A digital twin scenario mobile scanning device

Abstract

The present invention relates to the technical field of scanning devices, and specifically discloses a mobile scanning device for digital twin scenarios, including a left carrier, a right carrier, a longitudinal clamping mechanism, a lateral adjustment mechanism, a driving mechanism, and a centering mechanism. The left carrier and the right carrier are connected to each other and can move horizontally relative to each other; the longitudinal clamping mechanism is arranged at the tops of the left carrier and the right carrier; the centering mechanism is arranged between the left carrier and the right carrier; the lateral adjustment mechanism is arranged on the left carrier and the right carrier; the driving mechanism is arranged on the right carrier. By adopting the above-mentioned mobile scanning device for digital twin scenarios, the present invention has high flexible adaptability to different building structure sizes, reduces the need for manual propulsion, realizes the autonomous movement of the device, shortens the operation preparation time, and significantly improves the operation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of scanning devices, and particularly to a mobile scanning device for digital twin scenarios. Background Art

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

[0003] Currently, in inspection scenarios with complex shapes such as bridge inspections, many scenarios lack sufficient adaptability to handle structures of different sizes and shapes, such as bridge cable structures and arch bridge structures, resulting in the need to frequently adjust the position and angle of the device during scanning, which is not only time-consuming but may also affect data consistency. In addition, the existing devices have insufficient scanning accuracy and poor data consistency during movement: non-centered scanners cannot guarantee the symmetry of bridge components, causing 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, increasing the complexity and error rate of processing, and may also miss important data; frequent manual adjustment of the scanner position increases the workload of operators and reduces operation efficiency. Summary of the Invention

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

[0005] To achieve the above purpose, the present invention provides a mobile scanning device for digital twin scenarios, including a left carrier frame, a right carrier frame, a longitudinal clamping mechanism, a lateral 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 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 lateral 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, bottom rollers are rotatably connected inside both the left carrier frame and the right carrier frame.

[0007] Preferably, the longitudinal clamping mechanism includes longitudinal limit guide rods, fixed seats and adjusting screws. The number of the longitudinal clamping mechanisms is two. An installation frame is arranged on the longitudinal clamping mechanism. Every two longitudinal limit guide rods are arranged in a group at the top ends of the left bearing frame and the right bearing frame respectively and are inserted into the installation frame; A number of fixed seats are respectively and fixedly arranged inside the left bearing frame and the right bearing frame; The adjusting screws are respectively connected with a number of the fixed seats, and the top ends thereof are rotatably connected with the installation frame.

[0008] Preferably, a top roller is arranged inside the installation frame; The top roller is rotatably connected with the installation frame.

[0009] Preferably, the transverse adjusting mechanism includes a lead screw, a hinge seat, a rotating rod and a transmission component. Transmission components are arranged at the ends of the rotating rod and the two lead screws. One ends of the two lead screws are rotatably connected with the right bearing frame and extend to the outside of the right bearing frame, and the other ends thereof are in threaded connection with the left bearing frame; The hinge seat is fixedly installed on the outside of the right bearing frame; The rotating rod is rotatably connected with the hinge seat, and rotating handles are respectively installed at both ends of the rotating rod; The transmission component is installed at the ends of the rotating rod and the lead screw.

[0010] Preferably, the transmission component includes worm wheels and worm teeth. The number of the worm wheels is two, and the worm wheels are fixedly installed at the ends of the lead screws; The number of the worm teeth is two, the worm teeth are sleeved on the rotating rod and are meshed with the worm wheels.

[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 penetrates and is connected with the left bearing frame and the bottom roller, the prism is inserted into the other end of the sleeve and is rotatably connected with the bottom roller located 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 and connected with the driving gear.

[0012] Preferably, a sprocket is installed on the bottom roller, and the sprocket is coaxial with the bottom roller; Chains are sleeved between the two sprockets located on the left bearing frame and the two sprockets located on the right bearing frame.

[0013] Preferably, the centering mechanism includes a base, a connecting rod, a first rack, a placement disk, and a rotating gear. A plurality of the bases are respectively fixedly arranged at the bottom ends of the left bearing frame and the right bearing frame; both 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 disk 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 inside the placement disk and meshes with the first rack and the second rack respectively.

[0014] Therefore, the present invention adopts the above-mentioned digital twin scenario mobile scanning device, and the beneficial effects are as follows:

[0015] (1) Through the flexibility of the longitudinal clamping mechanism and the lateral adjustment mechanism, the present invention significantly improves the adaptability to bridge components of different sizes, enables the device to maintain the stable positioning of the ultrasonic scanner when moving on the bridge surface, and obtains the parameter data required by the digital twin technology in the best forward centered position.

[0016] (2) The use of the driving mechanism in the present invention reduces the need for manual propulsion, realizes the autonomous movement of the device, significantly improves the operation efficiency, the device can quickly adapt to the sizes of different bridge structures, shortens the operation preparation time, and improves the operation efficiency. Description of the Drawings

[0017] Figure 1 is the overall three-dimensional structural schematic diagram of an embodiment of the digital twin scenario mobile scanning device of the present invention;

[0018] Figure 2 is the structural schematic diagram of the driving motor of an embodiment of the digital twin scenario mobile scanning device of the present invention;

[0019] Figure 3 is the three-dimensional structural schematic diagram of the centering mechanism of an embodiment of the digital twin scenario mobile scanning device of the present invention;

[0020] Figure 4 is the front view of an embodiment of the digital twin scenario mobile scanning device of the present invention;

[0021] Figure 5 is the cross-sectional view of the first gear of an embodiment of the digital twin scenario mobile scanning device of the present invention;

[0022] Figure 6 is the bottom view of an embodiment of the digital twin scenario mobile scanning device of the present invention.

[0023] Reference Signs

[0024] 1. Left bearing frame; 2. Right bearing frame; 3. Connecting plate; 4. Mounting frame; 5. Bottom roller; 6. Top roller; 7. Longitudinal limiting guide rod; 8. Fixed seat; 9. Adjusting screw; 10. Lead screw; 11. Hinge seat; 12. Rotating rod; 13. Worm gear; 14. Worm teeth; 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 implementation manners

[0025] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] Unless otherwise defined, the technical terms or scientific terms used in the present invention should have the ordinary meanings understood by those of ordinary skill in the field to which the present invention belongs.

[0027] Embodiment

[0028] As Figure 1 shown, a mobile scanning device for digital twin scenarios includes a left bearing frame 1, a right bearing frame 2, a longitudinal clamping mechanism, a transverse adjustment mechanism, a driving mechanism, and a centering mechanism. The left bearing frame 1 and the right bearing frame 2 can move horizontally relative to each other; the longitudinal clamping mechanism is arranged at the top ends of the left bearing frame 1 and the right bearing frame 2; the transverse adjustment mechanism is arranged on the left bearing frame 1 and the right bearing frame 2, and the driving mechanism is arranged on the right bearing frame 2; the centering mechanism is arranged at the bottom ends of the left bearing frame 1 and the right bearing frame 2. Bottom rollers 5 are rotatably connected inside both the left bearing frame 1 and the right bearing frame 2.

[0029] The longitudinal clamping mechanism includes longitudinal limiting guide rods 7, fixed seats 8, and adjusting screws 9. An installation frame 4 is arranged on the longitudinal clamping mechanism. Every two of several longitudinal limiting guide rods 7 are set as a group and respectively arranged at the top end parts of the left bearing frame 1 and the right bearing frame 2, and are movably inserted into the two installation frames 4, allowing the installation frame 4 to move longitudinally along the longitudinal limiting guide rods 7; several fixed seats 8 are respectively fixedly arranged inside the left bearing frame 1 and the right bearing frame 2, and the fixed seats 8 provide fixed connection points for the adjusting screws 9; the two adjusting screws 9 are respectively screwed with several fixed seats 8, and the top ends are rotatably connected to the two installation frames 4.

[0030] When controlling the distance between the two mounting brackets 4, the left bearing bracket 1 and the right bearing bracket 2, by rotating the adjusting screw 9, under the restriction of its own thread, the longitudinal distance between the mounting bracket 4 and the bearing bracket can be adjusted to adapt to bridge components of different thicknesses. This enables the longitudinal clamping mechanism to 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.

[0031] The transverse adjustment mechanism includes a lead screw 10, hinge seats 11, a rotating rod 12 and a transmission assembly. One end of the two lead screws 10 is rotatably connected to the right bearing bracket 2 and extends outside the right bearing bracket 2, and the other end is screwed to the left bearing bracket 1, allowing the lead screw 10 to adjust the distance between the left bearing bracket 1 and the right bearing bracket 2 when rotating; the two hinge seats 11 are respectively fixedly installed on the outside of the right bearing bracket 2, and the function of the two hinge seats 11 is to serve as the support points of the rotating rod 12; the rotating rod 12 is 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 for the convenience of the operator to manually rotate; the transmission assembly is installed at the ends of the rotating rod 12 and the two lead screws 10.

[0032] The function of the transmission assembly is to transmit the rotational movement of the rotating rod 12 to the lead screw 10, and under the restriction of the thread of the lead screw 10 itself, the distance between the left and right bearing brackets 2 is adjusted. When it is necessary to adjust the distance between the two mounting brackets 4 and the distance between the two bearing brackets, the operator rotates the rotating handle, causing the rotating rod 12 to rotate, and then driving the transmission assembly. The transmission assembly transmits the rotational movement to the lead screw 10, and the rotation of the lead screw 10 causes the distance between the left bearing bracket 1 and the right bearing bracket 2 to change, thus realizing the transverse adjustment function to adapt to bridge components of different widths for clamping and fixing.

[0033] The transmission assembly includes worm wheels 13 and worm teeth 14. The two worm wheels 13 are respectively fixedly installed at the ends of the two lead screws 10; the two worm teeth 14 are respectively formed on the outer wall of the rotating member and mesh with the two worm wheels 13.

[0034] When the rotating handle on the rotating rod 12 is rotated by the operator, the worm teeth 14 rotate accordingly. Since the worm teeth 14 mesh with the worm wheels 13, the rotational power is transmitted to the worm wheels 13, and finally the rotation of the lead screw 10 is driven. The rotation of the lead screw 10 further causes the distance between the left bearing bracket 1 and the right bearing bracket 2 to change, thus realizing the transverse adjustment function. The meshing transmission of the worm wheels 13 and the worm teeth 14 realizes the transverse adjustment, significantly improving the adaptability and accuracy of bridge scanning. It allows the adjustment of the distance between the left bearing bracket 1 and the right bearing bracket 2 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 only by manually rotating the handle, the transverse adjustment can be realized, reducing the technical requirements for the operators and thus improving the work efficiency.

[0035] The drive mechanism includes a sleeve 15, a prism 16, a drive motor 17, a driving gear 18 and a driven gear 19. One ends of two sleeves 15 are respectively fixedly connected to the bottom rollers 5 on the left carrier 1; two prisms 16 are respectively inserted into the other ends of the two sleeves 15 in a horizontally movable manner and are in transmission connection with the bottom rollers 5 on the right carrier 2; the drive motor 17 is installed on the right carrier 2; the driving gear 18 is sleeved on the driving end of the drive motor 17; the driven gear 19 is sleeved on the outer sides of the outer walls of the two prisms 16 and meshes with the driving gear 18.

[0036] When it is necessary to scan bridge components, control the drive motor 17 to start, drive the driving gear 18 at the driving end to rotate, transmit power to the driven gear 19 through meshing, so that the prism 16 rotates, and finally transmit the rotational power to the bottom roller 5. The bottom roller 5 contacts the surface of the bridge component, and under the action of the adjusting screw 9, the bridge component is firmly clamped, so that under the rotation of the bottom roller 5, the left carrier 1 and the right carrier 2 can move autonomously on the bridge component. The connection between the prism 16 and the sleeve 15 ensures that when the left carrier 1 and the right carrier 2 move in opposite or relative directions, the rotational force of the drive motor 17 is transmitted to the bottom roller 5 through the driving gear 18 and the driven gear 19, ensuring the effective connection between the bottom rollers 5; by starting the drive motor 17, the automatic movement of the device on the bridge component is realized, significantly reducing manual operation, thereby improving the operation efficiency; by controlling the drive motor 17 and gear meshing, the movement of the bottom roller 5 can be controlled to ensure the stability and accuracy of the scanning process; the acting force of the adjusting screw 9 ensures the strong clamping of the device on the bridge component and guarantees the stability during the movement; the connection between the prism 16 and the sleeve 15 enables the device to move bidirectionally, increasing the flexibility of the operation; the autonomous movement ability ensures continuous scanning on the bridge component, providing continuous and comprehensive data support for the digital twin model; reducing manual intervention, reducing operation risks, and improving the safety of operators.

[0037] Chain wheels 20 are also installed on several bottom rollers 5. The several chain wheels 20 are respectively arranged on the several bottom rollers 5 and are coaxial with the bottom rollers 5; among them, chains 21 are sleeved between the two chain wheels 20 on the left carrier 1 and between the two chain wheels 20 on the right carrier 2.

[0038] When the drive 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, ensuring direct power transmission. Chains 21 are sleeved between the two sprockets 20 on the left carrier 1 and between the two sprockets 20 on the right carrier 2. The chains 21 connect the sprockets 20 to form a closed loop. When the sprockets 20 rotate, the chains 21 also move accordingly, driving the bottom rollers 5 on the left and right carriers 2 to rotate synchronously. This ensures that the left carrier 1 and the right carrier 2 move in a coordinated manner on the bridge component. Whether moving forward or backward, they can maintain synchronization, thus achieving smooth movement of the device on the bridge component. Through the transmission mechanism of the chains 21 and the sprockets 20, stable scanning operations can be achieved on the bridge component, providing continuous data support for the digital twin scenario.

[0039] The centering mechanism includes: a base 22, a connecting rod 23, a first rack 24, a second rack 25, a placement disk 26, and a rotating gear 27. A number of bases 22 are respectively fixedly arranged at the bottom ends of the left carrier 1 and the right carrier 2; both ends of the two connecting rods 23 are installed on a number of 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 perpendicular to 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 disk 26 is sleeved on the outer sides of the two first racks 24 and the second rack 25 and is movably connected to the first rack 24 and the second rack 25. The middle part of the placement disk 26 is connected to the ultrasonic scanner 28; the rotating gear 27 is rotatably installed inside the placement disk 26 and meshes with the first rack 24 and the second rack 25 respectively.

[0040] The connecting rod 23 is installed on the base 22 to form a structure connecting the left carrier 1 and the right carrier 2. The placement disk 26 is sleeved on the outer sides of these two racks and is movably connected to the racks, allowing the placement disk 26 to move along the direction of the racks. The middle part of the placement disk 26 is connected to the ultrasonic scanner 28, ensuring that the position of the scanner can be adjusted as the placement disk 26 moves and always remains in the middle part of the device. When the distance between the left carrier 1 and the right carrier 2 is adjusted through 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, thus ensuring that the ultrasonic scanner 28 is always located in the middle part of the device and achieving precise scanning. The centering mechanism ensures the precise positioning of the ultrasonic scanner 28 during the scanning process, improves the accuracy and efficiency of scanning, and provides high-quality data support for the digital twin scenario.

[0041] The ultrasonic scanner 28 always being in the centered position ensures symmetry with the bridge component for the scanning operation of the bridge component, thereby improving the scanning accuracy, which is crucial for obtaining accurate and consistent scanning data, especially when comparing data on both sides. The centered position helps maintain the consistency of scanning parameters such as distance, angle, and pressure, which is very important for subsequent data processing and analysis. The centered 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, optimizing the scanning range. The centering mechanism reduces the number of times the position of the scanner needs to be adjusted during scanning, saving time and improving the operation efficiency. The automated centering mechanism reduces the need for manual adjustment of the scanner position, reducing data deviation caused by improper operation. Even when the width and thickness dimensions of the bridge component or other building components change, the centering mechanism can ensure that the scanner always remains in the central position, enhancing adaptability. The centered position also helps reduce the influence of environmental factors on the scanning results, improving the reliability of the data. The data obtained in the centered position is more easily compared and analyzed with the bridge design drawings or other reference data, facilitating subsequent structural health assessment and maintenance decisions. The centered 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.

[0042] In this embodiment, when scanning the bridge component, by manipulating the longitudinal clamping mechanism, the distance between the two mounting brackets 4 and the left bearing bracket 1 and the right bearing bracket 2 is adjusted, and at the same time, the distance between the top roller 6 and the bottom roller 5 is changed to adapt to bridge components of different thicknesses; among them, both the left bearing bracket 1 and the right bearing bracket 2 are composed of profiles and connecting plates 3, and the distance between the left bearing bracket 1 and the right bearing bracket 2 is adjusted by using the lateral adjustment mechanism to realize the clamping and fixing of bridge components of different widths; subsequently, the drive mechanism is activated to drive the bottom roller 5 to move, and then drive the left bearing bracket 1 and the right bearing bracket 2 to move flexibly on the bridge component. During the moving scan, the centering mechanism cooperates with the ultrasonic scanner 28 to continuously scan the bridge component, collect the necessary data information, and provide data support for constructing the digital twin scenario; 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 during movement. The lateral adjustment mechanism ensures the fit between the centering mechanism and the bridge component, further enhancing the flexible adaptability of the device to different building structure sizes; at the same time, it enables the centering mechanism to quickly adapt to different bridge sizes, reducing the operation preparation time and further improving the operation efficiency, providing strong technical support for the digital twin scenario.

[0043] Therefore, the present invention adopts the above-mentioned digital twin scenario mobile scanning device, which has high flexible adaptability to different building structure sizes, reduces the need for manual propulsion, realizes the autonomous movement of the device, shortens the operation preparation time, and significantly improves the operation efficiency.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify or equivalently replace the technical solutions of the present invention, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A digital twin scene mobile scanning device, characterized in that: It includes a left load frame, a right load frame, a longitudinal clamping mechanism, a transverse adjustment mechanism, a driving mechanism and a centering mechanism; the left load frame and the right load frame are connected to each other and can move horizontally relative to each other; the longitudinal clamping mechanism is arranged at the top of the left load frame and the right load frame; the centering mechanism is arranged between the left load frame and the right load frame; the transverse adjustment mechanism is arranged on the left load frame and the right load frame; the driving mechanism is arranged on the right load frame; The lateral adjustment mechanism comprises a screw rod, a hinge seat, a rotating rod and a transmission assembly, wherein 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 bearing frame and extends to the outside of the right bearing frame, and the other end is threadedly connected to the left bearing frame; the hinge seat is fixedly mounted on the outside of the right bearing frame; the rotating rod is rotatably connected to the hinge seat, and rotating handles are respectively mounted on both ends of the rotating rod; the transmission assembly is mounted on the rotating rod and the ends of the screw rod; The centering mechanism includes a base, a connecting rod, a first rack, a second 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.

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 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.

6. A digital twin scene mobile scanning device according to claim 5, 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.

7. A digital twin scene mobile scanning device according to claim 6, 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.

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