A real-scene three-dimensional geographic information acquisition device

Abstract

The present invention provides a real-scene three-dimensional geographic information acquisition device, which relates to the technical field of three-dimensional data acquisition devices. It includes a base body. At the lower end corners of the base body, there are respectively provided a wheel. At the upper end of the base body, there is a position control mechanism, and the position control mechanism is connected to a protection frame. At the front end of the protection frame, there is a protection opening. At the front side of the protection opening, there is a rotatably provided protection shaft, and the protection shaft is fixedly connected to a protection shell. The protection shaft penetrates through the left end of the protection opening and is connected to a driving mechanism. Inside the protection shell, there is a protection cavity. At one end of the protection shell, there is a collection opening, and the protection cavity is communicated with the collection opening. The collection opening is correspondingly arranged with the lens of a binocular camera. At the rear end of the protection opening, there is a protection cleaning mechanism, and the protection cleaning mechanism is connected to the driving mechanism. The driving mechanism is connected to the protection frame. At the left and right ends of the base body, there are symmetrically provided boosting mechanisms, and the boosting mechanisms are used to improve the walking through performance of the real-scene three-dimensional geographic information acquisition device of the present invention in the area to be collected.

Description

Technical Field

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

[0002] Three-dimensional scanning technology is mainly used to scan the shape, structure and color of an object. Its important significance lies in being able to convert the three-dimensional information of the physical object into digital signals that can be directly processed by a computer, providing a quite convenient and fast means for the digitalization of physical objects; when acquiring real-scene three-dimensional data, currently, binocular cameras are commonly used to acquire data of real-scene three-dimensional geographic information, and then the acquired data is processed for three-dimensional modeling.

[0003] A mobile geographic information acquisition device is used to carry a binocular camera and move in the area to be acquired, acquiring the real-scene three-dimensional geographic information of the area to be acquired. There are usually mud pits in the area to be acquired. If the mobile geographic information acquisition device gets stuck in a mud pit and is difficult to move during the information acquisition process, not only is it difficult to carry out the geographic information acquisition work, but also manual rescue is required, which is time-consuming and laborious, reducing the acquisition efficiency of geographic information. Summary of the Invention

[0004] The present invention provides a real-scene three-dimensional geographic information acquisition device, which solves the technical problem that when a mobile geographic information acquisition device gets stuck in a mud pit and is difficult to move during the information acquisition process, not only is it difficult to carry out the geographic information acquisition work, but also manual rescue is required, which is time-consuming and laborious, reducing the acquisition efficiency of geographic information.

[0005] To solve the above technical problem, the present invention discloses a real-scene three-dimensional geographic information acquisition device, including a base body. Wheels are respectively provided at the lower end corners of the base body. A position control mechanism is provided at the upper end of the base body. The position control mechanism is connected to a protection frame. A protection opening is provided at the front end of the protection frame. A protection shaft is rotatably provided on the front side of the protection opening. The protection shaft is fixedly connected to a protection shell. The protection shaft penetrates through the left end of the protection opening and is connected to a driving mechanism. A protection cavity is provided inside the protection shell. An acquisition opening is provided at one end of the protection shell. The protection cavity and the acquisition opening are communicated. A binocular camera is installed in the protection cavity. The acquisition opening is correspondingly arranged with the lens of the binocular camera. A protection cleaning mechanism is provided at the rear end of the protection opening. The protection cleaning mechanism is correspondingly arranged with the protection shell. The protection cleaning mechanism is connected to the driving mechanism. The driving mechanism is connected to the protection frame. Boosting mechanisms are symmetrically provided at the left and right ends of the base body. The boosting mechanisms are used to improve the walking through-performance of the real-scene three-dimensional geographic information acquisition device of the present invention in the area to be acquired.

[0006] Preferably, a driving motor and a rotating motor are provided inside the base body. The driving motor is connected to the wheels. The rotating motor is fixedly connected to a rotating table. The rotating table is rotatably arranged in the middle of the upper end of the base body.

[0007] Preferably, the position control mechanism includes support plates I respectively arranged on the left and right sides at the upper end of the rotating table. A rotating shaft I is rotatably arranged between the support plates I on the left and right sides. The rotating shaft I penetrates through the support plate I on the right side and is fixedly connected to the second motor. The second motor is fixedly connected to the support plate I on the right side. Support blocks I are symmetrically arranged on the left and right sides of the rotating shaft I. The support blocks I are fixedly connected to the support shafts. Support plates II are symmetrically arranged on the left and right sides of the support shafts. A rotating shaft II is rotatably arranged between the support plates II on the left and right sides. The rotating shaft II penetrates through the left end of the support plate II and is fixedly connected to the third motor. The third motor is fixedly connected to the support plate II on the left side. Support blocks II are symmetrically arranged on the left and right sides of the rotating shaft II. A support plate III is arranged on the front side of the support block II. The support block II 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 III. One end of the threaded rod far from the support plate III is fixedly connected to the fourth motor. The fourth motor is fixedly connected to the rear side of the support block II. The sliding plate is fixedly connected to the connecting rod. The connecting rod penetrates through the support plate III and is fixedly connected to the rear end of the protection frame.

[0008] Preferably, the protection and cleaning mechanism includes a bottom plate arranged at the rear side of the lower end of the protection frame. A cavity I is arranged inside the bottom plate. A sliding opening I is arranged at the front end of the bottom plate. Sliding openings II are respectively arranged on the left and right sides of the upper and lower ends of the bottom plate. A contact block I is slidably arranged at the upper end of the bottom plate. The inclined section on the lower side of the contact block I is slidably connected to the inclined section on the rear side of the contact block II in the cavity I. The contact block II passes through the sliding opening I and communicates with the outside. A worm is rotatably arranged at the front end of the contact block II. The worm meshes with the worm gear. The worm gear is fixedly connected to the first connecting shaft. The first connecting shaft penetrates through the front end of the first connecting block and enters the inner cavity II of the first connecting block and is fixedly connected to the first belt pulley. A second belt pulley is also arranged in the cavity II. A conveyor belt is arranged between the first belt pulley and the second belt pulley. The second belt pulley is fixedly connected to the cleaning head through the second connecting shaft. The cleaning head is arranged corresponding to the collection port. The cleaning head is rotatably connected to the first connecting block.

[0009] Preferably, connecting frames are symmetrically arranged at the left and right ends of the first connecting block. The first connecting block, the connecting frames and the cleaning head are all arranged in the groove at the rear side of the protection port. A return spring is fixedly arranged between the first connecting block and the groove. The left and right connecting frames respectively pass through the left and right sliding openings II and enter the cavity I and are fixedly connected to the second connecting blocks. The left and right second connecting blocks are respectively arranged at the rear sides of the left and right ends of the contact block II. Positioning rods are respectively arranged at the front sides of the left and right ends of the contact block II. The positioning rods are correspondingly matched with the positioning grooves. The positioning grooves are arranged on the left and right sides of the protection shaft. The positioning grooves are arranged in a bevel groove type.

[0010] Preferably, the driving mechanism includes a first gear fixedly connected to the left end of the worm. The first gear meshes with the second gear correspondingly. The second gear is fixedly connected to the outside of the driving sleeve. The left end of the driving sleeve is fixedly connected to the first motor. The first motor is fixedly connected to the left end of the protection frame. A friction hole is arranged at the right end of the driving sleeve. The friction hole is correspondingly matched with the protection shaft penetrating through the left end of the protection port.

[0011] Preferably, the boosting mechanism includes a housing fixedly connected to the base body. A working chamber is provided at one end of the housing away from the base body. An activity port penetrates through one side of the lower end of the housing away from the base body. The working chamber is in communication with the activity port. Symmetrically communicating grooves are provided at the front and rear ends on the side of the working chamber away from the base body. The guiding grooves are slidably connected to guiding blocks. A second spring is fixedly provided between the lower end of the guiding groove and the lower end of the guiding block. A support shaft is slidably provided between the guiding blocks on the front and rear sides in the left-right direction. The support shaft is rotatably connected to the first mounting plate. A plurality of boosting rods are evenly distributed at intervals on the side of the lower end of the first mounting plate away from the base body. The plurality of boosting rods are correspondingly matched with the activity port. The upper end of the first mounting plate is fixedly connected to the lower end of the second mounting plate through a plurality of first springs. The second mounting plate is slidably connected to the side end of the working chamber. A convex block is correspondingly provided at the upper end of the second mounting plate. The convex block is fixedly connected to the first mounting shaft. The first mounting shaft is rotatably provided above the working chamber, and the first mounting shaft is fixedly connected to the working motor. The working motor is fixedly provided at the side end of the working chamber.

[0012] Preferably, mounting plates III are symmetrically provided at the front and rear sides of the upper end of the housing. The mounting plates III on the front and rear sides are fixedly connected to the second mounting shaft. A third gear, a first operating block and a rotating block are symmetrically provided on the front and rear sides of the second mounting shaft. One end of the rotating block away from the base body is rotatably connected to the first operating block. The side away from the base body between the first operating blocks on the front and rear sides is rotatably connected to the third mounting shaft. The third mounting shaft is fixedly connected to the second operating block. The middle of the rotating block is fixedly connected to the second mounting shaft. One end of the rotating blocks on the front and rear sides close to the base body is fixedly connected to the fourth mounting shaft. The fourth mounting shaft is rotatably connected to the first mounting block. A second mounting block is rotatably provided in the first rotating groove of the first mounting block. The second mounting block is rotatably connected to the fifth mounting shaft. The fifth mounting shaft is provided in the second rotating groove of the third mounting block. The third mounting block penetrates through the upper end of the housing and enters the working chamber and is rotatably connected to the third rotating groove of the first mounting plate. The third rotating groove is provided on the side of the first mounting plate close to the base body.

[0013] Preferably, the third gears on the front and rear sides are respectively engaged with the racks. The racks penetrate through the upper end of the housing and enter the working chamber and are fixedly connected to the fourth mounting plate. The fourth mounting plate is slidably provided in the working chamber. Limiting blocks are correspondingly provided at the front and rear sides of the lower end of the fourth mounting plate. The limiting blocks are provided at the front and rear sides of the working chamber. The lower side of the fourth mounting plate is correspondingly provided with the convex block. The left and right sides of the convex block are respectively provided with protruding ends, and the arc lengths of the left and right protruding ends are different.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The boosting mechanism can provide boosting force to the real - scene three - dimensional geographic information acquisition device stuck in a mud pit, helping the real - scene three - dimensional geographic information acquisition device get out of the mud pit. This solves the technical problem that when a mobile geographic information acquisition device gets stuck in a mud pit during the information acquisition process and is difficult to move, it is not only difficult to carry out geographic information acquisition work, but also requires manual rescue, which is time - consuming and laborious, reducing the efficiency of geographic information acquisition. Brief Description of the Drawings

[0016] The 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 to the present invention. In the drawings:

[0017] Figure 1 is a schematic structural diagram of the present invention Figure 1 ;

[0018] Figure 2 is a schematic structural diagram of the present invention Figure 2 ;

[0019] Figure 3 is a schematic structural diagram of the connection structure of the protection frame of the present invention Figure 1 ;

[0020] Figure 4 is a schematic structural diagram of the connection structure of the protection frame of the present invention Figure 2 ;

[0021] Figure 5 is a schematic structural diagram of the connection structure of the protection frame of the present invention Figure 3 ;

[0022] Figure 6 is a schematic structural diagram of the connection structure of the protection frame of the present invention Figure 4 ;

[0023] Figure 7 is a schematic diagram of a partial structure of the protection frame of the present invention;

[0024] Figure 8 is a schematic diagram of the structure of the boosting mechanism of the present invention;

[0025] Figure 9 is a schematic diagram of the internal structure of the housing of the present invention.

[0026] In the figure: 1, matrix; 2, wheel; 3, base plate; 4, housing; 5, motor two; 6, rotating table; 7, support block one; 8, support plate two; 9, rotating shaft two; 10, motor three; 11, support block two; 12, connecting rod; 13, motor four; 14, threaded rod; 15, sliding plate; 16, protection frame; 17, protective shell; 18, motor one; 19, collection port; 20, positioning groove; 21, gravity block; 22, connecting rope; 23, rolling ball; 24, telescopic block; 25, wire winding wheel; 26, pulling rope; 27, gear two; 28, gear one; 29, protection shaft; 30, contact block two; 31, worm gear; 32, connecting shaft one; 33, connecting block one; 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 cavity; 51, convex block; 52, movable port; 53, mounting shaft one; 54, assisting rod; 55, guiding groove; 56, spring one; 57, mounting plate one; 58, mounting plate two; 59, mounting plate four; 60, guiding block; 61, support plate one; 62, worm; 63, positioning rod; 64, operating block one. Detailed implementation mode

[0027] The following is a description of the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present invention, and are not used to limit the present invention.

[0028] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes, and do not particularly refer to the meaning of 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 quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions and technical features between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions 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.

[0029] The present invention provides the following embodiments Embodiment 1

[0030] The embodiment of the present invention provides a real-scene three-dimensional geographic information acquisition device, such as Figures 1-9As shown in the figure, it includes a base body 1. At the lower end corners of the base body 1, a wheel 2 is respectively provided. At the upper end of the base body 1, a position control mechanism is provided. The position control mechanism is connected to a protection frame 16. At the front end of the protection frame 16, a protection opening is provided. At the front side of the protection opening, a protection shaft 29 is rotatably provided. The protection shaft 29 is fixedly connected to a protection shell 17. The protection shaft 29 penetrates through the left end of the protection opening and is connected to a driving mechanism. Inside the protection shell 17, a protection cavity is provided. At one end of the protection shell 17, a collection opening 19 is provided. The protection cavity is communicated with the collection opening 19. A binocular camera is installed in the protection cavity. The collection opening 19 is correspondingly arranged with the lens of the binocular camera. At the rear end of the protection opening, a protection cleaning mechanism is provided. The protection cleaning mechanism is correspondingly arranged with the protection shell 17. The protection cleaning mechanism is connected to the driving mechanism. The driving mechanism is connected to the protection frame 16. At the left and right ends of the base body 1, a boosting mechanism is symmetrically provided. The boosting mechanism is used to improve the walking and passing performance of the real-scene three-dimensional geographic information acquisition device of the present invention in the area to be acquired.

[0031] The beneficial effects of the above technical solution are as follows:

[0032] The setting of 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 uses existing equipment and will not be elaborated in the present invention. The wheel 2 can drive the base body 1 to move. The base body 1 drives the position control mechanism and the boosting mechanism to move. The position control mechanism can drive the protection frame 16 to move in three-dimensional space. The protection frame 16 drives the protection shell 17 to move in three-dimensional space. The protection shell 17 drives the binocular camera to move in 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, improving the acquisition range of the binocular camera, thereby facilitating the binocular camera to completely and clearly acquire the geographic information in the real-scene three-dimensional space. A protection cleaning mechanism is provided at the rear end of the protection opening. After the binocular camera completes the acquisition of geographic information, the driving mechanism drives the protection shell 17 to rotate through the protection shaft 29, so that the collection opening 19 is correspondingly arranged with the rear end of the protection opening. Then the driving mechanism can drive the protection cleaning mechanism to work and clean and protect the lens of the binocular camera. When the real-scene three-dimensional geographic information acquisition device of the present invention gets stuck in a mud pit, the boosting mechanism can provide assistance to the real-scene three-dimensional geographic information acquisition device stuck in the mud pit and help the real-scene three-dimensional geographic information acquisition device get out of the mud pit, solving the technical problem that when a mobile geographic information acquisition device is difficult to move when getting stuck in a mud pit during the information acquisition process, it is not only difficult to carry out geographic information acquisition work, but also requires manual rescue, which is time-consuming and laborious and reduces the geographic information acquisition efficiency. Embodiment 2

[0033] On the basis of Embodiment 1, as Figures 1-2As shown in the figure, a driving motor and a rotating motor are provided inside the base body 1. The driving motor is connected to the wheel 2, and the rotating motor is fixedly connected to the rotating table 6. The rotating table 6 is rotatably arranged in the middle of the upper end of the base body 1;

[0034] The position control mechanism includes support plates 61 respectively arranged on the left and right sides of the upper end of the rotating table 6. A first rotating shaft is rotatably arranged between the support plates 61 on the left and right sides. The first rotating shaft penetrates through the support plate 61 on the right side and is fixedly connected to the second motor 5. The second motor 5 is fixedly connected to the support plate 61 on the right side. Support blocks 7 are symmetrically arranged on the left and right sides of the first rotating shaft. The support blocks 7 are fixedly connected to the support shafts. Support plates 8 are symmetrically arranged on the left and right sides of the support shafts. A second rotating shaft 9 is rotatably arranged between the support plates 8 on the left and right sides. The second rotating shaft 9 penetrates through the left end of the support plate 8 and is fixedly connected to the third motor 10. The third motor 10 is fixedly connected to the support plate 8 on the left side. Support blocks 11 are symmetrically arranged on the left and right sides of the second rotating shaft 9. A support plate 3 is arranged on the front side of the support block 11. The support block 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 3. One end of the threaded rod 14 away from the support plate 3 is fixedly connected to the fourth motor 13. The fourth motor 13 is fixedly connected to the rear side of the support block 11. The sliding plate 15 is fixedly connected to the connecting rod 12. The connecting rod 12 penetrates through the support plate 3 and is fixedly connected to the rear end of the protection frame 16.

[0035] The beneficial effects of the above technical solution are as follows:

[0036] When the driving motor works, it can drive the wheel 2 to rotate. When the wheel 2 rotates, it can drive the base body 1 to move. The base body 1 is equivalent to a chassis. A suspension system can be provided between the wheel 2 and the base body 1. The existing suspension system can be used for the suspension system to improve the smoothness of the movement of the base body 1. When the wheel 2 rotates, it can make the base body 1 drive the rotating table 6 to move. When the rotating motor works, it can drive the rotating table 6 to rotate;

[0037] When the rotating table 6 moves and rotates, it can drive the position of the first supporting plates 61 arranged on the left and right sides to change. The first supporting plates 61 drive the positions of the first supporting blocks 7 on the left and right sides to change. When the second motor 5 works, it can drive the first supporting blocks 7 to rotate. The first supporting blocks 7 drive the second supporting plates 8 to rotate. The second supporting plates 8 drive the supporting shaft and the second rotating shaft 9 to rotate. When the third motor 10 works, it can drive the second rotating shaft 9 to rotate. The second rotating shaft 9 drives the second supporting blocks 11 to rotate. The second supporting blocks 11 drive the sliding plate 15 and the third supporting plate to rotate. When the fourth motor 13 works, it drives the threaded rod 14 to rotate. The threaded rod 14 drives the sliding plate 15 to slide along the second supporting blocks 11. The sliding plate 15 drives the connecting rod 12 to slide along the third supporting plate. The connecting rod 12 drives the protection frame 16 to move. By controlling the work of the driving motor, the rotating motor, the second motor 5, the third motor 10 and the fourth motor 13, the purpose of controlling the protection frame 16 to move to different positions in the area to be collected can be achieved. Embodiment 3

[0038] On the basis of Embodiment 2, as Figures 1-7 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 first cavity is provided inside the bottom plate 3. A first sliding opening is provided at the front end of the bottom plate 3. First sliding openings are respectively provided at the upper and lower ends and the left and right sides of the bottom plate 3. A first contact block 37 is slidably arranged at the upper end of the bottom plate 3. The lower inclined section of the first contact block 37 is slidably connected to the rear inclined section of a second contact block 30 in the first cavity. The second contact block 30 passes through the first sliding opening and communicates with the outside. A worm 62 is rotatably provided at the front end of the second contact block 30. The worm 62 meshes with a worm gear 31. The worm gear 31 is fixedly connected to a first connecting shaft 32. The first connecting shaft 32 penetrates through the front end of a first connecting block 33 and enters the second cavity inside the first connecting block 33 and is fixedly connected to a first belt pulley. A second belt pulley is also provided in the second cavity. A conveyor belt is provided between the first belt pulley and the second belt pulley. The second belt pulley is fixedly connected to a cleaning head 36 through a second connecting shaft. A through hole for the second connecting shaft to pass through is provided at the front end of the first connecting block 33. The cleaning head 36 is correspondingly arranged with the collection port 19. The cleaning head 36 is rotatably connected to the first connecting block 33;

[0039] Connecting frames 35 are symmetrically arranged at the left and right ends of the first connecting block 33. The first connecting block 33, the connecting frames 35 and the cleaning head 36 are all arranged in the groove at the rear side of the protection port. A reset spring is fixedly provided between the first connecting block 33 and the groove. The left and right connecting frames 35 respectively pass through the left and right first sliding openings and enter the first cavity and are fixedly connected to a second connecting block 34. The left and right second connecting blocks 34 are respectively arranged at the rear sides of the left and right ends of the second contact block 30. Positioning rods 63 are respectively provided at the front sides of the left and right ends of the second contact block 30. The positioning rods 63 are correspondingly matched with positioning grooves 20. The positioning grooves 20 are arranged on the left and right sides of the protection shaft 29. The positioning grooves 20 are arranged in a bevel groove type;

[0040] The driving mechanism includes a first gear 28 fixedly connected to the left end of a worm 62. The first gear 28 meshes with a second gear 27 correspondingly. The second gear 27 is fixedly connected to the outside of a driving sleeve. The left end of the driving sleeve is fixedly connected to a first motor 18. The first motor 18 is fixedly connected to the left end of a protection frame 16. A friction hole is provided at the right end of the driving sleeve, and the friction hole is correspondingly matched with a protection shaft 29 penetrating through the left end of a protection opening.

[0041] The beneficial effects of the above technical solution are as follows:

[0042] When the first motor 18 works, it drives the driving sleeve to rotate. The frictional force between the friction hole in the driving sleeve and the protection shaft 29 is large enough so that the driving sleeve drives the protection shaft 29 to rotate by friction. The protection shaft 29 drives the protection shell 17 to rotate. During the process of collecting geographical information, it is necessary to avoid the collection port 19 corresponding to the rear end of the protection port, so that the information collected by the binocular camera is the rear end area of the protection port. After the binocular camera finishes collecting geographical information, control the protection shaft 29 to rotate so that the protection shell 17 moves upward towards the upper end of the bottom plate 3. After the side end of the protection shell 17 contacts the first contact block 37 at the upper end of the bottom plate 3, it drives the first contact block 37 to move downward. The inclined end on the lower side of the first contact block 37 is slidably connected to the inclined end on the rear side of the second contact block 30. The first contact block 37 pushes the second contact block 30 to move forward. The second contact block 30 drives the worm 62, the first gear 28, the positioning rod 63 and the second connecting block 34 to move. The second connecting block 34 drives the connecting frame 35 to move. The connecting frame 35 drives the first connecting block 33 to move. The first connecting block 33 drives the worm gear 31 to move through the first connecting shaft 32, so that the worm gear 31 is always meshed with the worm 62. The first connecting block 33 drives the cleaning head 36 to move. The reset spring is stretched. A number of cleaning hairs are provided at one end of the cleaning head 36 close to the protection shell 17. When the protection shell 17 rotates, the cleaning brush moves towards the collection port 19. Since the cleaning hairs can deform, when the cleaning hairs contact the side end of the protection shell 17 before entering the collection port 19, they can deform, so that the protection shell 17 can rotate normally. During the rotation of the protection shaft 29, the positioning groove 20 rotates towards the positioning rod 63, and the positioning rod 63 moves towards the protection shaft 29 synchronously. The positioning groove 20 is set in a bevel groove type, so that the positioning rod 63 can continue to move along the inclined section of the bevel groove 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. The positioning rod 63 limits the protection shaft 29, so that the protection shaft 29 cannot rotate, and the driving sleeve starts to rotate idly. At this time, the first gear 28 just meshes with the second gear 27, and the cleaning head 36 just enters the collection port 19. When the driving sleeve rotates idly, it drives the second gear 27 to rotate. The second gear 27 drives the first gear 28 to rotate. The first gear 28 drives the worm 62 to rotate. The worm 62 drives the worm gear 31 to rotate. The worm gear 31 drives the first pulley to rotate through the first connecting shaft 32. The first pulley drives the second pulley to rotate through the conveyor belt. The second pulley drives the cleaning head 36 to rotate through the second connecting shaft. When the cleaning head 36 rotates, it can clean the lens of the binocular camera, eliminating the need for manual cleaning, saving time and effort. And after the binocular camera finishes collecting geographical information, make the collection port 19 correspond to the rear end of the protection port, avoiding the collection port 19 being exposed to the outside, so that the lens of the binocular camera is easily affected by the external environment. If there are stains on the lens of the binocular camera, the geographical information collection work can also be stopped and the cleaning work can be carried out. Due to the setting of the reset spring, when the binocular camera conducts geographical information collection work again, the first motor 18 works in the reverse direction to drive the driving sleeve to rotate in the reverse direction, and the positioning rod 63 moves away from the positioning groove 20.At this time, the inclined section of the groove opening of the positioning groove 20 plays a boosting role in the movement of the positioning rod 63, so that the positioning rod 63 cannot limit the protection shaft 29, the driving sleeve can drive the protection shaft 29 to reverse, 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, and under the elastic action of the return spring, the first contact block 37, the second contact block 30, the worm 62, the first gear 28, the positioning rod 63, the second connecting block 34 and the connecting frame 35 return to their original positions. Embodiment 4

[0043] On the basis of Embodiment 3, as Figures 1-7 shown, it further includes an auxiliary leveling component, and the auxiliary leveling component further includes a wire winding wheel 25. The wire winding wheel 25 is fixedly connected to the protection shaft 29 passing through the right end of the protection port. A pull rope 26 is wound around the wire winding wheel 25. The pull rope 26 is connected to four connecting ropes 22. The four connecting ropes 22 are respectively connected to the upper end corners 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.

[0044] The beneficial effects of the above technical solutions are as follows:

[0045] The auxiliary leveling component is used to ensure that the upper and lower ends of the protection shell 17 are kept horizontal with the ground in the geographical information collection area, so that the binocular camera is in a horizontal state. When the protection shaft 29 deflects along with the protection frame 16 or the protection shaft 29 rotates itself, the wire winding wheel 25 will deflect. When the wire winding wheel 25 deflects, the pull rope 26 wound on it will loosen or tighten. The four connecting ropes 22 are connected to the upper end corners of the gravity block 21, ensuring that the gravity block 21 is always perpendicular to the ground under the action of gravity, so its upper end is parallel to the ground. When the pull rope 26 wound on the wire winding wheel 25 loosens or tightens, it will drive the gravity block 21 to move up and down. The gravity block 21 drives the telescopic block 24 to expand and contract. Under the action of gravity, the telescopic block 24 is also perpendicular 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 to the outer diameter of the wire winding wheel 25 and 360° is the rotation angle of the protection shell 17. A distance sensor is arranged in the telescopic block 24. By detecting the telescopic length of the telescopic block 24 with the distance sensor, the telescopic length of the telescopic block 24 when the protection shell 17 is in a horizontal state is set as the target length. In subsequent leveling of the protection shell 17 each time, it can be judged whether the protection shell 17 is leveled by judging whether the telescopic length of the telescopic block 24 is the same as the target length, and then judge whether the binocular camera is in a horizontal state. Embodiment 5

[0046] On the basis of Embodiment 1, asFigures 1-9 As shown in Figures 1-9 , the boosting mechanism includes a housing 4, which is fixedly connected to the base body 1. One end of the housing 4 away from the base body 1 is provided with a working cavity 50. One side of the lower end of the housing 4 away from the base body 1 is provided with a movable opening 52 in a penetrating manner. The working cavity 50 is communicated with the movable opening 52. The front and rear ends of one side of the working cavity 50 away from the base body 1 are symmetrically communicated with guide grooves 55. The guide grooves 55 are slidably connected to guide blocks 60. A second spring is fixedly arranged between the lower end of the guide groove 55 and the lower end of the guide block 60. A support shaft is slidably arranged between the guide blocks 60 on the front and rear sides in the left-right direction. The support shaft is rotatably connected to the first mounting plate 57. A plurality of boosting rods 54 are uniformly arranged at intervals on one side of the lower end of the first mounting plate 57 away from the base body 1. The plurality of boosting rods 54 are correspondingly matched with the movable opening 52. The upper end of the first mounting plate 57 is fixedly connected to the lower end of the second mounting plate 58 through a plurality of first springs 56. The second mounting plate 58 is slidably connected to the side end of the working cavity 50. A convex block 51 is correspondingly arranged at the upper end of the second mounting plate 58. The convex block 51 is fixedly connected to the first mounting shaft 53. The first mounting shaft 53 is rotatably arranged on the upper side of the working cavity 50, and the first mounting shaft 53 is fixedly connected to the working motor. The working motor is fixedly arranged at the side end of the working cavity 50;

[0047] On the front and rear sides of the upper end of the housing 4, third mounting plates 45 are symmetrically arranged. The third mounting plates 45 on the front and rear sides are fixedly connected to the second mounting shaft 46. On the front and rear sides of the second mounting shaft 46, a third gear 41, a first operating block 64 and a rotating block 43 are symmetrically arranged. One end of the rotating block 43 away from the base body 1 is rotatably connected to the first operating block 64. On one side away from the base body 1 between the first operating blocks 64 on the front and rear sides, they are rotatably connected to the third mounting shaft. The third mounting shaft is fixedly connected to the second operating block 38. The middle part of the rotating block 43 is fixedly connected to the second mounting shaft 46. One end of the rotating blocks 43 on the front and rear sides close to the base body 1 is fixedly connected to the fourth mounting shaft 42. The fourth mounting shaft 42 is rotatably connected to the first mounting block 44. In the first rotating groove 49 of the first mounting block 44, a second mounting block 39 is rotatably arranged. The second mounting block 39 is rotatably connected to the fifth mounting shaft 47. The fifth mounting shaft 47 is arranged in the second rotating groove of the third mounting block 48. The third mounting block 48 penetrates through the upper end of the housing 4 and enters the working cavity 50 and is rotatably connected to the third rotating groove of the first mounting plate 57. The third rotating groove is arranged on one side of the first mounting plate 57 close to the base body 1;

[0048] The third gears 41 on the front and rear sides are respectively engaged with the racks 40. The racks 40 penetrate through the upper end of the housing 4 and enter the working cavity 50 and are fixedly connected to the fourth mounting plate 59. The fourth mounting plate 59 is slidably arranged in the working cavity 50. On the front and rear sides of the lower end of the fourth mounting plate 59, limiting blocks are correspondingly arranged. The limiting blocks are arranged on the front and rear sides of the working cavity 50. The lower side of the fourth mounting plate 59 is correspondingly arranged with the convex block 51. On the left and right sides of the convex block 51, protruding ends are respectively arranged, and the arc lengths of the protruding ends on the left and right sides are different.

[0049] The beneficial effects of the above technical solution are:​

[0050] The mounting block III 48 can be telescopic. When the assisting mechanism works, the working motor drives the first mounting shaft 53 to rotate. The first mounting shaft 53 drives the convex block 51 to rotate. During the process of the convex block 51 rotating 90°, when the protruding ends on its left and right sides rotate to the upper and lower sides, the protruding end with a longer arc length first contacts the second mounting plate 58 and pushes the second mounting plate 58 to move downward. The second mounting plate 58 drives the first mounting plate 57 to move downward through a number of first springs 56. The first mounting plate 57 drives the mounting block III 48 and a number of assisting rods 54 to move downward. Since the fourth mounting plate 59 cannot move downward under the action of the limiting block at this time and the rack 40 cannot move, the mounting block III 48 extends. During the downward movement of the first mounting plate 57, it also drives the guiding block 60 to slide along the guiding groove 55, and the second spring is compressed. A number of first springs 56 and the guiding block 60 are in the same vertical plane, and the elastic force of the first springs 56 is large enough to prevent the first mounting plate 57 from deflecting during the process of driving the first mounting plate 57 to move downward by a number of first springs 56. The first mounting plate 57 drives a number of assisting rods 54 to extend out of the moving port 52 until the assisting rods 54 contact and press against the depression where the real-scene three-dimensional geographic information acquisition device of the present invention is located. Then the first mounting plate 57 cannot continue to move downward, and a number of first springs 56 begin to be gradually compressed until the protruding end with a shorter arc length contacts the lower end of the fourth mounting plate 59 and pushes the fourth mounting plate 59 to move upward. The fourth mounting plate 59 drives the rack 40 to move upward. When the rack 40 moves upward, it drives the third gear 41 to rotate. The third gear 41 drives the second mounting shaft 46 to rotate downward. The second mounting shaft 46 drives the first operating block 64 to rotate downward. The first operating block 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 mounting block III 48 to move upward through the fifth mounting shaft 47. The mounting block III 48 continues to extend until the mounting block III 48 can no longer extend. At this time, the mounting block III 48 drives the side of the first mounting plate 57 close to the base body 1 to rotate upward. The guiding block 60 is slidably connected to the support shaft, and the support shaft is rotatably connected to the first mounting plate 57, so that the first mounting plate 57 can rotate a certain angle with the support shaft as the center. At this time, the first spring 56 is deformed. The position of the support shaft is located between the mounting block III 48 and a number of assisting rods 54 in the left-right direction. Therefore, a number of assisting rods 54 tend to rotate downward with the support shaft as the center. Since the assisting rods 54 contact the depression where the real-scene three-dimensional geographic information acquisition device of the present invention is located, the assisting rods 54 exert a force on the depression, and under the reaction force of the depression, the assisting rods 54 can drive the real-scene three-dimensional geographic information acquisition device of the present invention to move. At the same time when the protruding end with a longer arc length of the convex block 51 is separated from the second mounting plate 58, the protruding end with a shorter arc length of the convex block 51 is also separated from the first mounting plate 57. Under the elastic action of the first spring 56 and the elastic action of the second spring, the first mounting plate 57 and the second mounting plate 58 return to their original positions, and the assisting rods 54 return 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.

[0051] 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 body (1), a wheel (2) is respectively provided at the top corner of the lower end of the base body (1), a position control mechanism is provided at the upper end of the base body (1), the position control mechanism is connected to the protection frame (16), a protection opening 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 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 provided inside the protection shell (17), a collection opening (19) is provided 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 provided 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 provided at the left and right ends of the base body (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; 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 (1), and the plurality of assist rods (54) are 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); 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 one (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); 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.

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 (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 (61) on the left and right sides; the rotating shaft (1) passes through the support plate (61) on the right side and is fixedly connected to the motor (5); the motor (5) is fixedly connected to the support plate (61) on the right side; support blocks (7) are symmetrically arranged on the left and right sides of the rotating shaft (1); the support blocks (7) are fixedly connected to the support shaft; support plates (8) are symmetrically arranged on the left and right sides of the support shaft; a rotating shaft (9) is rotatably arranged between the support plates (8) on the left and right sides; the rotating shaft (9) passes through the left end of the support plate (8) and is fixedly connected to the motor (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.

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