamping columns, a first slider is fixed to the end of the connecting column away from the support tray, the clamping column is hollow, and a first sliding groove is provided on each of the opposite side walls of the clamping column for the first slider to slide, the first sliding groove is inclined downward from the center to the edge of the rotating disk; an elastic element is connected between the support tray and the rotating disk to drive the two away from each other.

2. The portable 3D laser scanner according to claim 1, characterized in that: The base includes an upper body, a middle body, and a lower body fixedly connected from top to bottom. The cross-sectional profile of the middle body is smaller than that of the upper body and the lower body. The distance between the upper body and the lower body is greater than the thickness of the upper clamping plate. Side plates are fixedly connected to both sides of the upper body. The three-dimensional measuring instrument body is installed between the two side plates. When the upper clamping plate is clamped to the base, the side wall of the upper clamping plate abuts against the middle body, the top wall of the upper clamping plate abuts against the bottom wall of the upper body, and the clamping column abuts against the lower body.

3. A portable 3-D laser scanner as claimed in claim 2, characterized in that: An upper magnet is fixedly installed at the bottom of the upper clamping plate, and a lower magnet is fixedly installed at the top of the lower body. The upper magnet and the lower magnet are in corresponding positions and magnetically repulsive.

4. The portable 3-D laser scanner of claim 1, wherein: The horizontal rotation mechanism includes an outer gear ring coaxially fixed to the rotating disk and a first gear rotatably disposed on the base plate. The first gear meshes with the outer gear ring. The base plate is provided with a first driving member for driving the first gear to rotate. The base plate is also provided with a locking mechanism for locking the outer gear ring.

5. The portable 3-D laser scanner of claim 4, wherein: The locking mechanism includes a brake disc slidably disposed on the base plate, the brake disc having a friction surface on the side near the outer gear ring, and a first drive assembly for driving the brake disc closer to or away from the outer gear ring on the base plate.

6. The portable three-dimensional laser scanner of claim 5, wherein: The base plate has a second sliding groove. The first driving component includes a second slider that is slidably disposed in the second sliding groove. The second slider is fixedly connected to a second ferromagnetic block. The side of the brake disc away from the outer gear ring is fixedly connected to the second ferromagnetic block. An electromagnet for attracting the second ferromagnetic block is fixedly disposed on the base plate. An elastic pad is fixedly disposed in the second sliding groove. One end of the elastic pad is fixedly connected to the second slider.

7. The portable three-dimensional laser scanner of claim 2, wherein: A short shaft is rotatably mounted on the side plate, and the short shaft is fixedly connected to the three-dimensional measuring instrument body. A second gear is coaxially fixed to the short shaft. A rack is slidably mounted on the side plate, and the rack meshes with the second gear. A second drive assembly is provided on the side plate for driving the rack to translate along its own length direction.

8. The portable three-dimensional laser scanner of claim 7, wherein: The second drive assembly includes a threaded rod rotatably disposed on the side plate, the threaded rod being threaded through the rack along the length direction of the rack, and a second drive member for driving the threaded rod to rotate is provided on the side plate.

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