A three-dimensional laser mobile measurement scanning head device and system

Abstract

The invention relates to the field of three-dimensional scanning equipment, and proposes a three-dimensional laser mobile measurement scanning head equipment and system, which include: a metal mirror for reflecting an incident light signal, and a balancing cylinder for rotationally balancing and trimming the metal mirror; a first mounting hole and a positioning hole are provided on a fixing surface of the metal mirror; a second mounting hole is provided on a side surface of the balancing cylinder, and is used to mount and fix the balancing cylinder and the metal mirror through the second mounting hole and the first mounting hole by using a fastener; a positioning column is provided at a position matching the positioning hole on a side surface of the balancing cylinder, and the positioning column is provided through the positioning hole; a balancing cylinder notch is provided on a side wall of the balancing cylinder, and a reflecting surface of the metal mirror is aligned with the balancing cylinder notch, and is used to effectively reflect the incident light signal; a first connecting hole is also provided in the middle of a side surface of the balancing cylinder, and the balancing cylinder is connected to a rotating shaft of a motor through the first connecting hole, and is used to rotate the balancing cylinder and the metal mirror by the motor to complete dynamic balancing and trimming.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional scanning equipment, and more specifically, to a three-dimensional laser mobile measurement scanning head equipment and system. Background Art

[0002] Mobile Surveying System (MSS) is one of the most cutting-edge technologies in today's surveying and mapping industry, and has been widely used in many fields. The airborne 3D laser mobile surveying system integrates a variety of cutting-edge technologies such as laser, global positioning system (GPS) and inertial navigation system (IMU). It is the most advanced earth observation system. It uses the laser ranging principle and aerial photogrammetry principle to quickly obtain the coordinate data and image data of the earth's surface by loading the 3D laser scanner and aerial digital camera on the aircraft. It can be used to quickly produce digital elevation models (DEM), digital surface models (DSM) and digital orthophotos (DOM). It can also be used in various aspects such as urban 3D modeling, natural disaster assessment, resource survey, ocean monitoring, military surveying and mapping, and large-scale engineering surveying. Compared with traditional aerial photogrammetry technology, this technology has the characteristics of direct and rapid acquisition of 3D spatial data, high degree of data processing automation, fast operation speed, less field work, high measurement accuracy and low operation cost. At the same time, it can reflect the real surface conditions to the greatest extent, and is also one of the feasible technologies that can accurately measure the ground elevation in densely vegetated areas and desert areas. For the power survey and design of transmission line projects in areas with high forest coverage, complex terrain and poor visibility conditions, the airborne three-dimensional laser mobile measurement system has more obvious advantages.

[0003] At present, mobile measurement technology has achieved rapid development. However, in the existing airborne 3D laser mobile measurement system, due to the unstable structure of the scanning head, the dynamic balance is difficult, and it is easy to shake at high speed, resulting in measurement data deviation and affecting the measurement accuracy. In addition, for the window protection mirror, most of them use the method of pasting one-piece, which cannot be disassembled during the repair and maintenance process and can only be destroyed and replaced, which increases the maintenance cost. Summary of the invention

[0004] The present invention provides a three-dimensional laser mobile measurement scanning head device and system to overcome the defect that the scanning head structure is unstable in the existing three-dimensional laser mobile measurement system, resulting in measurement errors.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] A three-dimensional laser mobile measurement scanning head device comprises a metal mirror for reflecting incident light signals and a balancing cylinder for performing rotational balancing on the metal mirror; wherein:

[0007] At least one first mounting hole and at least one positioning hole are provided on the fixing surface of the metal mirror; a second mounting hole is provided on one side of the trim tube at a position matching the first mounting hole, for mounting and fixing the trim tube and the metal mirror through the second mounting hole and the first mounting hole by using a fastener; a positioning column is provided on one side of the trim tube at a position matching the positioning hole, and the positioning column is provided through the positioning hole;

[0008] A trim tube notch is provided on the side wall of the trim tube, and the reflective surface of the metal mirror is aligned with the trim tube notch to effectively reflect the incident light signal;

[0009] A first connecting hole is also provided in the middle of one side surface of the balancing cylinder, and the balancing cylinder is connected to a rotating shaft of a motor through the first connecting hole, so as to rotate the balancing cylinder and the metal mirror through the motor to complete dynamic balancing.

[0010] As a preferred embodiment, a scanning window module is mounted on the outer periphery of the balancing cylinder; the scanning window module includes a scanning window body and a scanning window bracket; wherein, the scanning window bracket is mounted on the outer periphery of the balancing cylinder, one side of the scanning window bracket is fixed to the scanning window body, and window protection glasses are installed around the scanning window bracket.

[0011] As a preferred solution, the window protection mirror is plated with a dielectric film.

[0012] As a preferred solution, a plurality of reinforcing ribs are provided between a side surface of the scanning window body close to the balancing tube and another side surface of the scanning window bracket.

[0013] As a preferred solution, the scanning window body is connected to the scanning window bracket and is provided with an external card slot for card connection with the scanning window bracket; the card slot is provided with a waterproof ring.

[0014] As a preferred embodiment, the motor includes a first rotating shaft and a second rotating shaft arranged back to back, the first rotating shaft is transmission connected to the first connecting hole on the balancing cylinder; the second rotating shaft is transmission connected to a code disk module for determining the current rotation angle of the motor.

[0015] As a preferred embodiment, the code disc module includes a code disc fixing part and a code disc; wherein, a second connecting hole is opened in the middle of the code disc fixing part, and the code disc fixing part is transmission connected to the second rotating shaft through the second connecting hole; the code disc is fixedly connected to the outer periphery of the code disc fixing part.

[0016] As a preferred solution, a plurality of balancing holes are provided on both sides of the balancing cylinder, and the balancing holes are used to cooperate with the machine screws to perform rotational balance adjustment according to the weight difference of the balancing cylinder at different angles.

[0017] As a preferred solution, the middle portion of the trim tube is a hollow structure.

[0018] Furthermore, the present invention also proposes a three-dimensional laser motion measurement system, which includes the three-dimensional laser motion measurement scanning head device proposed in the present invention.

[0019] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0020] The present invention adopts a metal mirror to reflect the detection signal of the optical processor inside the three-dimensional laser motion measurement system, and then reflects the echo signal transmitted from the target back to the optical processor, so as to realize three-dimensional laser motion measurement; the metal mirror in the present invention is directly assembled on the balancing cylinder, which reduces the assembly error, improves the accuracy, and avoids the risk of deformation and cracking of the metal mirror due to force; the present invention adopts the balancing cylinder to balance the rotation balance of the scanning head, ensures that the rotation of the scanning head during use will not cause shaking, solves the dynamic balance problem, and improves the measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The figure is a schematic structural diagram of a three-dimensional laser mobile measurement scanning head device according to an embodiment of the present invention.

[0022] Figure 2 It is a cross-sectional view of a three-dimensional laser motion measurement scanning head device according to an embodiment of the present invention.

[0023] Figure 3 The figure is a schematic structural diagram of a trim cylinder according to an embodiment of the present invention.

[0024] Figure 4 It is a schematic structural diagram of a scanning window module according to an embodiment of the present invention.

[0025] Figure 5 FIG. 4 is a cross-sectional view of a scanning window module according to an embodiment of the present invention.

[0026] Figure 6 The figure is a schematic structural diagram of a code disc module according to an embodiment of the present invention.

[0027] Among them, 1-metal mirror, 101-first mounting hole, 102-positioning hole, 2-balancing cylinder, 201-second mounting hole, 202-positioning column, 203-balancing cylinder notch, 204-first connecting hole, 205-balancing hole, 3-motor, 301-first rotating axis, 302-second rotating axis, 4-scanning window module, 401-scanning window body, 402-scanning window bracket, 403-window protection mirror, 404-reinforcement rib, 405-waterproof ring, 5-code disk module, 501-code disk fixing part, 502-code disk, 503-second connecting hole. DETAILED DESCRIPTION

[0028] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0029] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] Furthermore, in the description of the present invention, unless otherwise specified, “plurality” means two or more.

[0032] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Example 1

[0034] See also Figure 1 , 2This embodiment provides a three-dimensional laser mobile measurement scanning head device, which includes a metal mirror 1 for reflecting an incident light signal, and a balancing cylinder 2 for rotationally balancing the metal mirror 1.

[0035] At least one first mounting hole 101 and at least one positioning hole 102 are provided on the fixing surface of the metal mirror 1; a second mounting hole 201 is provided on one side of the trim tube 2 at a position matching the first mounting hole 101, for mounting and fixing the trim tube 2 and the metal mirror 1 through the second mounting hole 201 and the first mounting hole 101 by means of a fastener; a positioning column 202 is provided on one side of the trim tube 2 at a position matching the positioning hole 102, and the positioning column 202 is provided through the positioning hole 102;

[0036] A trim tube notch 203 is formed on the side wall of the trim tube 2, and the reflective surface of the metal mirror 1 is aligned with the trim tube notch 203, so as to effectively reflect the incident light signal;

[0037] A first connecting hole 204 is also provided in the middle of one side of the balancing cylinder 2, and the balancing cylinder 2 is connected to the rotating shaft of a motor 3 through the first connecting hole 204, so as to rotate the balancing cylinder 2 and the metal mirror 1 through the motor 3 to complete dynamic balancing.

[0038] In this embodiment, a metal mirror 1 is used to reflect the detection signal of the optical processor inside the three-dimensional laser mobile measurement system, and then the echo signal transmitted from the target is reflected back to the optical processor. The traditional glass mirror can only be pasted on the bracket first, and then assembled on the trim tube 2. There will be assembly errors in the pasting process, which will affect the accuracy. The glass mirror will be pulled by the glue force when it is glued, and it is easy to deform. In high and low temperature environments, the glass mirror is also prone to stress cracking. Compared with the traditional glass mirror, the metal mirror 1 in this embodiment can be directly assembled on the trim tube 2, which reduces the assembly error, improves the accuracy, and avoids the risk of deformation and cracking of the metal mirror 1.

[0039] In this embodiment, the balancing cylinder 2 is used to balance the rotation of the scanning head, ensuring that the rotation of the scanning head will not cause shaking during use, solving the dynamic balance problem and improving the measurement accuracy.

[0040] In addition, the metal mirror 1 and the trim cylinder 2 in this embodiment are connected and fixed via a first mounting hole 101 and a positioning hole 102, wherein the positioning hole 102 is used for positioning to ensure that the reflective surface of the metal mirror 1 is aligned with the notch 203 of the trim cylinder so that the light path can be reflected out; the trim cylinder 2 is connected to the rotating shaft of the motor 3, and the rotation of the trim cylinder 2 is driven by the motor 3 to achieve dynamic balance adjustment.

[0041] Exemplarily, three first mounting holes 101 and one positioning hole 102 are provided on the fixing surface of the metal mirror 1 , and the first mounting holes 101 may be threaded holes for fixing the metal mirror 1 on the trim tube 2 by screws.

[0042] Exemplarily, the rotating shaft of the motor 3 passes through the trim cylinder 2 and then is inserted into the metal mirror 1, and a gluing groove is provided on the metal mirror 1 for gluing and fixing the connection.

[0043] In an optional embodiment, a plurality of balancing holes 205 are provided on both sides of the balancing cylinder 2, and the balancing holes 205 are used to perform rotational balance adjustment in cooperation with machine screws according to the weight difference of the balancing cylinder 2 at different angles.

[0044] In this embodiment, by accurately calculating and simulating the balance center of gravity position, a balance hole 205 is added to the structure to facilitate the adjustment of dynamic balance, while effectively improving the production efficiency of the equipment and the measurement accuracy of the three-dimensional laser mobile measurement system.

[0045] For example, Figure 3 As shown, it is a schematic structural diagram of the balancing cylinder 2 of this embodiment.

[0046] Further optionally, the middle portion of the trim cylinder 2 is a hollow structure.

[0047] Further optionally, the trim cylinder 2 is made of 304 stainless steel.

[0048] The structure of the trim tube 2 in this embodiment can effectively increase the stability of the structure, prevent the scanning head structure from being deformed under high and low temperature and vibration environments, and at the same time achieve the effect of weight reduction.

[0049] Example 2

[0050] This embodiment further describes the three-dimensional laser mobile measurement scanning head device proposed in Embodiment 1.

[0051] The three-dimensional laser mobile measurement scanning head device proposed in this embodiment includes a metal mirror 1 for reflecting an incident light signal, and a balancing cylinder 2 for performing rotational balancing on the metal mirror 1; wherein:

[0052] At least one first mounting hole 101 and at least one positioning hole 102 are provided on the fixing surface of the metal mirror 1; a second mounting hole 201 is provided on one side of the trim tube 2 at a position matching the first mounting hole 101, for mounting and fixing the trim tube 2 and the metal mirror 1 through the second mounting hole 201 and the first mounting hole 101 by means of a fastener; a positioning column 202 is provided on one side of the trim tube 2 at a position matching the positioning hole 102, and the positioning column 202 is provided through the positioning hole 102;

[0053] A trim tube notch 203 is formed on the side wall of the trim tube 2, and the reflective surface of the metal mirror 1 is aligned with the trim tube notch 203, so as to effectively reflect the incident light signal;

[0054] A first connecting hole 204 is also provided in the middle of one side of the balancing cylinder 2, and the balancing cylinder 2 is connected to the rotating shaft of a motor 3 through the first connecting hole 204, so as to rotate the balancing cylinder 2 and the metal mirror 1 through the motor 3 to complete dynamic balancing.

[0055] Furthermore, a scanning window module 4 is provided on the outer periphery of the trim tube 2 .

[0056] The scanning window module 4 includes a scanning window body 401 and a scanning window bracket 402; wherein, the scanning window bracket 402 is mounted on the outer periphery of the balancing tube 2, one side of the scanning window bracket 402 is fixedly installed with the scanning window body 401, and window protection mirrors 403 are installed around the scanning window bracket 402.

[0057] The scanning window module 4 added in this embodiment is used to install the scanning window body 401 and the window protection mirror 403. In the specific implementation process, the window protection mirror 403 is first installed on the scanning window bracket 402 to form a quadrangular prism structure, which is then sleeved on the scanning window body 401 to form the scanning window module 4, which is further sleeved on the trim tube 2.

[0058] For example, Figure 4 , 5 , which are a structural schematic diagram and a cross-sectional diagram of the scanning window module 4 of this embodiment.

[0059] Exemplarily, the scanning window bracket 402 includes a first bracket and a second bracket, and the window protection mirror 403 is installed between the first bracket and the second bracket to form a quadrangular prism structure. The first bracket and the second bracket are provided with a gluing groove, and one end of the window protection mirror 403 is clamped on the gluing groove of the first bracket and fixed by gluing, and the other end is clamped on the gluing groove of the second bracket and fixed by gluing.

[0060] Exemplarily, the scanning window bracket 402 is provided with screw holes for fixing the scanning window bracket 402 to the scanning window body 401 by means of screws.

[0061] The scanning window module 4 of this embodiment is detachably connected to the trim tube 2. Compared with the traditional scanning window installation method, this embodiment is easy to maintain, and in particular, is more convenient for laser testing and calibration.

[0062] Furthermore, in an optional embodiment, the window protection mirror 403 is plated with a dielectric film.

[0063] The conventional window protective mirror 403 is transparent, but the internal structure can be seen. In order to prevent the internal structure from being seen through the window protective mirror 403 and to increase the aesthetics of the instrument, the window protective mirror 403 in this embodiment is coated.

[0064] Furthermore, in an optional embodiment, a plurality of reinforcing ribs 404 are provided between a side surface of the scanning window body 401 close to the trim tube 2 and another side surface of the scanning window bracket 402 to support it.

[0065] The reinforcing rib 404 structure added in this embodiment is used to improve the structural stability of the window protection mirror 403 and increase the strength of the scanning head device.

[0066] Exemplarily, four reinforcing ribs 404 are provided on the scanning window bracket 402 .

[0067] Furthermore, in an optional embodiment, the scanning window body 401 is connected to the scanning window bracket 402 and is provided with an external card slot for being connected with the scanning window bracket 402; the card slot is provided with a waterproof ring 405 inside.

[0068] In this embodiment, in order to improve the waterproof performance, a waterproof groove is designed on the card slot of the scanning window body 401 for placing the waterproof ring 405.

[0069] Example 3

[0070] This embodiment further describes the three-dimensional laser mobile measurement scanning head device proposed in Embodiments 1 and 2.

[0071] The three-dimensional laser mobile measurement scanning head device proposed in this embodiment includes a metal mirror 1 for reflecting an incident light signal, and a balancing cylinder 2 for performing rotational balancing on the metal mirror 1; wherein:

[0072] At least one first mounting hole 101 and at least one positioning hole 102 are provided on the fixing surface of the metal mirror 1; a second mounting hole 201 is provided on one side of the trim tube 2 at a position matching the first mounting hole 101, for mounting and fixing the trim tube 2 and the metal mirror 1 through the second mounting hole 201 and the first mounting hole 101 by means of a fastener; a positioning column 202 is provided on one side of the trim tube 2 at a position matching the positioning hole 102, and the positioning column 202 is provided through the positioning hole 102;

[0073] A trim tube notch 203 is formed on the side wall of the trim tube 2, and the reflective surface of the metal mirror 1 is aligned with the trim tube notch 203, so as to effectively reflect the incident light signal;

[0074] A first connecting hole 204 is also provided in the middle of one side of the balancing cylinder 2, and the balancing cylinder 2 is connected to the rotating shaft of a motor 3 through the first connecting hole 204, so as to rotate the balancing cylinder 2 and the metal mirror 1 through the motor 3 to complete dynamic balancing.

[0075] Furthermore, the motor 3 includes a first rotating shaft 301 and a second rotating shaft 302 arranged in back to back relation, the first rotating shaft 301 is transmission connected to the first connecting hole 204 on the balancing cylinder 2; the second rotating shaft 302 is transmission connected to a code disc module 5 for determining the current rotation angle of the motor 3.

[0076] The additional code disc module 5 in this embodiment is used to determine the current rotation angle of the motor 3 through the code disc 502, and further assist in the dynamic balance adjustment of the scanning head device.

[0077] In an optional embodiment, the motor 3 is connected to a motor 3 fixing bracket, a mounting hole is designed on the motor 3 fixing bracket, and a screw hole is provided on the motor 3, and the motor 3 is fixed to the motor 3 fixing bracket by screws.

[0078] Further optionally, the motor 3 driving board is connected to the motor 3 fixing bracket, the motor 3 fixing bracket is designed with screw holes, the motor 3 driving board is designed with mounting holes, and the motor 3 driving board is fixed to the motor 3 fixing bracket by screws. The motor 3 driving board is used to drive the motor 3 to rotate.

[0079] In an optional embodiment, the code disc module 5 includes a code disc fixing part 501 and a code disc 502; wherein, a second connecting hole 503 is opened in the middle of the code disc fixing part 501, and the code disc fixing part 501 is transmission connected to the second rotating shaft 302 through the second connecting hole 503; the code disc 502 is fixedly connected to the outer periphery of the code disc fixing part 501.

[0080] For example, Figure 6 As shown, it is a schematic structural diagram of the code disk module 5 of this embodiment.

[0081] The code disc 502 in this embodiment is connected to the motor 3 by being pasted on the code disc fixing part 501, and is used to determine the current rotation angle of the motor 3 according to the rotation angle of the code disc 502, and is used to assist the dynamic balance adjustment of the equipment according to the rotation angle.

[0082] Exemplarily, a threaded hole is provided on the second rotating shaft 302 on the motor 3 , and the code disc fixing member 501 is fixedly connected to the threaded hole on the second rotating shaft 302 by means of screws.

[0083] Exemplarily, there is a small gap in the assembly between the code disc fixing part 501 and the second rotating shaft 302 of the motor 3, and the code disc fixing part 501 is glued to the second rotating shaft 302 by applying glue in the assembly gap to achieve fixed connection.

[0084] Exemplarily, there is a certain gap between the code disc fixing member 501 and the code disc 502 during assembly, which is used to adjust the code disc 502 to be concentric with the code disc fixing member 501 and to glue the code disc 502 by gluing.

[0085] Exemplarily, the code disc 502 is also provided with a code disc plate, on which the rotation angle of the code disc 502 is marked. The code disc fixing part 501 is provided with 4 screw holes and 2 positioning bosses, and the code disc plate is designed with 4 mounting holes and 2 positioning holes matching the positioning bosses, which are used to fix the code disc plate on the code disc plate fixing part with screws.

[0086] Example 4

[0087] This embodiment proposes a three-dimensional laser motion measurement system, which includes a laser transmitter, an optical processor, and a three-dimensional laser motion measurement scanning head device as described in any one of Embodiments 1 to 3, which is used to transmit an incident signal to complete three-dimensional laser motion measurement.

[0088] It can be understood that the system of this embodiment corresponds to the scanning head device of the above-mentioned embodiments 1 to 3, and the options in the above-mentioned embodiment 1 are also applicable to this embodiment, so they will not be described repeatedly here.

[0089] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A three-dimensional laser mobile measurement scanning head device, characterized in that: The invention comprises a metal mirror (1) for reflecting an incident light signal, and a balancing cylinder (2) for performing rotational balancing on the metal mirror (1); wherein: At least one first mounting hole (101) and at least one positioning hole (102) are provided on the fixing surface of the metal mirror (1); a second mounting hole (201) is provided on one side of the trimming tube (2) at a position matching the first mounting hole (101), for mounting and fixing the trimming tube (2) and the metal mirror (1) through the second mounting hole (201) and the first mounting hole (101) using a fastener; a positioning column (202) is provided on one side of the trimming tube (2) at a position matching the positioning hole (102), and the positioning column (202) is arranged through the positioning hole (102); A trim tube notch (203) is provided on the side wall of the trim tube (2), and the reflection surface of the metal mirror (1) is aligned with the trim tube notch (203) for effectively reflecting incident light signals; A first connecting hole (204) is also provided in the middle of a side surface of the balancing cylinder (2), and the balancing cylinder (2) is connected to a rotating shaft of a motor (3) via the first connecting hole (204) so ​​as to rotate the balancing cylinder (2) and the metal mirror (1) via the motor (3) to complete dynamic balancing.

2. The three-dimensional laser mobile measurement scanning head device according to claim 1, characterized in that: A scanning window module (4) is mounted on the outer periphery of the trim cylinder (2); The scanning window module (4) comprises a scanning window body (401) and a scanning window bracket (402); wherein the scanning window bracket (402) is mounted on the outer periphery of the balancing tube (2), one side of the scanning window bracket (402) is fixedly mounted on the scanning window body (401), and window protection mirrors (403) are mounted around the scanning window bracket (402).

3. The three-dimensional laser mobile measurement scanning head device according to claim 2, characterized in that: The window protection mirror (403) is plated with a dielectric film.

4. The three-dimensional laser mobile measurement scanning head device according to claim 2, characterized in that: A plurality of reinforcing ribs (404) are provided between a side surface of the scanning window body (401) close to the trim tube (2) and another side surface of the scanning window bracket (402).

5. The three-dimensional laser mobile measurement scanning head device according to claim 2, characterized in that: The scanning window body (401) is connected to the scanning window bracket (402) and is provided with an external card slot for card connection with the scanning window bracket (402); the card slot is provided with a waterproof ring (405) inside.

6. The three-dimensional laser mobile measurement scanning head device according to any one of claims 1 to 5, characterized in that: The motor (3) comprises a first rotating shaft (301) and a second rotating shaft (302) which are arranged in back-to-back directions; the first rotating shaft (301) is transmission-connected to a first connecting hole (204) on the trim cylinder (2); the second rotating shaft (302) is transmission-connected to a code disc module (5) for determining the current rotation angle of the motor (3).

7. The three-dimensional laser mobile measurement scanning head device according to claim 6, characterized in that: The code disc module (5) comprises a code disc fixing component (501) and a code disc (502); wherein a second connecting hole (503) is provided in the middle of the code disc fixing component (501), and the code disc fixing component (501) is transmission-connected to the second rotating shaft (302) via the second connecting hole (503); and the code disc (502) is fixedly connected to the periphery of the code disc fixing component (501).

8. The three-dimensional laser mobile measurement scanning head device according to any one of claims 1 to 5, characterized in that: A plurality of balancing holes (205) are provided on both sides of the balancing cylinder (2), and the balancing holes (205) are used to cooperate with the machine screws to perform rotational balance adjustment according to the weight difference of the balancing cylinder (2) at different angles.

9. The three-dimensional laser mobile measurement scanning head device according to claim 8, characterized in that: The middle part of the trim cylinder (2) is a hollow structure.

10. A three-dimensional laser mobile measurement system, characterized in that: It comprises the three-dimensional laser mobile measurement scanning head device as described in any one of claims 1 to 9.

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