A 3D laser scanning point cloud data acquisition device and method

Abstract

The present invention belongs to the technical field of three-dimensional visual data acquisition, and in particular discloses a three-dimensional laser scanning point cloud data acquisition device and method, the three-dimensional laser scanning point cloud data acquisition device includes a workbench, a placement plate inside the placement groove of the workbench, the placement plate is bidirectionally moved on the X-axis and Y-axis respectively through a moving structure, a cross-shaped laser and two cameras are arranged on the top of the placement plate, the emission end of the cross-shaped laser is vertically pointed to the top surface of the placement plate, and the cross-shaped laser and the two cameras cooperate to form a data acquisition component. The present invention limits the rotation of the rotating frame by inserting a rod, thereby avoiding the two external gears from rotating inside the two sliding frames respectively, ensuring the limitation of the sliding frame on the vertical plate, and then ensuring the stability of the L-shaped plate, and the relative distance between the L-shaped plate and the placement plate can be adjusted in real time according to the height of the sample, so as to facilitate three-dimensional laser scanning of samples of different heights.

Description

Technical Field

[0001] The present invention belongs to the technical field of three-dimensional visual data acquisition, and in particular relates to a three-dimensional laser scanning point cloud data acquisition device and method. Background Art

[0002] Point cloud is a collection of point data on the product surface obtained by measuring instruments. As 3D point cloud data acquisition technology becomes increasingly mature, advanced measuring equipment can be used to quickly collect massive amounts of high-precision point cloud data on the surface of objects in a relatively short period of time.

[0003] For example, the invention application with application number CN202210192298.5 proposes a device and method for three-dimensional point cloud data acquisition, wherein the data acquisition component includes a cross-shaped laser and two cameras, and a cross-shaped laser and two cameras are used to perform three-dimensional laser scanning on the sample.

[0004] However, when adjusting the height of the data acquisition component, it is only explained that the adjustment frame also includes a height adjustment frame, and the height adjustment frame is slidably connected to the fixed frame along the vertical direction, but it is not explained how to limit the height adjustment frame, thereby affecting the stability of the camera frame.

[0005] Therefore, it is necessary to invent a three-dimensional laser scanning point cloud data acquisition device and method to solve the above problems. Summary of the invention

[0006] In view of the above problems, the present invention provides a 3D laser scanning point cloud data acquisition device and method to solve the problems raised in the above background technology:

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a three-dimensional laser scanning point cloud data acquisition device, comprising a workbench, a placement plate located inside a placement groove of the workbench, the placement plate being moved bidirectionally on an X-axis and a Y-axis respectively through a moving structure, a cross-shaped laser and two cameras being arranged on the top of the placement plate, the emitting end of the cross-shaped laser being vertically pointed to the top surface of the placement plate, the cross-shaped laser and the two cameras cooperating to form a data acquisition component, a frame being fixed on the top surface of the workbench, two vertical plate surfaces of the frame being sleeved with sliding frames, and the two sliding frames being arranged opposite to each other, the two opposite sliding frames being fixedly connected by a connecting plate, a sleeve frame for limiting the data acquisition component being sleeved on the surface of the connecting plate, an L-shaped plate being placed on the top surface of the sleeve frame, a plurality of through holes being arranged on the surface of the L-shaped plate, and the cross-shaped laser, the two cameras and the sleeve frame being connected to the through holes of the L-shaped plate by screws, and an adjustment structure for adjusting the height of the L-shaped plate being arranged on the sliding frame.

[0008] Furthermore, a screw hole is provided on the top surface of the frame, and the bottom end of the screw spirally penetrates the screw hole on the top surface of the frame, and the bottom end of the screw is tightly fitted with the top surface of the connecting plate. The two cameras are respectively fixed at the two ends of the L-shaped plate, and the two sides of the L-shaped plate correspond to the X-axis and the Y-axis respectively. The frame uses the screw to drive the L-shaped plate to move back and forth in the Y-axis direction.

[0009] Furthermore, the moving structure includes a rotating rod, which spirally penetrates the center of the workbench in the X-axis direction, and a plurality of round bars are fixed to the bottom surface of the placement plate. A slider is provided at the bottom of the placement plate, and the slider is spirally sleeved on the surface of the rotating rod, and a groove corresponding to the round bar is provided on the top surface of the slider. The placement plate moves inside the groove through the plurality of round bars, that is, the placement plate moves back and forth in the Y-axis direction, and the rotating rotating rod causes the slider to move, that is, the slider uses the groove and the round bar to cooperate to drive the placement plate to move back and forth in the X-axis direction.

[0010] Furthermore, bottom grooves are provided on both sides of the bottom surface of the placement plate, and the two bottom grooves are parallel to the X-axis direction. A push block is provided at the bottom of the bottom groove, and a limiting block corresponding to the bottom groove is fixed on the top surface of the push block. The placement plate slides on the surface of the limiting block through the bottom groove, and a square rod penetrating the placement groove is fixed on the outer side of the push block, and a nut is spirally sleeved on the outer end of the square rod.

[0011] Furthermore, the adjustment structure includes an external gear and an internal gear, side plates are fixed on both sides of the outer side of the sliding frame, the external gear is located between the two side plates, and protruding rods penetrating the side plates are fixed on both sides of the external gear, a through groove is provided at the center of the outer side of the sliding frame, a cross bar is embedded in the through groove, the internal gear is rotatably sleeved on the surface of the cross bar, and the external gear is meshed with the internal gear, and tooth grooves are provided on the outer sides of the two vertical plates of the frame, the internal gear is located between the external gear and the vertical plate, and the teeth of the internal gear are meshed with the tooth grooves on the surface of the vertical plate.

[0012] Furthermore, the sliding frame is provided with a rotating frame along the opposite direction of the X-axis, the convex rod at the end of the external gear is fixedly connected to the outer end of the rotating frame, an insertion rod is penetrated through the inner side of the sliding frame along the X-axis direction, the bottom surface of the rotating frame is fitted with the outer side surface of the circumference of the insertion rod, and pull plates are fixed to the ends of the two insertion rods, the pull plates are in the positive direction of the X-axis of the sliding frame, a spring is sleeved on the surface of the insertion rod, one end of the spring is connected to the pull plate, and the other end of the spring is connected to the sliding frame.

[0013] Furthermore, a moving block is embedded in the rotating frame, a screw is rotatably clamped at the center of the rotating frame, the screw spirally penetrates the moving block, a sliding groove is provided on the bottom surface of the rotating frame, an arc block is fixed on the bottom surface of the moving block through the sliding groove, the bottom surface of the arc block is set as an arc surface, and the arc block corresponds to the outer circumferential surface of the insertion rod through the arc surface.

[0014] The present invention also provides a 3D laser scanning point cloud data acquisition method, comprising the 3D laser scanning point cloud data acquisition device as described above, and further comprising the following steps:

[0015] S1. Place the sample on the top of the placement plate, with the cross-shaped laser directly above the sample;

[0016] S2, moving the structure to make the sample pass through the first detection light surface or the second detection light surface in the X-axis or Y-axis direction in sequence;

[0017] S3. The two cameras continuously receive light reflected by the sample through the first detection light surface or the second detection light surface to form three-dimensional point cloud data.

[0018] Technical effects and advantages of the present invention:

[0019] 1. The present invention limits the rotation of the rotating frame by inserting rods, thereby preventing the two external gears from rotating inside the two sliding frames respectively, ensuring the limitation of the sliding frame on the vertical plate, and then ensuring the stability of the L-shaped plate. The relative distance between the L-shaped plate and the placement plate can be adjusted in real time according to the height of the sample, which facilitates three-dimensional laser scanning of samples of different heights.

[0020] 2. The present invention allows the arc surface of the arc block to slide on the surface of the insertion rod. The reaction force of the insertion rod on the arc block causes the rotating frame to drive the external gear to rotate. The rotation of the external gear is used to facilitate fine-tuning the height of the sliding frame, so that the distance between the data acquisition component and the sample reaches a suitable position, which facilitates the data acquisition component to carefully scan the sample. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is an overall schematic diagram of a three-dimensional laser scanning point cloud data acquisition device according to an embodiment of the present invention;

[0022] Figure 2 is an overall schematic diagram of an adjustment structure installed on a frame of an embodiment of the present invention;

[0023] Figure 3 is a schematic diagram of the moving structure of the movable placement plate inside the placement slot according to an embodiment of the present invention;

[0024] Figure 4 is a schematic diagram of internal components of a slide frame according to an embodiment of the present invention;

[0025] Figure 5 Schematic diagram of an external gear connected to a rotating frame via a protruding rod according to an embodiment of the present invention;

[0026] In the figure: 1. workbench; 2. placement plate; 3. cross-shaped laser; 4. camera; 5. frame; 6. slide frame; 7. connecting plate; 8. sleeve frame; 9. L-shaped plate; 10. rotating rod; 11. round bar; 12. slider; 13. groove; 14. bottom groove; 15. push block; 16. limiting block; 17. square and round rod; 18. nut; 19. external gear; 20. internal gear; 21. tooth groove; 22. rotating frame; 23. insertion rod; 24. pull plate; 25. spring; 26. moving block; 27. screw; 28. slide groove; 29. ​​arc block. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0028] The present invention provides a three-dimensional laser scanning point cloud data acquisition device, such as Figure 1 and Figure 2As shown, it includes a workbench 1, a placement plate 2 located inside a placement groove of the workbench 1, the placement plate 2 is bidirectionally moved on the X-axis and the Y-axis respectively through a moving structure, a cross-shaped laser 3 and two cameras 4 are arranged on the top of the placement plate 2, the emission end of the cross-shaped laser 3 is vertically pointed to the top surface of the placement plate 2 to form a first detection light surface and a second detection light surface perpendicular to each other, the first detection light surface extends along the X-axis direction, and the second detection light surface extends along the Y-axis direction, and the two cameras 4 are respectively used to receive the light formed by the first detection light surface and the second detection light surface through reflection. The cross-shaped laser 3 and the two cameras 4 cooperate to form a data acquisition component. A frame 5 is fixed on the top surface of the workbench 1. The surfaces of the two vertical plates of the frame 5 are both sleeved with sliding frames 6, and the two sliding frames 6 are arranged opposite to each other. The two opposite sliding frames 6 are fixedly connected by a connecting plate 7. The surface of the connecting plate 7 is sleeved with a sleeve frame 8 that limits the data acquisition component. An L-shaped plate 9 is placed on the top surface of the sleeve frame 8. The surface of the L-shaped plate 9 is provided with multiple through holes, and the cross-shaped laser 3, the two cameras 4 and the sleeve frame 8 are all connected to the through holes of the L-shaped plate 9 by screws. The sliding frame 6 is provided with an adjustment structure for adjusting the height of the L-shaped plate 9. The sample is placed on the top surface of the placement plate 2, and the cross-shaped laser 3 is installed on the L-shaped plate 9 by screws according to the placement position of the sample. At the same time, the two cameras 4 are installed on the two ends of the L-shaped plate 9 by screws. The first detection light surface and the second detection light surface are perpendicular to each other emitted by the cross-shaped laser 3. The first detection light surface and the second detection light surface correspond to the two cameras 4 respectively. The placement plate 2 drives the sample to move along the X-axis or Y-axis direction through the moving structure, which can realize data collection in different directions, and reasonably plan the scanning path for the characteristic structure of the sample surface to be scanned, and scan in different directions, which can effectively reduce the generation of holes, improve the efficiency of data collection, greatly retain the true shape of the sample, and provide low-noise point cloud data with no missing object geometric features for subsequent alignment, and have better accuracy and robustness.

[0029] exist Figure 1 and Figure 2In the figure, the top surface of the sleeve frame 8 is provided with a screw hole, the bottom end of the screw spirally penetrates the screw hole on the top surface of the sleeve frame 8, and the bottom end of the screw is tightly fitted with the top surface of the connecting plate 7, and the two cameras 4 are respectively fixed at the two ends of the L-shaped plate 9, and the two sides of the L-shaped plate 9 correspond to the X-axis and the Y-axis respectively. The sleeve frame 8 uses screws to drive the L-shaped plate 9 to move back and forth in the Y-axis direction. The cross-shaped laser 3 and two cameras 4 are installed on the bottom of the L-shaped plate 9 by screws. After the sample is placed on the top surface of the placement plate 2, the L-shaped plate 9 is placed on the top surface of the sleeve frame 8 according to the corresponding effect between the cross-shaped laser 3 and the sample. The screws are used to penetrate the through holes on the surface of the L-shaped plate 9, and the bottom ends of the screws are screwed into the screw holes on the top surface of the sleeve frame 8. The sleeve frame 8 is pushed to slide on the surface of the connecting plate 7 so that the two cameras 4 are respectively located in the X-axis and Y-axis directions of the sample. At this time, the cross-shaped laser 3 is directly above the sample. The screws on the top of the sleeve frame 8 are turned so that the bottom ends of the screws are fitted with the top surface of the connecting plate 7. The sleeve frame 8 is confined on the connecting plate 7 by the tight fit between the screws and the connecting plate 7.

[0030] exist Figure 1 and Figure 3 In the figure, the moving structure includes a rotating rod 10, which is externally connected to the output end of the motor. The rotating rod 10 spirally penetrates the center of the workbench 1 in the X-axis direction. A plurality of round bars 11 are fixed to the bottom surface of the placement plate 2. A slider 12 is provided at the bottom of the placement plate 2. The bottom surface of the slider 12 is in contact with the inner bottom surface of the placement groove, and the slider 12 is spirally sleeved on the surface of the rotating rod 10. A groove 13 corresponding to the round bar 11 is provided on the top surface of the slider 12. The placement plate 2 moves inside the groove 13 through the plurality of round bars 11, that is, the placement plate 2 moves back and forth in the Y-axis direction. The rotating rotating rod 10 causes the slider 12 to move, that is, the slider 12 uses the groove 13 to cooperate with the round bar 11 to drive the placement plate 2 to move back and forth in the X-axis direction. The motor works, and the motor output end drives the rotating rod 10 to rotate. Due to the limitation of the placement groove itself on the slider 12, the spiral effect of the rotating rod 10 and the slider 12 makes the slider 12 move back and forth in the X-axis direction inside the placement groove. Since the bottom surface of the slider 12 is correspondingly buckled in the groove 13 through the round bar 11, the moving slider 12 drives the placement plate 2 to move back and forth in the X-axis direction.

[0031] Bottom grooves 14 are provided on both sides of the bottom surface of the placement plate 2, and the two bottom grooves 14 are parallel to the X-axis direction. A push block 15 is provided at the bottom of the bottom groove 14, and a limiting block 16 corresponding to the bottom groove 14 is fixed on the top surface of the push block 15. The placement plate 2 slides on the surface of the limiting block 16 through the bottom groove 14, and a square rod 17 penetrating the placement groove is fixed on the outer side of the push block 15. A square groove corresponding to the square rod 17 is provided on the inner side wall of the placement groove, and a nut 18 is spirally sleeved on the outer end of the square rod 17, and the inner side of the nut 18 is in contact with the side of the workbench 1. The nuts 18 on the surfaces of the two square rods 17 are screwed synchronously. Since the square grooves limit the square rods 17, the square rods 17 are prevented from rotating with the nuts 18. The spiral effect of the nuts 18 and the square rods 17 causes the square rods 17 to move inside the square grooves. At this time, the two square rods 17 move in the same direction. The moving square rod 17 drives the limiting block 16 to move by the pushing block 15. The placing plate 2 limits the limiting block 16 on the top of the pushing block 15 through the bottom groove 14. The moving limiting block 16 drives the placing plate 2 to move back and forth in the Y-axis direction by the bottom groove 14.

[0032] exist Figure 2 and Figure 4 In the embodiment, the adjustment structure includes an outer gear 19 and an inner gear 20. Side plates are fixed on both sides of the outer side of the slide frame 6. The outer gear 19 is located between the two side plates. Protruding rods penetrating the side plates are fixed on both sides of the outer gear 19. A through groove is provided at the center of the outer side of the slide frame 6. A cross bar is embedded in the through groove. The inner gear 20 is rotatably sleeved on the surface of the cross bar, and the outer gear 19 meshes with the inner gear 20. Tooth grooves 21 are provided on the outer sides of the two vertical plates of the frame 5. The inner gear 20 is located between the outer gear 19 and the vertical plate, and the teeth of the inner gear 20 mesh with the tooth grooves 21 on the surface of the vertical plate. When the slide frame 6 moves up and down, the slide frame 6 that moves up and down drives the inner gear 20 to move synchronously by using the cross bar, and the slide frame 6 drives the outer gear 19 to move synchronously up and down through the side plates and the protruding rod.

[0033] Along the X-axis direction, the upwardly moving internal gear 20 rotates on the surface of the tooth groove 21 on the outer side of the vertical plate by means of teeth, and at this time, the internal gear 20 in the sleeve frame 8 along the opposite direction of the Y-axis rotates counterclockwise on the surface of the crossbar, and the counterclockwise rotating internal gear 20 drives the outer gear 19 to rotate clockwise. The downwardly moving internal gear 20 rotates on the surface of the tooth groove 21 on the outer side of the vertical plate by means of teeth, and at this time, the internal gear 20 in the sleeve frame 8 along the opposite direction of the Y-axis rotates clockwise on the surface of the crossbar, and the clockwise rotating internal gear 20 drives the outer gear 19 to rotate counterclockwise. Similarly, the internal gear 20 in the sleeve frame 8 along the positive direction of the Y-axis rotates clockwise during the upward movement, and the clockwise rotating internal gear 20 drives the outer gear 19 to rotate counterclockwise. The internal gear 20 in the sleeve frame 8 along the positive direction of the Y-axis rotates counterclockwise during the downward movement, and the counterclockwise rotating internal gear 20 drives the outer gear 19 to rotate clockwise.

[0034] exist Figure 2 , Figure 4 and Figure 5 In the figure, the sliding frame 6 is provided with a rotating frame 22 along the opposite direction of the X-axis, the convex rod at the end of the external gear 19 is fixedly connected to the outer end of the rotating frame 22, and an insertion rod 23 is penetrated through the inner side of the sliding frame 6 along the X-axis direction, the bottom surface of the rotating frame 22 is fitted with the circumferential outer side surface of the insertion rod 23, and a pull plate 24 is fixed to the ends of the two insertion rods 23, and the pull plate 24 is in the positive direction of the X-axis of the sliding frame 6. A spring 25 is sleeved on the surface of the insertion rod 23, one end of the spring 25 is connected to the pull plate 24, and the other end of the spring 25 is connected to the sliding frame 6. The pull plate 24 is pulled, and the pull plate 24 gradually moves away from the sliding frame 6. The pull plate 24 pulls the spring 25 in the process of moving away from the sliding frame 6 until the insertion rod 23 enters the sliding frame 6 under the drive of the pull plate 24. At this time, the sliding frame 6 is pushed to move up on the surface of the vertical plate of the frame 5. The upward sliding frame 6 uses the connecting plate 7 to drive the sleeve frame 8 and the L-shaped plate 9 to move up to a suitable height, and then the tension applied to the pull plate 24 is released. The elastic force of the spring 25 uses the pull plate 24 to drive the insertion rod 23 to move in the opposite direction, and the pull plate 24 gradually approaches the sliding frame 6, and the insertion rod 23 gradually moves out from the inside of the sliding frame 6. At this time, the bottom surface of the rotating frame 22 is in contact with the surface of the insertion rod 23, and the thrust applied to the sliding frame 6 is released. At this time, the insertion rod 23 blocks the rotation of the rotating frame 22, thereby preventing the two external gears 19 from rotating in the two sliding frames 6 respectively, ensuring that the sliding frame 6 is limited in the vertical plate, and the relative distance between the L-shaped plate 9 and the placement plate 2 can be adjusted in real time according to the height of the sample, so as to facilitate three-dimensional laser scanning of samples at different heights.

[0035] A moving block 26 is embedded in the rotating frame 22, and a screw 27 is rotatably clamped at the center of the rotating frame 22. The screw 27 spirally penetrates the moving block 26. A sliding groove 28 is provided on the bottom surface of the rotating frame 22, and an arc block 29 is fixed to the bottom surface of the moving block 26 through the sliding groove 28. The bottom surface of the arc block 29 is set as an arc surface, and the arc block 29 corresponds to the outer circumferential surface of the insertion rod 23 through the arc surface. The screw 27 is manually rotated, and the spiral effect of the screw 27 and the moving block 26 causes the moving block 26 to move inside the rotating frame 22. At this time, the moving block 26 drives the arc block 29 to move through the slide groove 28 until the arc surface of the arc block 29 contacts the outer side surface of the circumference of the insertion rod 23. The arc block 29 slides on the surface of the insertion rod 23 using the arc surface. The reaction force of the insertion rod 23 on the arc block 29 causes the rotating frame 22 to drive the outer gear 19 to rotate. The rotation of the outer gear 19 is used to facilitate fine-tuning the height of the sliding frame 6, that is, fine-tuning the relative distance between the L-shaped plate 9 and the placement plate 2, so that the distance between the data acquisition component and the sample reaches a suitable position, which is convenient for the data acquisition component to carefully scan the sample.

[0036] When the sleeve frame 8 moves in the direction opposite to the Y axis, the arc surface on the surface of the insertion rod 23 moves in the direction opposite to the Y axis, the rotating frame 22 of the sleeve frame 8 in the direction opposite to the Y axis drives the outer gear 19 to rotate clockwise by using the convex rod, and the clockwise rotating outer gear 19 drives the inner gear 20 to rotate counterclockwise, and the meshing effect of the counterclockwise rotating inner gear 20 and the tooth groove 21 causes the slide frame 6 to move up on the surface of the vertical plate. Similarly, when the arc surface on the surface of the insertion rod 23 moves in the direction of the Y axis, the rotating frame 22 of the sleeve frame 8 in the direction opposite to the Y axis drives the outer gear 19 to rotate counterclockwise by using the convex rod, and the counterclockwise rotating outer gear 19 drives the inner gear 20 to rotate clockwise, and the meshing effect of the clockwise rotating inner gear 20 and the tooth groove 21 causes the slide frame 6 to move down on the surface of the vertical plate.

[0037] The present invention also provides a three-dimensional laser scanning point cloud data acquisition method, referring to Figure 1 As shown, the 3D laser scanning point cloud data acquisition device as described above also includes the following steps:

[0038] S1, placing the sample on the top surface of the placement plate 2, with the cross-shaped laser 3 directly above the sample;

[0039] S2, moving the structure to make the sample pass through the first detection light surface or the second detection light surface in the X-axis or Y-axis direction in sequence;

[0040] S3. The two cameras 4 continuously receive the light reflected by the sample through the first detection light surface or the second detection light surface to form three-dimensional point cloud data.

[0041] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them.

Claims

1. A three-dimensional laser scanning point cloud data acquisition device, comprising a workbench (1), a placement plate (2) located in a placement groove of the workbench (1), the placement plate (2) being capable of bidirectional movement on an X-axis and a Y-axis respectively through a moving structure, a cross-shaped laser (3) and two cameras (4) being arranged on the top of the placement plate (2), the emission end of the cross-shaped laser (3) being vertically pointed to the top surface of the placement plate (2), the cross-shaped laser (3) and the two cameras (4) cooperating to form a data acquisition component, characterized in that: A frame (5) is fixed on the top surface of the workbench (1); two vertical plate surfaces of the frame (5) are sleeved with sliding frames (6); the two sliding frames (6) are arranged opposite to each other; the two sliding frames (6) opposite to each other are fixedly connected via a connecting plate (7); a sleeve frame (8) for limiting a data acquisition component is sleeved on the surface of the connecting plate (7); an L-shaped plate (9) is placed on the top surface of the sleeve frame (8); a plurality of through holes are arranged on the surface of the L-shaped plate (9); the cross-shaped laser (3), the two cameras (4) and the sleeve frame (8) are connected to the through holes of the L-shaped plate (9) via screws; and an adjustment structure for adjusting the height of the L-shaped plate (9) is arranged on the sliding frame (6); The adjustment structure comprises an external gear (19) and an internal gear (20); side plates are fixed on both sides of the outer side surface of the sliding frame (6); the external gear (19) is located between the two side plates; protruding rods penetrating the side plates are fixed on both sides of the external gear (19); a through groove is provided at the center of the outer side surface of the sliding frame (6); a cross bar is embedded in the through groove; the internal gear (20) is rotatably sleeved on the surface of the cross bar, and the external gear (19) meshes with the internal gear (20); tooth grooves (21) are provided on the outer sides of the two vertical plates of the frame (5); the internal gear (20) is located between the external gear (19) and the vertical plates, and the teeth of the internal gear (20) mesh with the tooth grooves (21) on the surface of the vertical plates; The slide frame (6) is provided with a rotating frame (22) along the opposite direction of the X-axis, the protruding rod at the end of the external gear (19) is fixedly connected to the outer end of the rotating frame (22), the inner side of the slide frame (6) is penetrated by an insertion rod (23) along the X-axis direction, the bottom surface of the rotating frame (22) is in contact with the circumferential outer side surface of the insertion rod (23), and the ends of the two insertion rods (23) are fixed with pull plates (24), the pull plates (24) are located in the positive direction of the X-axis of the slide frame (6), and the surface of the insertion rod (23) is sleeved with a spring (25), one end of the spring (25) is connected to the pull plate (24), and the other end of the spring (25) is connected to the slide frame (6); A moving block (26) is embedded in the rotating frame (22), a screw rod (27) is rotatably connected at the center of the rotating frame (22), the screw rod (27) spirally penetrates the moving block (26), a sliding groove (28) is provided on the bottom surface of the rotating frame (22), an arc block (29) is fixed to the bottom surface of the moving block (26) through the sliding groove (28), the bottom surface of the arc block (29) is arranged as an arc surface, and the arc block (29) corresponds to the outer circumferential surface of the insertion rod (23) through the arc surface.

2. The three-dimensional laser scanning point cloud data acquisition device according to claim 1, characterized in that: The top surface of the sleeve frame (8) is provided with a screw hole, the bottom end of the screw spirally penetrates the screw hole on the top surface of the sleeve frame (8), and the bottom end of the screw is tightly fitted with the top surface of the connecting plate (7), the two cameras (4) are respectively fixed on the two ends of the L-shaped plate (9), the two side edges of the L-shaped plate (9) respectively correspond to the X-axis and the Y-axis, and the sleeve frame (8) drives the L-shaped plate (9) to move back and forth in the Y-axis direction by means of the screw.

3. The three-dimensional laser scanning point cloud data acquisition device according to claim 2, characterized in that: The moving structure comprises a rotating rod (10), wherein the rotating rod (10) spirally penetrates the center of the workbench (1) in the X-axis direction, a plurality of round bars (11) are fixed to the bottom surface of the placement plate (2), a slider (12) is provided at the bottom of the placement plate (2), and the slider (12) is spirally sleeved on the surface of the rotating rod (10), and a groove (13) corresponding to the round bar (11) is provided on the top surface of the slider (12), and the placement plate (2) moves inside the groove (13) through the plurality of round bars (11), that is, the placement plate (2) moves back and forth in the Y-axis direction, and the rotating rotating rod (10) causes the slider (12) to move, that is, the slider (12) drives the placement plate (2) to move back and forth in the X-axis direction by using the groove (13) and the round bar (11) to cooperate.

4. The three-dimensional laser scanning point cloud data acquisition device according to claim 3, characterized in that: Bottom grooves (14) are provided on both sides of the bottom surface of the placement plate (2), and the two bottom grooves (14) are parallel to the X-axis direction. A push block (15) is provided at the bottom of the bottom groove (14), and a limiting block (16) corresponding to the bottom groove (14) is fixed on the top surface of the push block (15). The placement plate (2) slides on the surface of the limiting block (16) through the bottom groove (14). A square rod (17) penetrating the placement groove is fixed on the outer side surface of the push block (15), and a nut (18) is spirally sleeved on the outer end of the square rod (17).

5. A three-dimensional laser scanning point cloud data acquisition method, characterized in that: The three-dimensional laser scanning point cloud data acquisition device according to claim 4 further comprises the following steps: S1. Place the sample on the top surface of the placement plate (2), with the cross-shaped laser (3) directly above the sample; S2, moving the structure to make the sample pass through the first detection light surface or the second detection light surface in the X-axis or Y-axis direction in sequence; S3. The two cameras (4) continuously receive light reflected by the sample via the first detection light surface or the second detection light surface to form three-dimensional point cloud data.

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