Digital twin scene mobile scanning device

Abstract

The invention relates to the technical field of scanning equipment, and particularly discloses a digital twin scene mobile scanning device, which comprises a left bearing frame, a right bearing frame, a longitudinal clamping mechanism, a transverse adjusting mechanism, a driving mechanism and a centering mechanism, and is characterized in that the left bearing frame and the right bearing frame are connected with each other and can move relatively and horizontally; the longitudinal clamping mechanism is arranged at the top end of the left bearing frame and the top end of the right bearing frame. The centering mechanism is arranged between the left bearing frame and the right bearing frame; the transverse adjusting mechanism is arranged on the left bearing frame and the right bearing frame; and the driving mechanism is arranged on the right bearing frame. The digital twinning scene mobile scanning device has high flexibility and adaptability to different building structure sizes, the requirement for manual propulsion is reduced, autonomous movement of the device is achieved, the operation preparation time is shortened, and the operation efficiency is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of scanning equipment, and in particular to a mobile scanning device for a digital twin scene. Background Art

[0002] Mobile scanning devices are mainly used for scene capture and data collection in three-dimensional space, and are widely used in fields such as architecture, engineering, and scientific research. The scanning device required for digital twin technology is usually composed of one or more scanning heads, a mobile platform, and a data processing unit. In outdoor application scenarios such as bridge inspection, the device is used to collect the geometric and physical parameters of the structure for subsequent analysis and modeling. The device usually uses a tracked, wheeled, or walking robot as a mobile platform to adapt to different terrains and environmental conditions. These early mobile scanning devices have achieved certain results in data collection accuracy and operating efficiency, but there are still some mobility disadvantages in the scanning of complex or large structures.

[0003] Nowadays, in complex inspection scenarios such as bridge inspection, many scenarios lack sufficient adaptability to cope with structures of different sizes and shapes, such as bridge cable structures, arch bridge structures, etc., resulting in the need to frequently adjust the position and angle of the equipment during the scanning process, which is not only time-consuming but may also affect the consistency of the data. In addition, the existing devices have insufficient scanning accuracy and poor data consistency during movement: non-centered scanners cannot ensure the symmetry of bridge components, which will cause errors when comparing and analyzing data on both sides of the bridge; inconsistent scanning parameters such as distance, angle and pressure will affect subsequent data analysis and processing, increase the complexity and error rate of processing, and miss important data; the scanner position needs to be adjusted manually frequently, which increases the workload of operators and reduces work efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a digital twin scene mobile scanning device, which is convenient for adjusting the position and angle of the equipment, enhancing data consistency, improving operation efficiency, and reducing the workload of operators.

[0005] To achieve the above-mentioned objectives, the present invention provides a digital twin scene mobile scanning device, comprising a left carrier frame, a right carrier frame, a longitudinal clamping mechanism, a transverse adjustment mechanism, a driving mechanism and a centering mechanism; the left carrier frame and the right carrier frame are connected to each other and can move horizontally relative to each other; the longitudinal clamping mechanism is arranged at the top end of the left carrier frame and the right carrier frame; the centering mechanism is arranged between the left carrier frame and the right carrier frame; the transverse adjustment mechanism is arranged on the left carrier frame and the right carrier frame; the driving mechanism is arranged on the right carrier frame.

[0006] Preferably, the left support frame and the right support frame are both rotatably connected with bottom rollers.

[0007] Preferably, the longitudinal clamping mechanism includes a longitudinal limiting guide rod, a fixed seat and an adjusting screw. There are two longitudinal clamping mechanisms, and a mounting frame is provided on the longitudinal clamping mechanism. The longitudinal limiting guide rods are respectively arranged at the top ends of the left bearing frame and the right bearing frame in a group of two, and are plugged into the mounting frame; there are several fixing seats, which are respectively fixed on the inner sides of the left bearing frame and the right bearing frame; the adjusting screw is respectively connected to several fixing seats, and the top end is rotatably connected to the mounting frame.

[0008] Preferably, a top roller is disposed inside the mounting frame; the top roller is rotatably connected to the mounting frame.

[0009] Preferably, the lateral adjustment mechanism includes a screw rod, a hinge seat, a rotating rod and a transmission assembly, and the rotating rod and the ends of the two screw rods are provided with a transmission assembly, one end of the two screw rods is rotatably connected to the right support frame and extends to the outside of the right support frame, and the other end is threadedly connected to the left support frame; the hinge seat is fixedly mounted on the outside of the right support frame; the rotating rod is rotatably connected to the hinge seat, and rotating handles are respectively installed at both ends of the rotating rod; the transmission assembly is installed on the rotating rod and the ends of the screw rod.

[0010] Preferably, the transmission assembly includes a worm wheel and worm teeth, there are two worm wheels, and the worm wheels are fixedly mounted on the end of the lead screw; there are two worm teeth, and the worm teeth are sleeved on the rotating rod and meshed with the worm wheel.

[0011] Preferably, the driving mechanism includes a sleeve, a prism, a driving motor, a driving gear and a driven gear, one end of the sleeve is connected through the left carrier frame and the bottom roller, the prism is plugged into the other end of the sleeve, and is rotatably connected to the bottom roller on the right carrier frame; the driving motor is installed on the right carrier frame and is connected to the bottom roller; the driving gear is sleeved on the output end of the driving motor; the driven gear is sleeved on the prism and is meshed with the driving gear.

[0012] Preferably, a sprocket is mounted on the bottom roller, and the sprocket is coaxial with the bottom roller; a chain is sleeved between the two sprockets on the left support frame and the two sprockets on the right support frame.

[0013] Preferably, the centering mechanism includes a base, a connecting rod, a first rack, a placement plate and a rotating gear, and a plurality of the bases are fixedly arranged on the bottom ends of the left support frame and the right support frame respectively; the two ends of the connecting rod are respectively connected to the two bases; the number of the connecting rods is two, and one end of the first rack is vertically connected to one of the connecting rods; one end of the second rack is vertically connected to the other connecting rod and is parallel to the first rack; the placement plate is movably connected to the first rack and the second rack, and an ultrasonic scanner is connected to the middle part; the rotating gear is installed on the inner side of the placement plate, and is respectively meshed with the first rack and the second rack.

[0014] Therefore, the present invention adopts the above-mentioned digital twin scene mobile scanning device, and the beneficial effects are as follows: (1) The present invention significantly improves the adaptability to bridge components of different sizes through the flexibility of the longitudinal clamping mechanism and the lateral adjustment mechanism, so that the device can maintain the stable positioning of the ultrasonic scanner when moving on the bridge surface, and obtain the parameter data required by the digital twin technology in the best positive center position.

[0015] (2) The use of a driving mechanism in the present invention reduces the need for manual propulsion, realizes autonomous movement of the device, and significantly improves work efficiency. The device can quickly adapt to the sizes of different bridge structures, shortens work preparation time, and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall three-dimensional structure of an embodiment of a digital twin scene mobile scanning device of the present invention; Figure 2 It is a schematic diagram of the structure of a driving motor of an embodiment of a digital twin scene mobile scanning device of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of a centering mechanism of an embodiment of a mobile scanning device for a digital twin scene of the present invention; Figure 4 It is a front view of an embodiment of a mobile scanning device for a digital twin scene of the present invention; Figure 5 It is a cross-sectional view of a first gear of an embodiment of a digital twin scene mobile scanning device of the present invention; Figure 6 It is a bottom view of an embodiment of a digital twin scene mobile scanning device of the present invention.

[0017] Reference numerals 1. Left bearing frame; 2. Right bearing frame; 3. Connecting plate; 4. Mounting frame; 5. Bottom roller; 6. Top roller; 7. Longitudinal limit guide rod; 8. Fixed seat; 9. Adjusting screw; 10. Lead screw; 11. Hinge seat; 12. Rotating rod; 13. Worm gear; 14. Worm gear; 15. Sleeve; 16. Prism; 17. Driving motor; 18. Driving gear; 19. Driven gear; 20. Sprocket; 21. Chain; 22. Base; 23. Connecting rod; 24. First rack; 25. Second rack; 26. Placement plate; 27. Rotating gear; 28. Ultrasonic scanner. DETAILED DESCRIPTION

[0018] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0019] Unless otherwise defined, technical or scientific terms used in the present invention shall have the common meanings understood by one having ordinary skills in the field to which the present invention belongs.

[0020] Example like Figure 1 As shown, a digital twin scene mobile scanning device includes a left carrier 1, a right carrier 2, a longitudinal clamping mechanism, a transverse adjustment mechanism, a driving mechanism, and a centering mechanism. The left carrier 1 and the right carrier 2 can move horizontally relative to each other; the longitudinal clamping mechanism is arranged at the top of the left carrier 1 and the right carrier 2; the transverse adjustment mechanism is arranged on the left carrier 1 and the right carrier 2, and the driving mechanism is arranged on the right carrier 2; the centering mechanism is arranged at the bottom of the left carrier 1 and the right carrier 2. The left carrier 1 and the right carrier 2 are both rotatably connected with bottom rollers 5.

[0021] The longitudinal clamping mechanism includes a longitudinal limiting guide rod 7, a fixed seat 8 and an adjusting screw 9. A mounting frame 4 is arranged on the longitudinal clamping mechanism. A plurality of longitudinal limiting guide rods 7 are respectively arranged at the top ends of the left support frame 1 and the right support frame 2 in a group of two, and are movably connected with the two mounting frames 4 to allow the mounting frame 4 to realize longitudinal movement along the longitudinal limiting guide rod 7; a plurality of fixed seats 8 are respectively fixedly arranged on the inner sides of the left support frame 1 and the right support frame 2, and the fixed seats 8 provide fixed connection points for the adjusting screw 9; two adjusting screws 9 are respectively screwed with a plurality of fixed seats 8, and the top ends are rotatably connected with the two mounting frames 4.

[0022] When controlling the distance between the two mounting frames 4 and the left supporting frame 1 and the right supporting frame 2, the longitudinal distance between the mounting frames 4 and the supporting frames can be adjusted by rotating the adjusting screw 9 under the limitation of the screw thread of the adjusting screw 9, so as to adapt to bridge components of different thicknesses. The longitudinal clamping mechanism can be flexibly adjusted to adapt to bridge structures of different sizes, ensuring that the scanning device can be stably fixed on the bridge component for scanning operations.

[0023] The lateral adjustment mechanism includes a screw rod 10, a hinge seat 11, a rotating rod 12 and a transmission assembly. One end of the two screw rods 10 is rotatably connected to the right bearing frame 2 and extends to the outside of the right bearing frame 2, and the other end is screwed to the left bearing frame 1, allowing the screw rod 10 to adjust the distance between the left bearing frame 1 and the right bearing frame 2 when rotating; the two hinge seats 11 are respectively fixedly installed on the outside of the right bearing frame 2, and the function of the two hinge seats 11 is to serve as support points for the rotating rod 12; the rotating rod 12 can be rotatably installed on the two hinge seats 11 along its own axis, and rotating handles are respectively installed at both ends of the rotating rod 12 to facilitate manual rotation by the operator; the transmission assembly is installed on the rotating rod 12 and the ends of the two screw rods 10.

[0024] The function of the transmission assembly is to transmit the rotational motion of the rotating rod 12 to the screw rod 10, so as to adjust the distance between the left and right bearing frames 2 under the limitation of the screw rod 10's own threads. When it is necessary to adjust the distance between the two mounting frames 4 and the distance between the two bearing frames, the operator rotates the rotating handle to rotate the rotating rod 12, thereby driving the transmission assembly, and the transmission assembly transmits the rotational motion to the screw rod 10. The rotation of the screw rod 10 causes the distance between the left bearing frame 1 and the right bearing frame 2 to change, thereby realizing the lateral adjustment function to adapt to the clamping and fixing of bridge components of different widths.

[0025] The transmission assembly includes a worm wheel 13 and worm teeth 14 . The two worm wheels 13 are fixedly mounted on the ends of the two lead screws 10 . The two worm teeth 14 are respectively opened on the outer side of the outer wall of the rotating member and mesh with the two worm wheels 13 .

[0026] When the rotating handle on the rotating rod 12 is rotated by the operator, the worm gear 14 rotates accordingly. Since the worm gear 14 and the worm wheel 13 are meshed, the rotational power is transmitted to the worm wheel 13, which eventually drives the rotation of the screw 10. The rotation of the screw 10 further causes the distance between the left bearing frame 1 and the right bearing frame 2 to change, thereby realizing the lateral adjustment function. The meshing transmission of the worm wheel 13 and the worm gear 14 realizes lateral adjustment, which significantly improves the adaptability and accuracy of bridge scanning. The distance between the left bearing frame 1 and the right bearing frame 2 can be adjusted to adapt to bridge components of different widths, ensuring that the scanning device can be stably fixed on the bridge for scanning operations. The operation is simple, and lateral adjustment can be achieved by manually turning the handle, which reduces the technical requirements of the operator and improves work efficiency.

[0027] The driving mechanism includes a sleeve 15, a prism 16, a driving motor 17, a driving gear 18 and a driven gear 19. One ends of the two sleeves 15 are respectively fixedly connected to the bottom roller 5 located on the left supporting frame 1; the two prisms 16 are respectively inserted into the other ends of the two sleeves 15 movably in the horizontal direction, and are transmission-connected to the bottom roller 5 located on the right supporting frame 2; the driving motor 17 is installed on the right supporting frame 2; the driving gear 18 is sleeved on the driving end of the driving motor 17; the driven gear 19 is sleeved on the outer side of the outer wall of the two prisms 16, and is meshed with the driving gear 18.

[0028] When it is necessary to scan the bridge component, the control driving motor 17 is started to drive the driving gear 18 at the driving end to rotate, and the power is transmitted to the driven gear 19 through meshing, so that the prism 16 rotates, and finally the rotational power is transmitted to the bottom roller 5. The bottom roller 5 contacts the surface of the bridge component, and the bridge component is clamped forcefully under the action of the adjusting screw 9, so that the left bearing frame 1 and the right bearing frame 2 can move autonomously on the bridge component under the rotation of the bottom roller 5. The connection between the prism 16 and the sleeve 15 ensures that when the left bearing frame 1 and the right bearing frame 2 move in opposite or relative directions, the rotational force of the driving motor 17 is transmitted to the bottom roller 5 through the driving gear 18 and the driven gear 19, so as to ensure The invention can realize the effective connection between the bottom roller 5; by starting the driving motor 17, the automatic movement of the device on the bridge component is realized, which significantly reduces the manual operation and improves the working efficiency; by controlling the driving motor 17 and the gear meshing, the movement of the bottom roller 5 can be controlled to ensure the stability and accuracy of the scanning process; the force of the adjusting screw 9 ensures the strong clamping of the bridge component by the device and ensures the stability during the movement; the connection between the prism 16 and the sleeve 15 enables the device to realize bidirectional movement and increase the flexibility of the operation; the autonomous movement capability ensures the continuous scanning on the bridge component and provides continuous and comprehensive data support for the digital twin model; reduces the manual intervention, reduces the working risk and improves the safety of the operators.

[0029] Sprockets 20 are also installed on the bottom rollers 5. The sprockets 20 are respectively arranged on the bottom rollers 5 and are coaxial with the bottom rollers 5. Among them, a chain 21 is installed between the two sprockets 20 on the left support frame 1 and between the two sprockets 20 on the right support frame 2.

[0030] When the driving motor 17 starts and drives the driving gear 18 to rotate, the power is transmitted to the sprocket 20 on the bottom roller 5 through the meshing driven gear 19. The sprocket 20 is coaxially arranged with the bottom roller 5 to ensure the direct transmission of power. A chain 21 is installed between the two sprockets 20 on the left support frame 1 and between the two sprockets 20 on the right support frame 2. The chain 21 connects the sprockets 20 to form a closed loop. When the sprocket 20 rotates, the chain 21 also moves, driving the bottom rollers 5 on the left and right support frames 2 to rotate synchronously. It ensures that the movement of the left support frame 1 and the right support frame 2 on the bridge component is coordinated and consistent, whether it is advancing forward or retreating backward, it can keep synchronization, so as to achieve the smooth movement of the device on the bridge component. Through the transmission mechanism of the chain 21 and the sprocket 20, stable scanning operations on the bridge component can be achieved, providing continuous data support for the digital twin scene.

[0031] The centering mechanism includes: a base 22, a connecting rod 23, a first rack 24, a second rack 25, a placement plate 26 and a rotating gear 27. Several bases 22 are fixedly arranged at the bottom ends of the left support frame 1 and the right support frame 2 respectively; the two ends of the two connecting rods 23 are respectively installed on several bases 22; the end of the first rack 24 is fixedly arranged on the outer side of the outer wall of one of the connecting rods 23, and is arranged vertically with the connecting rod 23; the end of the second rack 25 is fixedly arranged on the outer side of the outer wall of the other connecting rod 23, and is parallel to the first rack 24; the placement plate 26 is sleeved on the outer side of the outer walls of the two first racks 24 and the second rack 25, and is movably connected with the first rack 24 and the second rack 25, and the middle part of the placement plate 26 is connected to the ultrasonic scanner 28; the rotating gear 27 is rotatably installed on the inner side of the placement plate 26, and is meshed with the first rack 24 and the second rack 25 respectively.

[0032] The connecting rod 23 is installed on the base 22 to form a structure connecting the left support frame 1 and the right support frame 2. The placement plate 26 is mounted on the outer side of the outer wall of the two racks and is movably connected to the racks, allowing the placement plate 26 to move along the rack direction. The middle part of the placement plate 26 is connected to the ultrasonic scanner 28 to ensure that the position of the scanner can be adjusted as the placement plate 26 moves and is always in the middle part of the device. When the distance between the left support frame 1 and the right support frame 2 is adjusted by the lateral adjustment device, the connecting rod 23 moves accordingly. At this time, the first rack 24 and the second rack 25 move synchronously under the action of the rotating gear 27, thereby ensuring that the ultrasonic scanner 28 is always located in the middle part of the device to achieve accurate scanning. The centering mechanism ensures the precise positioning of the ultrasonic scanner 28 during the scanning process, improves the accuracy and efficiency of the scanning, and provides high-quality data support for the digital twin scene.

[0033] The ultrasonic scanner 28 is always in the center position. For the scanning operation of the bridge component, it ensures symmetry with the bridge component, thereby improving the scanning accuracy, which is essential for obtaining accurate and consistent scanning data, especially when it is necessary to compare the data on both sides. The center position helps to maintain the consistency of scanning parameters, such as distance, angle and pressure, which is very important for subsequent data processing and analysis. The center position enables the ultrasonic scanner 28 to effectively cover the central area of ​​the bridge component, which is a key area for structural health monitoring, and optimizes the scanning range. The centering mechanism reduces the number of times the scanner position needs to be adjusted during the scanning process, saving time and improving work efficiency. The automated centering mechanism reduces the need for manual adjustment of the scanner position and reduces data deviation caused by improper operation. Even when the width and thickness of the bridge component or other building component changes, the centering mechanism can ensure that the scanner always remains in the center position, enhancing adaptability. The center position also helps to reduce the impact of environmental factors on the scanning results and improve the reliability of the data. The data obtained in the center position is easier to compare and analyze with the bridge design drawings or other reference data, which is convenient for subsequent structural health assessment and maintenance decisions. The central position of the ultrasonic scanner 28 not only improves the efficiency and accuracy of the scanning operation, but also provides high-quality data support for the digital twin scenario, which is of great significance for the health monitoring and maintenance of the bridge.

[0034] When scanning the bridge components, the present embodiment adjusts the distance between the two mounting frames 4 and the left and right bearing frames 1 and 2 by manipulating the longitudinal clamping mechanism, and at the same time drives the distance between the top roller 6 and the bottom roller 5 to change, so as to adapt to the bridge components of different thicknesses; wherein, the left bearing frame 1 and the right bearing frame 2 are both composed of a profile and a connecting plate 3, and the distance between the left bearing frame 1 and the right bearing frame 2 is adjusted by a transverse adjustment mechanism, so as to realize the clamping and fixing of the bridge components of different widths; then, the driving mechanism is activated to drive the bottom roller 5 to move, thereby driving the left bearing frame 1 and the right bearing frame 2 to move flexibly on the bridge component, and when moving, During the dynamic scanning process, the centering mechanism cooperates with the ultrasonic scanner 28 to continuously scan the bridge components and collect necessary data information to provide data support for building the digital twin scene. At the same time, it also ensures that the device can adapt to different bridge structures of different sizes and efficiently complete the scanning task while moving. The lateral adjustment mechanism ensures the fit between the centering mechanism and the bridge components, further improving the flexibility of the device to adapt to different building structure sizes. At the same time, it enables the centering mechanism to quickly adapt to different bridge sizes, reduce operation preparation time, further improve operation efficiency, and provide strong technical support for the digital twin scene.

[0035] Therefore, the present invention adopts the above-mentioned digital twin scene mobile scanning device, which has high flexibility and adaptability to different building structure sizes, reduces the need for manual propulsion, realizes autonomous movement of the device, shortens operation preparation time, and significantly improves operation efficiency.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A digital twin scene mobile scanning device, characterized in that: It includes a left load-bearing frame, a right load-bearing frame, a longitudinal clamping mechanism, a transverse adjustment mechanism, a driving mechanism and a centering mechanism; the left load-bearing frame and the right load-bearing frame are connected to each other and can move horizontally relative to each other; the longitudinal clamping mechanism is arranged at the top ends of the left load-bearing frame and the right load-bearing frame; the centering mechanism is arranged between the left load-bearing frame and the right load-bearing frame; the transverse adjustment mechanism is arranged on the left load-bearing frame and the right load-bearing frame; and the driving mechanism is arranged on the right load-bearing frame.

2. A digital twin scene mobile scanning device according to claim 1, characterized in that: The left supporting frame and the right supporting frame are both rotatably connected with bottom rollers.

3. A digital twin scene mobile scanning device according to claim 2, characterized in that: The longitudinal clamping mechanism includes a longitudinal limiting guide rod, a fixed seat and an adjusting screw. There are two longitudinal clamping mechanisms, and a mounting frame is arranged on the longitudinal clamping mechanism. The longitudinal limiting guide rods are arranged in groups of two at the top ends of the left bearing frame and the right bearing frame, and are plugged into the mounting frame; there are several fixing seats, which are fixedly arranged on the inner sides of the left bearing frame and the right bearing frame, respectively; the adjusting screws are respectively connected to several fixing seats, and the top ends are rotatably connected to the mounting frame.

4. A digital twin scene mobile scanning device according to claim 3, characterized in that: A top roller is arranged inside the mounting frame; the top roller is rotatably connected to the mounting frame.

5. A digital twin scene mobile scanning device according to claim 4, characterized in that: The lateral adjustment mechanism includes a screw rod, a hinge seat, a rotating rod and a transmission assembly, the rotating rod and the ends of the two screw rods are provided with a transmission assembly, one end of the two screw rods is rotatably connected to the right support frame and extends to the outside of the right support frame, and the other end is threadedly connected to the left support frame; the hinge seat is fixedly installed on the outside of the right support frame; the rotating rod is rotatably connected to the hinge seat, and rotating handles are respectively installed at both ends of the rotating rod; the transmission assembly is installed on the rotating rod and the ends of the screw rod.

6. A digital twin scene mobile scanning device according to claim 5, characterized in that: The transmission assembly includes a worm wheel and worm teeth. There are two worm wheels, which are fixedly mounted on the end of the lead screw. There are two worm teeth, which are sleeved on the rotating rod and meshed with the worm wheel.

7. A digital twin scene mobile scanning device according to claim 6, characterized in that: The driving mechanism includes a sleeve, a prism, a driving motor, a driving gear and a driven gear. One end of the sleeve is connected with the left bearing frame and the bottom roller. The prism is plugged into the other end of the sleeve and is rotationally connected with the bottom roller on the right bearing frame. The driving motor is installed on the right bearing frame and is connected with the bottom roller. The driving gear is sleeved on the output end of the driving motor. The driven gear is sleeved on the prism and is meshed with the driving gear.

8. The digital twin scene mobile scanning device according to claim 7, characterized in that: A sprocket is installed on the bottom roller, and the sprocket is coaxial with the bottom roller; a chain is sleeved between the two sprockets on the left support frame and the two sprockets on the right support frame.

9. A digital twin scene mobile scanning device according to claim 8, characterized in that: The centering mechanism includes a base, a connecting rod, a first rack, a placement plate and a rotating gear, and several of the bases are fixedly arranged on the bottom ends of the left support frame and the right support frame respectively; the two ends of the connecting rod are respectively connected to the two bases; the number of the connecting rods is two, one end of the first rack is vertically connected to one of the connecting rods; one end of the second rack is vertically connected to the other connecting rod and is parallel to the first rack; the placement plate is movably connected to the first rack and the second rack, and an ultrasonic scanner is connected to the middle part; the rotating gear is installed on the inner side of the placement plate, and is respectively meshed with the first rack and the second rack.

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