Real-scene three-dimensional geographic information acquisition equipment

Abstract

The invention provides a live-action three-dimensional geographic information acquisition device, and relates to the technical field of three-dimensional data acquisition equipment, the live-action three-dimensional geographic information acquisition device comprises a base body, the vertex angles of the lower end of the base body are respectively provided with a wheel, the upper end of the base body is provided with a position control mechanism, the position control mechanism is connected with a protection frame, and the front end of the protection frame is provided with a protection port. A protection shaft is rotationally arranged on the front side of the protection opening, the protection shaft is fixedly connected with the protection shell, the protection shaft penetrates through the left end of the protection opening and is connected with the driving mechanism, a protection cavity is formed in the protection shell, an acquisition opening is formed in one end of the protection shell, the protection cavity is communicated with the acquisition opening, and the acquisition opening corresponds to a lens of the binocular camera. A protection opening is formed in the base body, a protection cleaning mechanism is arranged at the rear end of the protection opening and connected with a driving mechanism, the driving mechanism is connected with the protection frame, power assisting mechanisms are symmetrically arranged at the left end and the right end of the base body, and the power assisting mechanisms are used for improving the walking passing performance of the live-action three-dimensional geographic information collection equipment in a to-be-collected area.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional data acquisition equipment, and in particular to a real-scene three-dimensional geographic information acquisition equipment. Background Art

[0002] 3D scanning technology is mainly used to scan the shape, structure and color of objects. Its significance lies in the ability to convert the three-dimensional information of the object into a digital signal that can be directly processed by the computer, providing a very convenient and fast means for the digitization of the object. When collecting real-scene 3D data, binocular cameras are currently commonly used to collect real-scene 3D geographic information, and then the collected data is processed for 3D modeling. The mobile geographic information collection equipment is used to carry a binocular camera and move in the area to be collected to collect real-life three-dimensional geographic information of the area to be collected. There are usually mud pits in the area to be collected. If the mobile geographic information collection equipment gets stuck in the mud pit and is difficult to move during the information collection process, it will not only be difficult to collect geographic information, but also require manual rescue, which is time-consuming and labor-intensive, reducing the efficiency of geographic information collection. Summary of the invention

[0003] The present invention provides a real-scene three-dimensional geographic information collection device, which solves the technical problem that if a mobile geographic information collection device gets stuck in a mud pit and is difficult to move during the information collection process, it is not only difficult to carry out geographic information collection work, but also requires manual rescue, which is time-consuming and labor-intensive, and reduces the efficiency of geographic information collection.

[0004] In order to solve the above technical problems, the present invention discloses a real-scene three-dimensional geographic information acquisition device, including a base, a wheel is respectively arranged at the top corners of the lower end of the base, a position control mechanism is arranged at the upper end of the base, the position control mechanism is connected to the protection frame, a protection port is arranged at the front end of the protection frame, a protection shaft is rotatably arranged at the front side of the protection port, the protection shaft is fixedly connected to the protection shell, the protection shaft passes through the left end of the protection port and is connected to the driving mechanism, a protection cavity is arranged inside the protection shell, a collection port is arranged at one end of the protection shell, the protection cavity and the collection port are connected, a binocular camera is installed in the protection cavity, the collection port is arranged corresponding to the lens of the binocular camera, a protection cleaning mechanism is arranged at the rear end of the protection port, the protection cleaning mechanism is arranged corresponding to the protection shell, the protection cleaning mechanism is connected to the driving mechanism, the driving mechanism is connected to the protection frame, and power-assisting mechanisms are symmetrically arranged at the left and right ends of the base, the power-assisting mechanisms are used to improve the walking performance of the real-scene three-dimensional geographic information acquisition device of the present invention in the area to be collected.

[0005] Preferably, a driving motor and a rotating motor are provided inside the base, the driving motor is connected to the wheel, the rotating motor is fixedly connected to the rotating table, and the rotating table is rotatably arranged in the middle of the upper end of the base.

[0006] Preferably, the position control mechanism includes support plates three respectively arranged on the left and right sides of the upper end of the rotating table, a rotating shaft one is rotatably provided between the support plates three on the left and right sides, the rotating shaft one passes through the support plate three on the right side and is fixedly connected to the motor two, the motor two is fixedly connected to the support plate three on the right side, support blocks one are symmetrically provided on the left and right sides of the rotating shaft one, the support block one is fixedly connected to the support shaft, the left and right sides of the support shaft are symmetrically provided with support plates two, a rotating shaft two is rotatably provided between the support plates two on the left and right sides, the rotating shaft two passes through the left end of the support plate two and is fixedly connected to the motor three, the motor three is fixedly connected to the support plate two on the left side, support blocks two are symmetrically provided on the left and right sides of the rotating shaft two, a support plate three is provided on the front side of the support block two, the support block two is slidably connected to the sliding plate, the sliding plate is threadedly connected to the threaded rod, the threaded rod is rotatably connected to the support plate three, one end of the threaded rod away from the support plate three is fixedly connected to the motor four, the motor four is fixedly connected to the rear side of the support block two, the sliding plate is fixedly connected to the connecting rod, the connecting rod passes through the support plate three and is fixedly connected to the rear end of the protective frame.

[0007] Preferably, the protective cleaning mechanism includes a bottom plate arranged at the rear side of the lower end of the protective frame, a cavity 1 being arranged inside the bottom plate, a sliding opening 1 being arranged at the front end of the bottom plate, sliding openings 2 being arranged at the upper and lower ends and the left and right sides of the bottom plate respectively, a contact block 1 being slidably arranged at the upper end of the bottom plate, a lower inclined section of the contact block 1 being slidably connected with a rear inclined section of the contact block 2 in the cavity 1, the contact block 2 being connected to the outside through the sliding opening 1, and a worm being rotatably arranged at the front end of the contact block 2, the worm being meshed with the worm gear, the worm gear being fixedly connected to the connecting shaft 1, the connecting shaft 1 passing through the front end of the connecting block 1 entering into the internal cavity 2 of the connecting block 1 and being fixedly connected to the pulley 1, a pulley 2 being further arranged in the cavity 2, a conveyor belt being arranged between the pulley 1 and the pulley 2, the pulley 2 being fixedly connected to the cleaning head through the connecting shaft 2, the cleaning head being arranged corresponding to the collecting opening, and the cleaning head being rotatably connected to the connecting block 1.

[0008] Preferably, connecting frames are symmetrically provided at the left and right ends of connecting block one, connecting block one, connecting frame and cleaning head are all arranged in the groove on the rear side of the protective opening, a reset spring is fixedly provided between connecting block one and the groove, the connecting frames on the left and right sides respectively pass through the sliding openings two on the left and right sides to enter cavity one and are fixedly connected to connecting block two, the connecting blocks two on the left and right sides are respectively arranged on the rear sides of the left and right ends of contact block two, positioning rods are respectively provided on the front sides of the left and right ends of contact block two, the positioning rods correspond to the positioning grooves, the positioning grooves are arranged on the left and right sides of the protective shaft, and the positioning grooves are arranged as a bevel type.

[0009] Preferably, the driving mechanism includes gear 1 fixedly connected to the left end of the worm, gear 1 is meshed with gear 2, gear 2 is fixedly connected to the outside of the driving sleeve, the left end of the driving sleeve is fixedly connected to motor 1, motor 1 is fixedly connected to the left end of the protective frame, and a friction hole is provided at the right end of the driving sleeve, which corresponds to the protective shaft passing through the left end of the protective opening.

[0010] Preferably, the power assist mechanism includes a shell, the shell is fixedly connected to the base, a working chamber is provided at one end of the shell away from the base, a movable opening is penetrated through the side of the lower end of the shell away from the base, the working chamber is communicated with the movable opening, the front and rear ends of the side of the working chamber away from the base are symmetrically connected with guide grooves, the guide grooves are slidably connected to the guide blocks, a spring 2 is fixedly provided between the lower end of the guide groove and the lower end of the guide block, a support shaft is slidably provided between the guide blocks on the front and rear sides along the left and right directions, the support shaft is rotatably connected to the mounting plate 1, a plurality of power assist rods are evenly arranged on the side of the lower end of the mounting plate 1 away from the base, the plurality of power assist rods correspond to the movable opening, the upper end of the mounting plate 1 is fixedly connected to the lower end of the mounting plate 2 through a plurality of springs 1, the mounting plate 2 is slidably connected to the side end of the working chamber, the upper end of the mounting plate 2 is correspondingly provided with a protrusion, the protrusion is fixedly connected to the mounting shaft 1, the mounting shaft 1 is rotatably arranged on the upper side of the working chamber, and the mounting shaft 1 is fixedly connected to the working motor, and the working motor is fixedly arranged on the side end of the working chamber.

[0011] Preferably, mounting plates three are symmetrically provided on the front and rear sides of the upper end of the shell, the mounting plates three on the front and rear sides are fixedly connected to the mounting shaft two, gears three, operating blocks one and rotating blocks are symmetrically provided on the front and rear sides of the mounting shaft two, one end of the rotating block away from the base is rotatably connected to the operating block one, one side of the operating block one on the front and rear sides away from the base is rotatably connected to the mounting shaft three, the mounting shaft three is fixedly connected to the operating block two, the middle part of the rotating block is fixedly connected to the mounting shaft two, one end of the rotating blocks on the front and rear sides close to the base is fixedly connected to the mounting shaft four, the mounting shaft four is rotatably connected to the mounting block one, a mounting block two is rotatably provided in the rotating groove one of the mounting block one, the mounting block two is rotatably connected to the mounting shaft five, the mounting shaft five is arranged in the rotating groove two of the mounting block three, the mounting block three passes through the upper end of the shell into the working chamber and is rotatably connected to the rotating groove three of the mounting plate one, and the rotating groove three is arranged on the side of the mounting plate one close to the base.

[0012] Preferably, the gears three on the front and rear sides are respectively meshed with the racks, the racks pass through the upper end of the shell into the working cavity and are fixedly connected to the mounting plate four, the mounting plate four is slidably arranged in the working cavity, and the front and rear sides of the lower end of the mounting plate four are correspondingly provided with limit blocks, the limit blocks are arranged on the front and rear sides of the working cavity, the lower side of the mounting plate four is arranged corresponding to the protrusion, the left and right sides of the protrusion are respectively provided with protruding ends, and the arc lengths of the protruding ends on the left and right sides are different.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The assisting organization can provide assistance to the real-scene three-dimensional geographic information collection equipment stuck in a mud pit, helping the real-scene three-dimensional geographic information collection equipment to get out of the mud pit, solving the technical problem that if the mobile geographic information collection equipment is stuck in a mud pit and difficult to move during the information collection process, it is not only difficult to carry out geographic information collection work, but also requires manual rescue, which is time-consuming and labor-intensive, and reduces the efficiency of geographic information collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 The structure of the present invention is schematically shown Figure 1 ; Figure 2 The structure of the present invention is schematically shown Figure 2 ; Figure 3 Schematic diagram of the protective frame connection structure of the present invention Figure 1 ; Figure 4 Schematic diagram of the protective frame connection structure of the present invention Figure 2 ; Figure 5 Schematic diagram of the protective frame connection structure of the present invention Figure 3 ; Figure 6 Schematic diagram of the protective frame connection structure of the present invention Figure 4 ; Figure 7 It is a schematic diagram of the structure of the protection frame part of the present invention; Figure 8 It is a schematic diagram of the structure of the power-assisting mechanism of the present invention; Fig. 9 It is a schematic diagram of the internal structure of the shell of the present invention.

[0015] In the figure: 1, base; 2, wheel; 3, bottom plate; 4, shell; 5, motor 2; 6, rotating table; 7, support block 1; 8, support plate 2; 9, rotating shaft 2; 10, motor 3; 11, support block 2; 12, connecting rod; 13, motor 4; 14, threaded rod; 15, sliding plate; 16, protection frame; 17, protection shell; 18, motor 1; 19, collection port; 20, positioning groove; 21, gravity block; 22, connecting rope; 23, rolling ball; 24, telescopic block; 25, winding wheel; 26, pull rope; 27, gear 2; 28, gear 1; 29, protection shaft; 30, contact block 2; 31, worm gear; 32, connecting shaft 1; 33, connecting block 1; 34 , connecting block two; 35, connecting frame; 36, cleaning head; 37, contact block one; 38, operating block two; 39, mounting block two; 40, rack; 41, gear three; 42, mounting shaft four; 43, rotating block; 44, mounting block one; 45, mounting plate three; 46, mounting shaft two; 47, mounting shaft five; 48, mounting block three; 49, rotating groove one; 50, working chamber; 51, convex block; 52, movable mouth; 53, mounting shaft one; 54, power assist rod; 55, guide groove; 56, spring one; 57, mounting plate one; 58, mounting plate two; 59, mounting plate four; 60, guide block; 61, support plate three; 62, worm; 63, positioning rod; 64, operating block one. DETAILED DESCRIPTION

[0016] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0017] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0018] The present invention provides the following embodiments Example 1

[0019] The embodiment of the present invention provides a real-scene three-dimensional geographic information acquisition device, such as Figure 1-Figure 9As shown, it includes a base 1, a wheel 2 is respectively provided at the top corner of the lower end of the base 1, a position control mechanism is provided at the upper end of the base 1, the position control mechanism is connected to the protection frame 16, a protection port is provided at the front end of the protection frame 16, a protection shaft 29 is rotatably provided at the front side of the protection port, the protection shaft 29 is fixedly connected to the protection shell 17, the protection shaft 29 passes through the left end of the protection port and is connected to the driving mechanism, a protection cavity is provided inside the protection shell 17, a collection port 19 is provided at one end of the protection shell 17, the protection cavity and the collection port 19 are connected, a binocular camera is installed in the protection cavity, the collection port 19 is arranged corresponding to the lens of the binocular camera, a protection cleaning mechanism is provided at the rear end of the protection port, the protection cleaning mechanism is arranged corresponding to the protection shell 17, the protection cleaning mechanism is connected to the driving mechanism, the driving mechanism is connected to the protection frame 16, and power-assisting mechanisms are symmetrically provided at the left and right ends of the base 1, the power-assisting mechanisms are used to improve the walking performance of the real-scene three-dimensional geographic information collection device of the present invention in the area to be collected.

[0020] The beneficial effects of the above technical solution are: The protection cavity is used to protect the binocular camera and prevent the binocular camera from being damaged by the outside world. The binocular camera adopts the existing equipment, which will not be described in detail in the present invention. The wheel 2 can drive the base 1 to move, the base 1 drives the position control mechanism and the power-assisting mechanism to move, the position control mechanism can drive the protection frame 16 to move in the three-dimensional space, the protection frame 16 drives the protection shell 17 to move in the three-dimensional space, the protection shell 17 drives the binocular camera to move in the three-dimensional space, the driving mechanism drives the protection shaft 29 to rotate, the protection shaft 29 drives the protection shell 17 to rotate, the protection shell 17 drives the binocular camera to rotate, and the acquisition range of the binocular camera is increased, so as to facilitate the binocular camera to completely and clearly acquire the geographic information in the real three-dimensional space, and a protection clearing mechanism is set at the rear end of the protection port. Cleaning mechanism, after the binocular camera completes collecting geographic information, the driving mechanism drives the protective shell 17 to rotate through the protective shaft 29, so that the collection port 19 is set corresponding to the rear end of the protective port, and then the driving mechanism can drive the protective cleaning mechanism to work to clean and protect the lens of the binocular camera. After the real-scene three-dimensional geographic information collection device of the present invention falls into a mud pit, the assisting mechanism can provide assistance to the real-scene three-dimensional geographic information collection device trapped in the mud pit, helping the real-scene three-dimensional geographic information collection device to get out of the mud pit, solving the technical problem that if the mobile geographic information collection device falls into a mud pit and is difficult to move during the information collection process, it is not only difficult to carry out geographic information collection work, but also requires manual rescue, which is time-consuming and labor-intensive, and reduces the efficiency of geographic information collection. Example 2

[0021] On the basis of Example 1, Figure 1-Figure 2 As shown, a driving motor and a rotating motor are arranged inside the base 1, the driving motor is connected to the wheel 2, the rotating motor is fixedly connected to the rotating platform 6, and the rotating platform 6 is rotatably arranged at the middle of the upper end of the base 1; The position control mechanism includes support plates 3 61 respectively arranged on the left and right sides of the upper end of the rotating table 6, a rotating shaft 1 is rotatably arranged between the support plates 3 61 on the left and right sides, the rotating shaft 1 penetrates the support plate 3 61 on the right side and is fixedly connected to the motor 2 5, the motor 2 5 is fixedly connected to the support plate 3 61 on the right side, support blocks 1 7 are symmetrically arranged on the left and right sides of the rotating shaft 1, the support blocks 1 7 are fixedly connected to the supporting shaft, support plates 2 8 are symmetrically arranged on the left and right sides of the supporting shaft, a rotating shaft 2 9 is rotatably arranged between the support plates 2 8 on the left and right sides, the rotating shaft 2 9 penetrates the left end of the support plate 2 8 and is fixed to the motor 3 10 Connection, motor three 10 is fixedly connected to the support plate two 8 on the left side, support blocks two 11 are symmetrically provided on the left and right sides of the rotating shaft two 9, a support plate three is provided on the front side of the support block two 11, the support block two 11 is slidably connected to the sliding plate 15, the sliding plate 15 is threadedly connected to the threaded rod 14, the threaded rod 14 is rotatably connected to the support plate three, the end of the threaded rod 14 away from the support plate three is fixedly connected to the motor four 13, the motor four 13 is fixedly connected to the rear side of the support block two 11, the sliding plate 15 is fixedly connected to the connecting rod 12, the connecting rod 12 passes through the support plate three and is fixedly connected to the rear end of the protective frame 16.

[0022] The beneficial effects of the above technical solution are: When the driving motor is working, it can drive the wheel 2 to rotate, and when the wheel 2 rotates, it can drive the base 1 to move. The base 1 is equivalent to the chassis. A suspension system can be provided between the wheel 2 and the base 1. The suspension system can adopt the existing suspension system to improve the stability of the base 1 during the movement. When the wheel 2 rotates, the base 1 can drive the rotating platform 6 to move, and when the rotating motor is working, it can drive the rotating platform 6 to rotate. When the rotating table 6 moves and rotates, it can drive the position of the support plate three 61 set on the left and right sides to change, and the support plate three 61 drives the position of the support block one 7 on the left and right sides to change. When the motor two 5 is working, it can drive the support block one 7 to rotate, and the support block one 7 drives the support plate two 8 to rotate, and the support plate two 8 drives the support shaft and the rotating shaft two 9 to rotate. When the motor three 10 is working, it can drive the rotating shaft two 9 to rotate, and the rotating shaft two 9 drives the support block two 11 to rotate, and the support block two 11 drives the sliding plate 15 and the support plate three to rotate. When the motor four 13 is working, it drives the threaded rod 14 to rotate, and the threaded rod 14 drives the sliding plate 15 to slide along the support block two 11, and the sliding plate 15 drives the connecting rod 12 to slide along the support plate three, and the connecting rod 12 drives the protection frame 16 to move. By controlling the work of the driving motor, the rotating motor, the motor two 5, the motor three 10 and the motor four 13, the purpose of controlling the protection frame 16 to move to different positions in the area to be collected can be achieved. Example 3

[0023] On the basis of Example 2, Figure 1-Figure 7As shown, the protection and cleaning mechanism includes a bottom plate 3 arranged at the rear side of the lower end of the protection frame 16, a cavity 1 is arranged inside the bottom plate 3, a sliding opening 1 is arranged at the front end of the bottom plate 3, sliding openings 2 are arranged at the upper and lower ends and left and right sides of the bottom plate 3 respectively, a contact block 1 37 is slidably arranged at the upper end of the bottom plate 3, a lower inclined section of the contact block 1 37 is slidably connected with a rear inclined section of the contact block 2 30 in the cavity 1, the contact block 2 30 passes through the sliding opening 1 and is connected to the outside, and a worm 62 is rotatably arranged at the front end of the contact block 2 30, and the worm 62 Meshing with the worm gear 31, the worm gear 31 is fixedly connected with the connecting shaft 1 32, the connecting shaft 1 32 passes through the front end of the connecting block 1 33, enters the internal cavity 2 of the connecting block 1 33 and is fixedly connected with the pulley 1, the cavity 2 is also provided with a pulley 2, a conveyor belt is provided between the pulleys 1 and 2, the pulley 2 is fixedly connected with the cleaning head 36 through the connecting shaft 2, the front end of the connecting block 1 33 is provided with a through hole for the connecting shaft 2 to pass through, the cleaning head 36 is arranged corresponding to the collection port 19, and the cleaning head 36 is rotatably connected with the connecting block 1 33; The left and right ends of the connection block 1 33 are symmetrically provided with connection frames 35, the connection block 1 33, the connection frame 35 and the cleaning head 36 are all arranged in the groove at the rear side of the protection port, a return spring is fixedly arranged between the connection block 1 33 and the groove, the connection frames 35 on the left and right sides respectively pass through the sliding ports 2 on the left and right sides to enter the cavity 1 and are fixedly connected to the connection block 2 34, the connection blocks 2 34 on the left and right sides are respectively arranged at the rear sides of the left and right ends of the contact block 2 30, and the front sides of the left and right ends of the contact block 2 30 are respectively provided with positioning rods 63, the positioning rods 63 are matched with the positioning grooves 20, the positioning grooves 20 are arranged on the left and right sides of the protection shaft 29, and the positioning grooves 20 are set to be groove-shaped; The driving mechanism includes a gear 28 fixedly connected to the left end of the worm 62, the gear 28 is meshed with the gear 27, the gear 27 is fixedly connected to the outside of the driving sleeve, the left end of the driving sleeve is fixedly connected to the motor 18, the motor 18 is fixedly connected to the left end of the protective frame 16, and a friction hole is provided at the right end of the driving sleeve, which corresponds to the protective shaft 29 that passes through the left end of the protective opening.

[0024] The beneficial effects of the above technical solution are: When the motor 18 is working, it drives the driving sleeve to rotate. The friction between the friction hole in the driving sleeve and the protective shaft 29 is large enough, so that the driving sleeve relies on the friction force to drive the protective shaft 29 to rotate, and the protective shaft 29 drives the protective shell 17 to rotate. During the geographic information collection process, it is necessary to avoid the collection port 19 corresponding to the rear end of the protective port, so that the information collected by the binocular camera is the rear end area of ​​the protective port. After the binocular camera completes the collection of geographic information, the protective shaft 29 is controlled to rotate to move the protective shell 17 toward the upper end of the bottom plate 3. After the side end of the protective shell 17 contacts the contact block 37 at the upper end of the bottom plate 3, the contact block 37 is driven to move downward, and the inclined end on the lower side of the contact block 37 is slidably connected with the inclined end on the rear side of the contact block 2 30, and the contact block 37 pushes the contact The contact block 2 30 moves forward, the contact block 2 30 drives the worm 62, the gear 1 28, the positioning rod 63 and the connecting block 2 34 to move, the connecting block 2 34 drives the connecting frame 35 to move, the connecting frame 35 drives the connecting block 1 33 to move, the connecting block 1 33 drives the worm wheel 31 to move through the connecting shaft 1 32, so that the worm wheel 31 is always meshed with the worm 62, the connecting block 1 33 drives the cleaning head 36 to move, the reset spring is stretched, and a plurality of cleaning hairs are arranged at one end of the cleaning head 36 close to the protective shell 17. When the protective shell 17 rotates, the cleaning brush moves toward the direction of the collecting port 19. Since the cleaning hairs can be deformed, they can be deformed when they contact the side end of the protective shell 17 before entering the collecting port 19, so that the protective shell 17 can rotate normally. During the rotation of the protection shaft 29, the positioning groove 20 rotates in the direction of the positioning rod 63, and the positioning rod 63 moves toward the protection shaft 29 synchronously. The positioning groove 20 is set to a bevel type, so that the positioning rod 63 can continue to move along the bevel inclined section of the positioning groove 20 after entering the positioning groove 20, until the positioning rod 63 contacts the straight section of the positioning groove 20, and the positioning rod 63 limits the protection shaft 29 so that the protection shaft 29 cannot rotate, and the drive sleeve starts to idle. At this time, gear 1 28 just meshes with gear 2 27, and the cleaning head 36 just enters the collection port 19, driving gear 2 27 to rotate when the drive sleeve idles, gear 2 27 drives gear 1 28 to rotate, gear 1 28 drives the worm 62 to rotate, and the worm 62 drives the worm wheel 31 to rotate, and the worm wheel 31 passes The connecting shaft 1 32 drives the pulley 1 to rotate, and the pulley 1 drives the pulley 2 to rotate through the conveyor belt, and the pulley 2 drives the cleaning head 36 to rotate through the connecting shaft 2. When the cleaning head 36 rotates, it can clean the lens of the binocular camera without manual cleaning, saving time and effort. After the binocular camera completes the collection of geographic information, the collection port 19 is made to correspond to the rear end of the protection port to avoid the collection port 19 being exposed to the outside world, making the lens of the binocular camera easily affected by the external environment. If there are stains on the lens of the binocular camera, the geographic information collection work can be stopped and cleaning work can be performed. The reset spring is set. When the binocular camera performs geographic information collection again, the motor 18 works in the reverse direction to drive the drive sleeve to rotate in the reverse direction, and the positioning rod 63 moves in the direction away from the positioning groove 20.At this time, the inclined section of the groove of the positioning groove 20 promotes the movement of the positioning rod 63, so that the positioning rod 63 cannot limit the protection shaft 29, and the driving sleeve can drive the protection shaft 29 to reverse, and the protection shaft 29 drives the protection shell 17 to reverse, so that the collection port 19 no longer corresponds to the rear end of the protection port. Under the elastic action of the reset spring, the contact block 1 37, the contact block 2 30, the worm 62, the gear 1 28, the positioning rod 63, the connection block 2 34 and the connection frame 35 return to their original positions. Example 4

[0025] On the basis of Example 3, Figure 1-Figure 7 As shown, it also includes an auxiliary leveling component, which also includes a winding wheel 25. The winding wheel 25 is fixedly connected to a protection shaft 29 that passes through the right end of the protection opening. A pull rope 26 is wound around the winding wheel 25. The pull rope 26 is connected to four connecting ropes 22. The four connecting ropes 22 are respectively connected to the top corners of the upper end of the gravity block 21. The upper end of the gravity block 21 is in corresponding contact with the rolling ball 23. The rolling ball 23 is rotatably connected to the lower end of the fixed part of the telescopic block 24. The movable part of the telescopic block 24 is rotatably connected to the protection shaft 29.

[0026] The beneficial effects of the above technical solution are: The auxiliary leveling component is used to ensure that the upper and lower ends of the protective shell 17 are level with the ground in the geographic information collection area, so that the binocular camera is in a horizontal state. When the protective shaft 29 deflects with the protective frame 16 or the protective shaft 29 rotates itself, the winding wheel 25 will deflect. When the winding wheel 25 deflects, the pull rope 26 wound thereon will loosen or tighten. The four connecting ropes 22 are connected to the top corners of the upper end of the gravity block 21 to ensure that the gravity block 21 always remains vertical to the ground under the action of gravity, so its upper end remains parallel to the ground. When the pull rope 26 wound on the winding wheel 25 is loosened or tightened, it will drive the gravity block 21 to move up and down, and the gravity block 21 drives the telescopic block 24 to extend and retract. Under the action of gravity, the telescopic block 24 also Keeping vertical to the ground, the setting of the rolling ball 23 can reduce the friction between the telescopic block 24 and the gravity block 21. After the gravity block 21 and the telescopic block 24 stop shaking, the product of the ratio of the telescopic change value of the telescopic block 24 and the outer diameter of the winding wheel 25 and 360° is the rotation angle of the protective shell 17. A distance sensor is set in the telescopic block 24. The telescopic length of the telescopic block 24 is detected by the distance sensor. When the protective shell 17 is in a horizontal state, the telescopic length of the telescopic block 24 is set to the target length. In each subsequent leveling of the protective shell 17, it can be judged whether the telescopic length of the telescopic block 24 is the same as the target length, thereby facilitating the judgment of whether the protective shell 17 is leveled, and then judging whether the binocular camera is in a horizontal state. Example 5

[0027] On the basis of Example 1, Figure 1-Figure 9As shown, the assist mechanism includes a shell 4, which is fixedly connected to the base 1, a working chamber 50 is provided at one end of the shell 4 away from the base 1, a movable opening 52 is penetrated on the side of the lower end of the shell 4 away from the base 1, the working chamber 50 is connected with the movable opening 52, and the front and rear ends of the side of the working chamber 50 away from the base 1 are symmetrically connected with guide grooves 55, the guide grooves 55 are slidably connected with the guide blocks 60, a spring 2 is fixedly provided between the lower end of the guide groove 55 and the lower end of the guide block 60, a support shaft is slidably provided between the guide blocks 60 on the front and rear sides along the left and right directions, and the support shaft is rotatably connected with the mounting plate 1 57 , a plurality of booster rods 54 are evenly arranged at intervals on one side of the lower end of the mounting plate 1 57 away from the base 1, and the plurality of booster rods 54 are matched with the movable opening 52, and the upper end of the mounting plate 1 57 is fixedly connected to the lower end of the mounting plate 2 58 through a plurality of springs 1 56, and the mounting plate 2 58 is slidably connected to the side end of the working chamber 50, and a convex block 51 is correspondingly provided at the upper end of the mounting plate 2 58, and the convex block 51 is fixedly connected to the mounting shaft 1 53, and the mounting shaft 1 53 is rotatably arranged on the upper side of the working chamber 50, and the mounting shaft 1 53 is fixedly connected to the working motor, and the working motor is fixedly arranged at the side end of the working chamber 50; The upper end of the housing 4 is symmetrically provided with mounting plates 3 45 on both sides, which are fixedly connected to the mounting shaft 2 46. The mounting shaft 2 46 is symmetrically provided with gears 3 41, operating blocks 1 64 and rotating blocks 43 on both sides, and one end of the rotating block 43 away from the base 1 is rotatably connected to the operating block 1 64. The side of the operating block 1 64 between the front and rear sides is rotatably connected to the mounting shaft 3. The mounting shaft 3 is fixedly connected to the operating block 2 38. The middle part of the rotating block 43 is fixedly connected to the mounting shaft 2 46. The end of the rotating block 43 between the sides close to the base 1 is fixedly connected to the mounting shaft 42, the mounting shaft 42 is rotatably connected to the mounting block 1 44, the mounting block 2 39 is rotatably provided in the rotating groove 1 49 of the mounting block 1 44, the mounting block 2 39 is rotatably connected to the mounting shaft 5 47, the mounting shaft 5 47 is arranged in the rotating groove 2 of the mounting block 3 48, the mounting block 3 48 passes through the upper end of the shell 4 into the working chamber 50 and is rotatably connected to the rotating groove 3 of the mounting plate 1 57, and the rotating groove 3 is arranged on the side of the mounting plate 1 57 close to the base 1; The gear three 41 on the front and rear sides are respectively meshed with the rack 40, the rack 40 passes through the upper end of the shell 4 into the working chamber 50 and is fixedly connected to the mounting plate four 59, the mounting plate four 59 is slidably set in the working chamber 50, and the front and rear sides of the lower end of the mounting plate four 59 are correspondingly provided with limit blocks, the limit blocks are set on the front and rear sides of the working chamber 50, and the lower side of the mounting plate four 59 is set corresponding to the protrusion 51, and the left and right sides of the protrusion 51 are respectively provided with protruding ends, and the arc lengths of the protruding ends on the left and right sides are different.

[0028] The beneficial effects of the above technical solution are: The mounting block three 48 can be extended and retracted. When the power-assisting mechanism is working, the working motor drives the mounting shaft one 53 to rotate, and the mounting shaft one 53 drives the protrusion 51 to rotate. In the process of the protrusion 51 rotating 90 degrees, the protruding ends on the left and right sides rotate to become the upper and lower sides. The protruding ends with longer arc lengths first contact with the mounting plate two 58, and push the mounting plate two 58 to move downward. The mounting plate two 58 drives the mounting plate one 57 to move downward through a plurality of springs one 56, and the mounting plate one 57 drives the mounting block three 48 and the plurality of power-assisting rods 54 to move downward. At this time, the mounting plate four 59 cannot move downward under the action of the limit block, and the rack 40 cannot move. Therefore, the mounting block three 48 is extended, and the mounting plate one 57 also drives the guide block 60 along the guide groove 5 during the downward movement. 5 slides, the spring 2 is compressed, the plurality of springs 1 56 and the guide block 60 are in the same vertical plane, and the elastic force of the spring 1 56 is large enough to prevent the mounting plate 1 57 from deflecting during the process of the plurality of springs 1 56 driving the mounting plate 1 57 to move downward, and the mounting plate 1 57 drives the plurality of assisting rods 54 to extend out of the movable opening 52 until the assisting rods 54 contact and squeeze with the depression where the real-scene three-dimensional geographic information acquisition device of the present invention is located, and the mounting plate 1 57 cannot continue to move downward, and the plurality of springs 1 56 begin to be gradually compressed until the protruding end with a shorter arc length begins to contact with the lower end of the mounting plate 4 59, pushing the mounting plate 4 59 to move upward, and the mounting plate 4 59 drives the rack 40 to move upward, and the rack 40 drives the gear 3 41 to rotate when it moves upward, and the gear 3 41 The second mounting shaft 46 is driven to rotate downward, and the second mounting shaft 46 drives the operating block 1 64 to rotate downward. The operating block 1 64 and the second mounting shaft 46 jointly drive the rotating block 43 to rotate. The rotating block 43 drives the fourth mounting shaft 42 to rotate. The fourth mounting shaft 42 drives the second mounting block 39 to move upward through the first mounting block 44. The second mounting block 39 drives the third mounting block 48 to move upward through the fifth mounting shaft 47. The third mounting block 48 continues to extend until the third mounting block 48 cannot continue to extend. At this time, the third mounting block 48 drives the side of the mounting plate 1 57 close to the base 1 to rotate upward. The guide block 60 is slidably connected to the support shaft, and the support shaft is rotatably connected to the mounting plate 1 57, so that the mounting plate 1 57 can rotate a certain angle with the support shaft as the center. At this time, the spring 1 56 is deformed. The support shaft is located between the mounting block three 48 and the plurality of assisting rods 54 along the left-right direction, so the plurality of assisting rods 54 tend to rotate downward with the support shaft as the center. Since the assisting rod 54 is in contact with the depression where the real-scene three-dimensional geographic information acquisition device of the present invention is located, the assisting rod 54 applies a force to the depression. Under the reaction force of the depression, the assisting rod 54 can drive the real-scene three-dimensional geographic information acquisition device of the present invention to move. When the protruding end of the protrusion 51 with a longer arc length is out of contact with the mounting plate two 58, the protruding end of the protrusion 51 with a shorter arc length is also out of contact with the mounting plate one 57. Under the elastic action of the spring one 56 and the elastic action of the spring two, the mounting plate one 57 and the mounting plate two 58 return to their original positions, and the assisting rod 54 returns to their original positions.The gravity of the mounting plate 4 59 is large enough, so that after the protruding end with a shorter arc length of the protruding block 51 is out of contact with the mounting plate 4 59, the mounting plate 4 59 moves downward under the action of gravity and contacts the limit block, thereby returning to its original position, thereby allowing the rack 40, the gear 3 41 and the mounting shaft 2 46 connected thereto to return to their original positions, the mounting shaft 2 46 drives the operating block 1 64 and the rotating block 43 to return to their original positions, the rotating block 43 drives the mounting shaft 42, the mounting block 1 44, the mounting block 2 39, the mounting shaft 5 47 and the mounting block 3 48 to return to their original positions, and through the continuous rotation of the protruding block 51, the power-assisting rod 54 can repeat the above-mentioned steps of extending out of the movable opening 52 and rotating a certain angle until the wheel 2 finds a new fulcrum, thereby facilitating the wheel 2 to drive the real-scene three-dimensional geographic information acquisition device of the present invention to leave the mud pit and continue to move. The power-assist mechanism of the present invention is used to automatically carry out subsequent geographic information collection work. When the power-assist mechanism of the present invention is working, the power-assist rod 54 is first extended and then rotated to a certain angle, and then returns to its original position and continues to repeat the steps of first extending and then rotating to a certain angle. The action of the power-assist rod 54 is equivalent to the paddling action. Compared with the use of a motor to directly drive the power-assist rod 54 to rotate eccentrically, the power-assist mechanism is small in size, thereby reducing the volume of the real-scene three-dimensional geographic information collection device of the present invention, which is conducive to improving the mobility and passing performance of the real-scene three-dimensional geographic information collection device of the present invention. The setting of the operating block 2 38 allows it to be unfolded along the installation axis 3, which is convenient for the staff to pull the real-scene three-dimensional geographic information collection device of the present invention to move through the operating block 2 38. The power-assist mechanism is set on the front and rear sides of the base 1, and the power-assist mechanism on the corresponding side can be selected to work according to actual conditions.

[0029] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A real-scene three-dimensional geographic information acquisition device, characterized in that: The invention comprises a base (1), wherein a wheel (2) is respectively arranged at the top corner of the lower end of the base (1), a position control mechanism is arranged at the upper end of the base (1), the position control mechanism is connected to the protection frame (16), a protection opening is arranged at the front end of the protection frame (16), a protection shaft (29) is rotatably arranged at the front side of the protection opening, the protection shaft (29) is fixedly connected to the protection shell (17), the protection shaft (29) passes through the left end of the protection opening and is connected to the driving mechanism, a protection cavity is arranged inside the protection shell (17), a collection opening (19) is arranged at one end of the protection shell (17), the protection cavity and the collection opening (19) are communicated, a binocular camera is installed in the protection cavity, the collection opening (19) is arranged corresponding to the lens of the binocular camera, a protection cleaning mechanism is arranged at the rear end of the protection opening, the protection cleaning mechanism is arranged corresponding to the protection shell (17), the protection cleaning mechanism is connected to the driving mechanism, and the driving mechanism is connected to the protection frame (16), and power-assisting mechanisms are symmetrically arranged at the left and right ends of the base (1), the power-assisting mechanisms are used to improve the walking performance of the real-scene three-dimensional geographic information collection device of the present invention in the area to be collected.

2. The real-scene three-dimensional geographic information acquisition device according to claim 1, characterized in that: A driving motor and a rotating motor are provided inside the base body (1); the driving motor is connected to the wheel (2); the rotating motor is fixedly connected to the rotating platform (6); and the rotating platform (6) is rotatably arranged at the middle of the upper end of the base body (1).

3. The real-scene three-dimensional geographic information acquisition device according to claim 2, characterized in that: The position control mechanism comprises support plates 3 (61) respectively arranged on the left and right sides of the upper end of the rotating platform (6); a rotating shaft 1 is rotatably arranged between the support plates 3 (61) on the left and right sides; the rotating shaft 1 penetrates the support plate 3 (61) on the right side and is fixedly connected to the motor 2 (5); the motor 2 (5) is fixedly connected to the support plate 3 (61) on the right side; support blocks 1 (7) are symmetrically arranged on the left and right sides of the rotating shaft 1; the support blocks 1 (7) are fixedly connected to the support shaft; support plates 2 (8) are symmetrically arranged on the left and right sides of the support shaft; a rotating shaft 2 (9) is rotatably arranged between the support plates 2 (8) on the left and right sides; the rotating shaft 2 (9) penetrates the left end of the support plate 2 (8) and is fixedly connected to the motor 3 (10); The motor three (10) is fixedly connected to the support plate two (8) on the left side, and the support blocks two (11) are symmetrically arranged on the left and right sides of the rotating shaft two (9). The support plate three is arranged on the front side of the support block two (11). The support block two (11) is slidably connected to the sliding plate (15), the sliding plate (15) is threadedly connected to the threaded rod (14), the threaded rod (14) is rotatably connected to the support plate three, and the end of the threaded rod (14) away from the support plate three is fixedly connected to the motor four (13), the motor four (13) is fixedly connected to the rear side of the support block two (11), the sliding plate (15) is fixedly connected to the connecting rod (12), and the connecting rod (12) passes through the support plate three and is fixedly connected to the rear end of the protective frame (16).

4. The real-scene three-dimensional geographic information acquisition device according to claim 1, characterized in that: The protective cleaning mechanism comprises a bottom plate (3) arranged at the rear side of the lower end of the protective frame (16), a cavity (1) being arranged inside the bottom plate (3), a sliding opening (1) being arranged at the front end of the bottom plate (3), sliding openings (2) being arranged at the upper and lower ends and the left and right sides of the bottom plate (3), respectively, a contact block (37) being slidably arranged at the upper end of the bottom plate (3), a lower inclined section of the contact block (37) being slidably connected to a rear inclined section of a contact block (30) in the cavity (1), the contact block (30) being connected to the outside through the sliding opening (1), and a worm being arranged at the front end of the contact block (30) for rotation. The rod (62) is meshed with the worm gear (31), the worm gear (31) is fixedly connected to the connecting shaft 1 (32), the connecting shaft 1 (32) passes through the front end of the connecting block 1 (33), enters the internal cavity 2 of the connecting block 1 (33), and is fixedly connected to the pulley 1, the cavity 2 is also provided with a pulley 2, a conveyor belt is provided between the pulley 1 and the pulley 2, the pulley 2 is fixedly connected to the cleaning head (36) through the connecting shaft 2, the cleaning head (36) is correspondingly arranged with the collection port (19), and the cleaning head (36) is rotatably connected to the connecting block 1 (33).

5. The real-scene three-dimensional geographic information acquisition device according to claim 4, characterized in that: The left and right ends of the connection block 1 (33) are symmetrically provided with connection frames (35); the connection block 1 (33), the connection frame (35) and the cleaning head (36) are all arranged in a groove at the rear side of the protection opening; a return spring is fixedly arranged between the connection block 1 (33) and the groove; the connection frames (35) on the left and right sides respectively pass through the sliding openings 2 on the left and right sides to enter the cavity 1 and are fixedly connected to the connection block 2 (34); the connection blocks 2 (34) on the left and right sides are respectively arranged at the rear sides of the left and right ends of the contact block 2 (30); the front sides of the left and right ends of the contact block 2 (30) are respectively provided with positioning rods (63); the positioning rods (63) are correspondingly matched with the positioning grooves (20); the positioning grooves (20) are arranged on the left and right sides of the protection shaft (29); and the positioning grooves (20) are arranged in a groove type.

6. The real-scene three-dimensional geographic information acquisition device according to claim 4, characterized in that: The driving mechanism comprises a gear 1 (28) fixedly connected to the left end of the worm (62), the gear 1 (28) correspondingly meshing with the gear 2 (27), the gear 2 (27) fixedly connected to the outside of the driving sleeve, the left end of the driving sleeve fixedly connected to the motor 1 (18), the motor 1 (18) fixedly connected to the left end of the protection frame (16), and a friction hole is provided at the right end of the driving sleeve, the friction hole correspondingly matching with the protection shaft (29) penetrating the left end of the protection opening.

7. The real-scene three-dimensional geographic information acquisition device according to claim 1, characterized in that: The assist mechanism comprises a shell (4), the shell (4) being fixedly connected to the base (1), a working chamber (50) being provided at one end of the shell (4) away from the base (1), a movable opening (52) penetrating through the side of the lower end of the shell (4) away from the base (1), the working chamber (50) being in communication with the movable opening (52), a guide groove (55) being symmetrically connected at the front and rear ends of the side of the working chamber (50) away from the base (1), the guide groove (55) being slidably connected to the guide block (60), a second spring being fixedly provided between the lower end of the guide groove (55) and the lower end of the guide block (60), a support shaft being slidably provided between the guide blocks (60) at the front and rear sides along the left and right directions, the support shaft being rotatably connected to the mounting plate (57), A plurality of assist rods (54) are evenly spaced apart on one side of the lower end of the mounting plate 1 (57) away from the base body (1), and the plurality of assist rods (54) are correspondingly matched with the movable opening (52). The upper end of the mounting plate 1 (57) is fixedly connected to the lower end of the mounting plate 2 (58) via a plurality of springs 1 (56), and the mounting plate 2 (58) is slidably connected to the side end of the working chamber (50). A convex block (51) is correspondingly provided at the upper end of the mounting plate 2 (58), and the convex block (51) is fixedly connected to the mounting shaft 1 (53), and the mounting shaft 1 (53) is rotatably arranged on the upper side of the working chamber (50), and the mounting shaft 1 (53) is fixedly connected to the working motor, and the working motor is fixedly arranged on the side end of the working chamber (50).

8. The real-scene three-dimensional geographic information acquisition device according to claim 7, characterized in that: The upper end of the housing (4) is symmetrically provided with mounting plates 3 (45) on both front and rear sides. The mounting plates 3 (45) on both front and rear sides are fixedly connected to the mounting shaft 2 (46). The mounting shaft 2 (46) is symmetrically provided with gear 3 (41), operating block 1 (64) and rotating block (43) on both front and rear sides. One end of the rotating block (43) away from the base (1) is rotatably connected to the operating block 1 (64). One side of the operating block 1 (64) on both front and rear sides away from the base (1) is rotatably connected to the mounting shaft 3. The mounting shaft 3 is fixedly connected to the operating block 2 (38). The middle part of the rotating block (43) is fixedly connected to the mounting shaft 2 (46). One end of the rotating block (43) close to the base (1) is fixedly connected to the mounting shaft four (42), the mounting shaft four (42) is rotatably connected to the mounting block one (44), the mounting block two (39) is rotatably provided in the rotating groove one (49) of the mounting block one (44), the mounting block two (39) is rotatably connected to the mounting shaft five (47), the mounting shaft five (47) is arranged in the rotating groove two of the mounting block three (48), the mounting block three (48) passes through the upper end of the shell (4) into the working chamber (50) and is rotatably connected to the rotating groove three of the mounting plate one (57), and the rotating groove three is arranged on a side of the mounting plate one (57) close to the base (1).

9. The real-scene three-dimensional geographic information acquisition device according to claim 8, characterized in that: The gear three (41) on the front and rear sides are respectively meshed with the rack (40), the rack (40) passes through the upper end of the shell (4) into the working chamber (50) and is fixedly connected to the mounting plate four (59), the mounting plate four (59) is slidably arranged in the working chamber (50), the front and rear sides of the lower end of the mounting plate four (59) are correspondingly provided with limit blocks, the limit blocks are arranged on the front and rear sides of the working chamber (50), the lower side of the mounting plate four (59) is arranged corresponding to the protrusion (51), the left and right sides of the protrusion (51) are respectively provided with protruding ends, and the arc lengths of the protruding ends on the left and right sides are different.

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