A 3D laser scanning vehicle for steel structure connections

Abstract

The present invention discloses a 3D laser scanning vehicle for steel structure connection, which belongs to the field of linear dimension measurement, and includes a ground moving unit, a marking unit, a top transfer unit, and a scanning unit. The ground moving unit includes a vehicle body, and a first placement slot and a second placement slot are provided on the vehicle body. The marking unit includes a pallet, and an air pump and a manipulator are provided on the upper surface of the pallet, and the gripping end of the manipulator has an outer tube and an inner tube. The top transfer unit includes a body and a propeller assembly, and a fixed L-shaped clamp and a movable L-shaped clamp are provided on both sides of the body. The scanning unit includes a second rotating motor arranged vertically, and a third rotating motor is provided at the upper end of the output shaft thereof, and a three-dimensional scanner is provided at the output end of the third rotating motor. The 3D laser scanning vehicle for steel structure connection of the present invention can conveniently paste marking points on steel structure connection parts located at various parts of steel structure buildings, and move as a whole for scanning, which can improve the efficiency of three-dimensional laser scanning, save manpower, and reduce safety hazards.

Description

Technical Field

[0001] The invention relates to a steel structure scanning technology, belongs to the field of linear dimension measurement, and in particular to a 3D laser scanning vehicle for a steel structure connection. Background Art

[0002] During the construction of steel structure buildings, installation quality inspection and deformation monitoring are important links. Rapidly and correctly evaluating the quality of steel structure connections and mastering deformation trends are requirements for safe, efficient and high-quality construction. With the development of 3D (three-dimensional) laser scanning technology, 3D laser scanning can quickly and accurately measure steel structure connections.

[0003] In actual 3D laser scanning of steel structure connections, it is usually necessary to paste multiple marking points in the area to be measured. The 3D laser scanner builds a 3D point cloud model with coordinates by scanning these marking points and the lines between them, thereby obtaining high-precision measurement results and a visual 3D model. The marking points help the scanner maintain stable tracking during the scanning process and reduce tracking loss caused by unclear surface features of the object or complex scanning environment. Fig.12 As shown, generally, a plurality of marking points 51 are carried by the marking sheet 5, and when in use, the marking points 51 are manually torn off one by one from the marking sheet 5 for pasting.

[0004] However, steel structure buildings sometimes have more complex environments. Some connections are close to the ground. If there are some objects on the ground blocking them, it is inconvenient for workers to reach the connections. Some connections are located near the junction of the ceiling and the wall. It is time-consuming and laborious for workers to climb up to the top of the building with a ladder to paste them, and there are certain safety hazards. Summary of the invention

[0005] In view of the above-mentioned defects, the present invention provides a 3D laser scanning vehicle for steel structure connections, which can conveniently paste marking points on the steel structure connections located in various parts of steel structure buildings and move as a whole for scanning, thereby improving the efficiency of three-dimensional laser scanning, saving manpower and reducing safety hazards.

[0006] In order to achieve the purpose of the present invention, the following technologies are proposed:

[0007] A 3D laser scanning vehicle for steel structure connection, comprising:

[0008] The ground mobile unit comprises a vehicle body, wherein a first placement groove is provided on an upper end surface of one side of one end of the vehicle body, a bottom plate is installed in the first placement groove, and a marking sheet is installed on the bottom plate, and a second placement groove is provided on an upper end surface of the other side of one end of the vehicle body;

[0009] The marking unit is arranged on the ground mobile unit, and includes a support plate arranged in the second placement groove, an air pump and a manipulator are arranged on the upper surface of the support plate, an outer tube and a second linear mechanism are fixed to the grasping end of the manipulator, an inner tube slidingly matched in the outer tube is arranged at the lower end of the output shaft of the second linear mechanism, the diameter of the inner tube is the same as the diameter of the marking point, and the upper end of the inner tube is connected to the air extraction end of the air pump through an air pipe;

[0010] The top transfer unit is arranged at one end of the ground mobile unit, and includes a machine body, a plurality of propeller assemblies are arranged around the machine body, third linear mechanisms are vertically arranged on both sides above the machine body, a first rotary motor is vertically arranged at the lower end of the output shaft of the third linear mechanism, a first cross bar and a fourth linear mechanism are arranged at the lower end of the output shaft of the first rotary motor, a fixed L-shaped clamp is arranged at one end of the first cross bar, a second cross bar is arranged at the output end of the fourth linear mechanism, and a movable L-shaped clamp is arranged at one end of the second cross bar;

[0011] The scanning unit is arranged at the other end of the ground moving unit, and comprises a second vertically arranged rotating motor, a third horizontally arranged rotating motor is arranged at the upper end of the output shaft of the second vertically arranged rotating motor, and a three-dimensional scanner is arranged at the output end of the third rotating motor.

[0012] Furthermore, a plurality of bottom columns are provided on the bottom surface of the first placement groove, and a mounting hole is provided on the upper end of the bottom column. The bottom plate is assembled on the bottom column, and a plurality of vertical holes are provided on the bottom plate which are coaxially arranged with the mounting holes respectively. The marking sheet is assembled on the upper end surface of the bottom plate through the plurality of mounting columns. During assembly, the mounting columns penetrate the marking sheet, and a plurality of through holes which are coaxially arranged with the vertical holes are formed on the surface of the marking sheet. The mounting columns are successively penetrated through the through holes, the vertical holes, and the mounting holes, so that the marking sheet is fixed to the bottom plate, and the bottom plate is mounted on the upper end of the bottom columns. A pressing ring is also fixed on the outer peripheral side of the mounting column. When the bottom end of the mounting column contacts the inner bottom end of the mounting hole, the pressing ring is used to press the marking sheet downward onto the bottom plate.

[0013] Furthermore, a first linear mechanism parallel to the width direction of the vehicle body is provided at one end of the vehicle body, and an L-shaped plate is provided at the output end of the first linear mechanism.

[0014] Furthermore, a ring plate is fixed to the grasping end of the manipulator, an outer tube is inserted into the ring plate, an outer groove is opened along the axis of the outer tube, an L-shaped frame is provided on one side of the ring plate, a side plate is provided on the upper end of the vertical part of the L-shaped frame, a second linear mechanism is provided on one side of the side plate, a lifting plate is provided at the lower end of the output shaft of the second linear mechanism, an inner tube is provided at one end of the lifting plate, the inner tube is slidably fitted in the outer groove, and an air groove is opened along the axis of the inner tube.

[0015] Furthermore, the vehicle body includes a battery and a first control module, a plurality of storage slots are provided on the upper end surface of the vehicle body, a first contact is provided at the bottom of at least one storage slot, a plurality of vertical columns matching the storage slots respectively are provided at the lower end of the body, the vehicle body includes a battery and a second control module, a second contact matching the first contact is provided at the lower end of at least one vertical column, which is used to transmit power to the body through the vehicle body to charge the top transfer unit.

[0016] Furthermore, an n-shaped frame is provided at the upper end of the machine body, L-shaped seats are provided on both sides of the horizontal portion of the n-shaped frame, and the third linear mechanism is provided on the outer side of the vertical portion of the L-shaped seat.

[0017] Furthermore, the fixed L-shaped clamp and the movable L-shaped clamp at one end of the machine body are used to clamp the bottom plate and the assembled marking sheet, and the fixed L-shaped clamp and the movable L-shaped clamp at the other end of the machine body are used to clamp the support plate.

[0018] Furthermore, a first clamping groove extending toward the interior of the vehicle body is formed on one end wall of the first placement groove, and a second clamping groove extending toward the interior of the vehicle body is formed on one end wall of the second placement groove. When the fixed L-shaped clamp block and the movable L-shaped clamp block are rotated to the bottom of the machine body, one movable L-shaped clamp block is used to clamp the base plate and the marking piece from one side of the first clamping groove, and the other movable L-shaped clamp block is used to clamp the support plate from one side of the second clamping groove.

[0019] Furthermore, a rotating plate is provided at the upper end of the output shaft of the second rotating motor, a bracket is provided at the upper end of the rotating plate, the third rotating motor is arranged at the upper end of the bracket, a rotating rod is provided at the other end of the three-dimensional scanner, a rotating seat is also provided on the upper end surface of the rotating plate, and the rotating rod rotates to cooperate with the rotating seat.

[0020] The beneficial effects of this technical solution are:

[0021] When the marking piece and the punctuation unit are placed on the vehicle body, the marking points can be pasted at a position close to the ground, and the top transfer unit can take out and load the marking piece and the punctuation unit, and then paste the marking points at a higher position, so it is convenient to paste the marking points on the connection parts of various parts of the steel structure building. After pasting, the scanning vehicle moves as a whole for scanning, and the scanning unit adjusts the angle of the 3D scanner. Therefore, the 3D laser scanning vehicle for steel structure connection can improve the efficiency of 3D laser scanning, save manpower, and reduce safety hazards at work. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The overall stereogram of the embodiment of the present invention is shown. Figure 1 .

[0023] Figure 2 The embodiment of the present invention is shown Figure 1 A magnified view of part A.

[0024] Figure 3The overall stereogram of the embodiment of the present invention is shown. Figure 2 .

[0025] Figure 4 A partial stereoscopic view of a ground mobile unit according to an embodiment of the present invention is shown.

[0026] Figure 5 A partial exploded view of a ground mobile unit according to an embodiment of the present invention is shown.

[0027] Figure 6 A three-dimensional diagram of a punctuation unit according to an embodiment of the present invention is shown.

[0028] Figure 7 A partial stereoscopic diagram of a punctuation unit according to an embodiment of the present invention is shown.

[0029] Figure 8 A partial exploded view of a punctuation unit according to an embodiment of the present invention is shown.

[0030] Fig. 9 A three-dimensional view of a top transfer unit according to an embodiment of the present invention is shown.

[0031] Fig.10 The embodiment of the present invention is shown Fig. 9 Enlarged view of part B.

[0032] Fig.11 A three-dimensional diagram of a scanning unit according to an embodiment of the present invention is shown.

[0033] Fig.12 A perspective view of the background technology of the present invention is shown.

[0034] Markings in the figure: ground mobile unit 1, vehicle body 11, driving part 111, crawler 12, first placement groove 13, first clamping groove 131, bottom column 14, bottom plate 141, vertical hole 142, mounting column 143, pressure ring 144, second placement groove 15, second clamping groove 151, first linear mechanism 16, L-shaped plate 161, storage groove 17, marking unit 2, support plate 21, air pump 22, manipulator 23, ring plate 24, L-shaped frame 241, side plate 242, outer tube 25, outer groove 26, second linear mechanism 27, lifting plate 271, inner tube 28, air groove 29, Top transfer unit 3, body 31, vertical column 311, horizontal plate 312, n-shaped frame 313, L-shaped seat 314, propeller assembly 32, third linear mechanism 33, hanger 331, first rotating motor 34, inverted L-shaped block 341, first cross bar 342, fixed L-shaped clamp 35, fourth linear mechanism 36, second cross bar 361, movable L-shaped clamp 37, scanning unit 4, second rotating motor 41, rotating plate 42, bracket 421, third rotating motor 43, three-dimensional scanner 44, rotating rod 45, rotating seat 46, marking sheet 5, marking point 51, through hole 52. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] like Figure 1 to Figure 11 A 3D laser scanning vehicle for a steel structure connection part is shown, comprising a ground moving unit 1, a marking unit 2, a top transfer unit 3, and a scanning unit 4.

[0037] like Figure 1~Figure 5 As shown, the ground mobile unit 1 includes a vehicle body 11, which includes a battery and a first control module. Drive parts 111 are provided on both sides of the vehicle body 11, and tracks 12 are provided on the surrounding sides of the drive parts 111. A first placement groove 13 is provided on an upper end surface of one side of one end of the vehicle body 11, and a first clamping groove 131 extending toward the inside of the vehicle body 11 is provided on an end wall of the first placement groove 13. A plurality of bottom columns 14 are provided on the bottom surface of the first placement groove 13, which are respectively located at four corners. The upper ends of the bottom columns 14 are provided with mounting holes, and a bottom plate 141 is mounted on the bottom columns 14. The bottom plate 141 is used to mount the marking sheet 5. Specifically, a plurality of vertical holes 142 are provided on the bottom plate 141, which are respectively coaxially arranged with the mounting holes. The marking sheet 5 is mounted on the upper end surface of the bottom plate 141 through a plurality of mounting columns 143. During assembly, the mounting columns 143 penetrate the marking sheet 5, and a plurality of through holes coaxially arranged with the vertical holes 142 are formed on the surface of the marking sheet 5. 52, the mounting column 143 is sequentially penetrated through the through hole 52, the vertical hole 142, and the mounting hole, so that the marking sheet 5 is fixed to the bottom plate 141, and the bottom plate 141 is installed on the upper end of the bottom column 14, and a pressing ring 144 is also fixed on the outer peripheral side of the mounting column 143. When the bottom end of the mounting column 143 contacts the inner bottom end of the mounting hole, the pressing ring 144 is used to press the marking sheet 5 downward on the bottom plate 141. A second placement groove 15 is provided on the upper end surface of the other side of one end of the vehicle body 11, and a second clamping groove 151 extending toward the inside of the vehicle body 11 is provided on one end wall of the second placement groove 15. A first linear mechanism 16 parallel to the width direction of the vehicle body 11 is also provided at one end of the vehicle body 11, and an L-shaped plate 161 is provided at its output end. A plurality of storage grooves 17 are provided on the upper end surface of the vehicle body 11, and a first contact is provided at the bottom of at least one storage groove 17. A charging interface is also provided at the other end of the vehicle body 11. For the convenience of representation, the charging interface is not shown in the attached figure.

[0038] like Figure 1 , Figure 3 , Figure 6~Figure 8As shown, the punctuation unit 2 is arranged on the ground mobile unit 1, including a support plate 21 arranged in the second placement groove 15, and the L-shaped plate 161 is used to limit the support plate 21 at the opening of the second placement groove 15 located at one end of the vehicle body 11 to prevent the punctuation unit 2 from falling from one end of the vehicle body 11 when the vehicle body 11 moves. A plurality of supports are arranged at the lower end of the support plate 21, and an air pump 22 and a manipulator 23 are arranged on the upper end surface of the support plate 21. The manipulator 23 adopts the existing equipment in the prior art. A ring plate 24 is fixed to the grasping end of the manipulator 23, and an outer tube 25 is inserted into the ring plate 24. The outer tube 25 is inserted into the outer tube 25. An outer groove 26 is provided along the axis of the tube 25, an L-shaped frame 241 is provided on one side of the ring plate 24, a side plate 242 is provided on the upper end of the vertical portion of the L-shaped frame 241, a second linear mechanism 27 is provided on one side of the side plate 242, a lifting plate 271 is provided at the lower end of the output shaft, an inner tube 28 is provided at one end of the lifting plate 271 and is slidably fitted in the outer groove 26, the diameter of the inner tube 28 is the same as the diameter of the marking point 51, an air groove 29 is provided along the axis of the inner tube 28, the upper end of the inner tube 28 is connected to the air extraction end of the air extraction pump 22 through an air pipe, and the air pipe is not shown in the attached drawing for the convenience of representation.

[0039] like Figure 1 , Figure 3 , Fig. 9 , Fig.10As shown, the top transfer unit 3 is arranged at one end of the ground mobile unit 1, including a body 31, the body 31 includes a battery and a second control module, a plurality of vertical columns 311 are provided at the lower end of the body 31, which are matched with the storage slots 17 respectively, and a second contact matching the first contact is provided at the lower end of at least one vertical column 311, which is used to transmit electricity to the body 31 through the vehicle body 11 to charge the top transfer unit 3, a plurality of horizontal plates 312 are provided on the periphery of the body 31, in this embodiment, the number of the horizontal plates 312 is four, which are respectively arranged at the four corners of the body 31, a propeller assembly 32 is provided at one end of the horizontal plate 312, which is used to lift the entire top transfer unit 3, an n-shaped frame 313 is provided at the upper end of the body 31, L-shaped seats 314 are respectively provided on both sides of the horizontal part of the n-shaped frame 313, a third linear mechanism 33 is vertically provided on the outer side of the vertical part of the L-shaped seat 314, a hanger 331 is provided at the lower end of the output shaft, and a first rotary mechanism 33 is vertically provided on one side of the hanger 331 The first rotating motor 34 has an inverted L-shaped block 341 at the lower end of the output shaft, a first cross bar 342 is provided on one side of the inverted L-shaped block 341, and a fixed L-shaped clamp 35 is provided at one end of the first cross bar 342. A fourth linear mechanism 36 is provided at the lower end of the horizontal portion of the inverted L-shaped block 341, and a second cross bar 361 is provided at the output end of the inverted L-shaped block 341, and a movable L-shaped clamp 37 is provided at one end of the second cross bar 361. The fixed L-shaped clamp 35 and the movable L-shaped clamp 37 at one end of the body 31 are used to In order to clamp the base plate 141 and the assembled marking piece 5, the fixed L-shaped clamp block 35 and the movable L-shaped clamp block 37 at the other end of the body 31 are used to clamp the support plate 21. More specifically, when the fixed L-shaped clamp block 35 and the movable L-shaped clamp block 37 are rotated to the bottom of the body 31, one movable L-shaped clamp block 37 is used to clamp the base plate 141 and the marking piece 5 from one side of the first clamping groove 131, and the other movable L-shaped clamp block 37 is used to clamp the support plate 21 from one side of the second clamping groove 151.

[0040] Preferably, a plurality of cameras are provided on the inner and outer side surfaces of the two vertical parts of the n-shaped frame 313 and the bottom surface of the L-shaped seat 314, so that when the marking point 51 is affixed, if it is operated by ground remote control, it can be monitored whether the air pipe connected between the vacuum pump 22 and the inner pipe 28 is entangled. If so, the manipulator 23 can be operated to rotate in the opposite direction of the air pipe winding, or the work can be stopped and the winding can be handled manually.

[0041] like Figure 1 , Figure 3 , Fig.11 As shown, the scanning unit 4 is arranged at the other end of the ground mobile unit 1, including a second rotating motor 41 vertically fixed on the vehicle body 11, a rotating plate 42 is provided at the upper end of the output shaft, a bracket 421 is provided at the upper end of the rotating plate 42, a third rotating motor 43 with a horizontally arranged output shaft is provided at the upper end of the bracket 421, a three-dimensional scanner 44 is provided at the output end, a rotating rod 45 is provided at the other end of the three-dimensional scanner 44, a rotating seat 46 is also provided on the upper end surface of the rotating plate 42, and the rotating rod 45 is rotatably matched with the rotating seat 46.

[0042] In this embodiment, the first linear mechanism 16 , the second linear mechanism 27 , the third linear mechanism 33 , and the fourth linear mechanism 36 all adopt single-axis linear cylinders.

[0043] Working method:

[0044] First, the preparation work is performed, that is, the marking sheet 5 is fixed on the bottom plate 141, and then the marking points 51 are pasted in two cases.

[0045] In the first case, if multiple marking points 51 are to be pasted on the steel structure connection part close to the ground, the scanning vehicle is directly driven to the connection part, and then a marking point 51 is obtained by the manipulator 23. The specific acquisition method is to press the outer tube 25 on a marking point 51, and make the bottom of the outer groove 26 coincide with the marking point 51, and then lower the inner tube 28 through the second linear mechanism 27, and then start the vacuum pump 22, and make the vacuum force not cause the marking point 51 to bend and fall into the air groove 29, but make the marking point 51 just stick to the lower end of the inner tube 28, and then raise the inner tube 28 and the marking point 51, and then lift the manipulator 23, and then lower the marking point 51 to make it pass under the outer tube 25, and then use the manipulator 23 to stick the marking point 51 to the predetermined position. Since a certain degree of randomness is required when sticking the marking point, the accuracy requirement is not high when sticking. After sticking, cancel the suction, and so on, to stick multiple marking points 51.

[0046] In the second case, if multiple marking points 51 are to be pasted on the high steel structure connection part, it is necessary to first take out the marking sheet 5 and the punctuation unit 2. Specifically, first lift the top transfer unit 3 through the propeller assembly 32, and then lower the first rotary motor 34 through the third linear mechanism 33. Then the first rotary motor 34 rotates each fixed L-shaped clamp 35 and each movable L-shaped clamp 37 to the inside, that is, under the body 31, and then adjust the distance between the fixed L-shaped clamp 35 and the movable L-shaped clamp 37 on each side through each fourth linear mechanism 36. For one side, clamp the bottom plate 141 and the marking sheet 5 as a whole, and at the same time At the same time, the mounting column 143 is also brought out of the bottom column 14, but still remains between the bottom plate 141 and the marking sheet 5. For the other side, the support plate 21 is clamped; after clamping, each fixed L-shaped clamp 35 and each movable L-shaped clamp 37 must be rotated to the outside, and then lifted by the third linear mechanism 33, otherwise they will be blocked by the machine body 31. After lifting, each fixed L-shaped clamp 35 and each movable L-shaped clamp 37 are rotated to the inside again, and the bottom surfaces of the horizontal parts of each fixed L-shaped clamp 35 and each movable L-shaped clamp 37 can be placed on the machine body 31, and then the marking point 51 is pasted in the same way as the first case above.

[0047] Preferably, in order to further improve efficiency, all the marking points 51 at lower locations may be pasted first, and then all the marking points 51 at higher locations may be pasted.

[0048] After pasting, three-dimensional scanning is performed. Specifically, the position can be moved by the ground moving unit 1, and then the second rotating motor 41 and the third rotating motor 43 can adjust the direction of the three-dimensional scanner 44 on two different axes respectively.

[0049] The above are only some embodiments of the present invention and are not intended to limit the present invention.

Claims

1. A 3D laser scanning vehicle for steel structure connections, characterized in that: include: A ground mobile unit (1) comprises a vehicle body (11), wherein a first placement groove (13) is provided on an upper end surface of one side of one end of the vehicle body (11), a bottom plate (141) is installed in the first placement groove (13), a marking sheet (5) is installed on the bottom plate (141), and a second placement groove (15) is provided on an upper end surface of the other side of one end of the vehicle body (11); The marking unit (2) is arranged on the ground mobile unit (1), and comprises a support plate (21) arranged in the second placement groove (15), the upper end surface of the support plate (21) is provided with an air pump (22) and a manipulator (23), the grasping end of the manipulator (23) is fixed with an outer tube (25) and a second linear mechanism (27), the lower end of the output shaft of the second linear mechanism (27) is provided with an inner tube (28) which is slidably matched in the outer tube (25), the diameter of the inner tube (28) is the same as the diameter of the marking point (51), and the upper end of the inner tube (28) is connected to the air extraction end of the air pump (22) through an air pipe; A top transfer unit (3) is arranged at one end of the ground mobile unit (1), comprising a body (31), a plurality of propeller assemblies (32) are arranged around the body (31), third linear mechanisms (33) are vertically arranged on both sides above the body (31), a first rotary motor (34) is vertically arranged at the lower end of the output shaft of the third linear mechanism (33), a first cross bar (342) and a fourth linear mechanism (36) are arranged at the lower end of the output shaft of the first rotary motor (34), a fixed L-shaped clamp (35) is arranged at one end of the first cross bar (342), a second cross bar (361) is arranged at the output end of the fourth linear mechanism (36), and a movable L-shaped clamp (37) is arranged at one end of the second cross bar (361); The scanning unit (4) is arranged at the other end of the ground moving unit (1), and comprises a second rotating motor (41) arranged vertically, a third rotating motor (43) arranged horizontally is arranged at the upper end of the output shaft of the second rotating motor (41), and a three-dimensional scanner (44) is arranged at the output end of the third rotating motor (43).

2. The steel structure connection 3D laser scanning vehicle according to claim 1, characterized in that: A plurality of bottom columns (14) are provided on the bottom surface of the first placement groove (13), and a mounting hole is provided on the upper end of the bottom column (14). The bottom plate (141) is assembled on the bottom column (14) via the mounting columns (143). The marking sheet (5) is assembled on the upper end surface of the bottom plate (141) via the mounting columns (143). During assembly, the mounting columns (143) penetrate the marking sheet (5), and form a plurality of through holes on the surface of the marking sheet (5) that are coaxially arranged with the vertical holes (142). (52), the mounting column (143) is sequentially penetrated through the through hole (52), the vertical hole (142), and the mounting hole, so that the marking sheet (5) is fixed to the bottom plate (141), and the bottom plate (141) is installed on the upper end of the bottom column (14), and a pressing ring (144) is also fixed on the outer peripheral side of the mounting column (143). When the bottom end of the mounting column (143) contacts the inner bottom end of the mounting hole, the pressing ring (144) is used to press the marking sheet (5) downward onto the bottom plate (141).

3. The steel structure connection 3D laser scanning vehicle according to claim 1, characterized in that: A first linear mechanism (16) parallel to the width direction of the vehicle body (11) is also provided at one end of the vehicle body (11), and an L-shaped plate (161) is provided at the output end of the first linear mechanism (16).

4. The steel structure connection 3D laser scanning vehicle according to claim 1, characterized in that: A ring plate (24) is fixed to the gripping end of the manipulator (23); an outer tube (25) is inserted into the ring plate (24); an outer groove (26) is provided on the outer tube (25) along its axis; an L-shaped frame (241) is provided on one side of the ring plate (24); a side plate (242) is provided on the upper end of the vertical portion of the L-shaped frame (241); a second linear mechanism (27) is provided on one side of the side plate (242); a lifting plate (271) is provided on the lower end of the output shaft of the second linear mechanism (27); an inner tube (28) is provided at one end of the lifting plate (271); the inner tube (28) is slidably fitted in the outer groove (26); and an air groove (29) is provided on the inner tube (28) along its axis.

5. The steel structure connection 3D laser scanning vehicle according to claim 1, characterized in that: The vehicle body (11) includes a battery and a first control module. The upper end surface of the vehicle body (11) is provided with a plurality of storage slots (17). The bottom of at least one storage slot (17) is provided with a first contact. The lower end of the machine body (31) is provided with a plurality of vertical columns (311) respectively matching the storage slots (17). The machine body (31) includes a battery and a second control module. The lower end of at least one vertical column (311) is provided with a second contact matching the first contact, which is used to transmit power to the machine body (31) through the vehicle body (11) to charge the top transfer unit (3).

6. The steel structure connection 3D laser scanning vehicle according to claim 1, characterized in that: An n-shaped frame (313) is provided at the upper end of the machine body (31), L-shaped seats (314) are respectively provided on both sides of the horizontal portion of the n-shaped frame (313), and the third linear mechanism (33) is arranged outside the vertical portion of the L-shaped seat (314).

7. The steel structure connection 3D laser scanning vehicle according to claim 1, characterized in that: The fixed L-shaped clamp (35) and the movable L-shaped clamp (37) at one end of the machine body (31) are used to clamp the base plate (141) and the assembled marking sheet (5), and the fixed L-shaped clamp (35) and the movable L-shaped clamp (37) at the other end of the machine body (31) are used to clamp the support plate (21).

8. The steel structure connection 3D laser scanning vehicle according to claim 1, characterized in that: A first clamping groove (131) extending toward the inside of the vehicle body (11) is formed on one end wall of the first placement groove (13), and a second clamping groove (151) extending toward the inside of the vehicle body (11) is formed on one end wall of the second placement groove (15). When the fixed L-shaped clamping block (35) and the movable L-shaped clamping block (37) are rotated to the bottom of the machine body (31), one movable L-shaped clamping block (37) is used to clamp the bottom plate (141) and the marking sheet (5) from one side of the first clamping groove (131), and the other movable L-shaped clamping block (37) is used to clamp the support plate (21) from one side of the second clamping groove (151).

9. The steel structure connection 3D laser scanning vehicle according to claim 1, characterized in that: A rotating plate (42) is provided at the upper end of the output shaft of the second rotating motor (41), a bracket (421) is provided at the upper end of the rotating plate (42), a third rotating motor (43) is provided at the upper end of the bracket (421), a rotating rod (45) is provided at the other end of the three-dimensional scanner (44), a rotating seat (46) is also provided at the upper end surface of the rotating plate (42), and the rotating rod (45) is rotatably matched with the rotating seat (46).

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