Laser scanning equipment for surveying and mapping historical building structure and surveying and mapping method

Abstract

The invention discloses a historical building structure surveying and mapping laser scanning device and surveying and mapping method.The historical building structure surveying and mapping laser scanning device comprises a base box body, a cover plate is rotationally arranged at the top of the base box body through a rotating shaft, an adjusting assembly used for adjusting the horizontal angle of the cover plate is fixedly arranged in the base box body, and a bottom plate is fixedly arranged at the top of the cover plate; a measuring mechanism used for measuring the plane angle of the bottom plate is slidably arranged in the bottom plate, a scanning mechanism used for scanning a historical building structure is fixedly arranged at the top of the bottom plate, and a storage box body is fixedly arranged at the bottom of the cover plate; a supporting mechanism used for enhancing the friction force between the device and the ground and improving the stability of a chassis of the device is slidably arranged in the storage box body. The cover plate is adjusted to an angle parallel to the horizontal plane through the adjusting assembly, the measuring mechanism detects whether the scanning mechanism and the historical building form a horizontal scanning angle or not, the angle is adjusted in the detection process, and the supporting mechanism enhances the friction force between the device and the ground and improves the chassis stability of the device.

Description

Technical Field

[0001] The present invention relates to the field of surveying and mapping technology, and in particular to a laser scanning device and a surveying and mapping method for the structure surveying and mapping of historical buildings. Background Art

[0002] Laser scanning devices are widely used in building surveying and mapping, which can greatly improve the accuracy and reliability of surveying and mapping data. Laser scanning devices can capture the external structure and internal space information of buildings, generate high-precision three-dimensional models, and provide data support for the safety assessment and maintenance of buildings.

[0003] Historical buildings refer to buildings and structures that have certain protection value, can reflect historical features and local characteristics, have not been announced as cultural relics protection units, and have not been registered as immovable cultural relics. There are many large steps or uphill slopes in the construction of historical buildings in our country. Large steps or uphill slopes not only have practical functions in ancient Chinese architecture, but also carry rich cultural and symbolic meanings.

[0004] During the process of laser surveying and mapping of ancient buildings, the device needs to be transferred to the location where it is to be used. When encountering an uphill slope set obliquely, usually heavy objects or stones are placed at the rear of the surveying instrument or the shelf for abutting in the existing market. However, this fixing method cannot ensure the stability during the surveying and mapping process, and thus there may be situations such as the instrument tipping over and being damaged, and the scanned image of the obliquely set instrument being incomplete. Summary of the Invention

[0005] The purpose of the present invention is to solve the deficiencies existing in the prior art, and to propose a laser scanning device and a surveying and mapping method for the structure surveying and mapping of historical buildings.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions: A laser scanning device and a surveying and mapping method for the structure surveying and mapping of historical buildings, including a base box body. A cover plate is rotatably provided on the top of the base box body through a rotating shaft. An adjusting component for adjusting the horizontal angle of the cover plate is fixedly provided inside the base box body. A bottom plate is fixedly provided on the top of the cover plate. A measuring mechanism for measuring the plane angle of the bottom plate is slidably provided inside the bottom plate. A scanning mechanism for scanning the structure of historical buildings is fixedly provided on the top of the bottom plate. A storage box body is fixedly provided on the bottom of the cover plate. A supporting mechanism for enhancing the friction between the device and the ground and improving the chassis stability of the device is slidably provided inside the storage box body.

[0007] Preferably, the adjusting component includes two first electric push rods. The two first electric push rods are symmetrically arranged inside the base box body. The bottom of the first electric push rod is rotatably arranged on the inner wall of the base box body through a rotating shaft, and the output end of the first electric push rod is rotatably arranged on the bottom of the cover plate through a rotating shaft.

[0008] Preferably, the measuring mechanism includes a first multi-stage electric push rod, a measuring top plate, a telescopic rod, a fixing plate, a second electric push rod, an abutting plate and an angle detection component. There are two first multi-stage electric push rods which are fixedly arranged on the inner wall of the bottom plate, and the output end of the first multi-stage electric push rod is fixedly arranged with the measuring top plate. The measuring top plate is slidably arranged inside the bottom plate and extends out of the inside of the bottom plate. There are two telescopic rods which are slidably arranged inside the cover plate and extend out of the inside of the cover plate. The bottom of the measuring top plate is fixedly arranged with the telescopic rod. The fixing plate is fixedly arranged at the bottom of the measuring top plate. There are two second electric push rods which are fixedly arranged at the bottom of the fixing plate. The output ends of the two second electric push rods are both fixedly arranged with the abutting plate. The angle detection component is fixedly arranged with the fixing plate.

[0009] Preferably, the angle detection component includes an isosceles arc plate, a central rod, a sleeve, an H-shaped rod, a limiting sliding ball and a triggering piece. The isosceles arc plate is fixedly arranged with the fixing plate. The central rod is fixedly arranged on both sides of the inner wall of the isosceles arc plate. The sleeve is sleeved on the central rod and is rotatably arranged through a bearing at the connection with the central rod. The H-shaped rod is fixedly arranged with the sleeve. There are two limiting sliding balls which are respectively fixedly arranged at both ends of the bottom of the H-shaped rod, and grooves for the limiting sliding balls to slide are opened on both sides of the inner wall of the isosceles arc plate. The triggering piece is fixedly arranged at the center of the H-shaped rod.

[0010] Preferably, the triggering piece includes a central vertical plate, a first trigger rod, a second trigger rod, a first switch, a second switch, a pressing plate, a rotating abutting plate, a third trigger rod and a third switch. The central vertical rod is fixedly arranged at the center of the H-shaped rod. The first trigger rod and the second trigger rod are respectively fixedly arranged on both side walls of the central vertical plate. The first switch and the second switch are respectively fixedly arranged on both sides of the inner wall of the isosceles arc plate. The pressing plate is fixedly arranged at the bottom of the central vertical plate. The rotating abutting plate is rotatably arranged on the bottom wall of the isosceles arc plate through a rotating shaft, and the third trigger rod is fixedly arranged on the bottom wall of the rotating abutting plate. The third switch is fixedly arranged on the inner wall of the isosceles arc plate.

[0011] Preferably, the scanning mechanism includes a third electric push rod, a first plate body, a motor, a second plate body, a scanning piece and a limiting component. The third electric push rod is fixedly arranged with the bottom plate. The first plate body is fixedly arranged with the output end of the third electric push rod. A plurality of support rods are fixedly arranged between the first plate body and the second plate body, and the motor is fixedly arranged at the center between the first plate body and the second plate body. The output end of the motor is fixedly arranged with the scanning piece, and the scanning piece is fixedly arranged on the top of the second plate body.

[0012] Preferably, the limiting component includes a connecting plate, a drawing rod, and a plug rod. The connecting plate is fixedly arranged at the output end of the third electric push rod. A plurality of drawing rods are provided, and one end of each drawing rod is rotatably arranged on the connecting plate through a rotating shaft. The other end of the drawing rod is rotatably arranged on the plug rod through a bearing, and a plug cylinder inserted with the plug rod is fixedly arranged on the bottom plate.

[0013] Preferably, the support mechanism includes a second multi-stage electric push rod, an extension plate, a third multi-stage electric push rod, a folding rod, a pressure plate, a convex plate, a self-adjusting plate body, a first extraction plate, a folding plate, and a second extraction plate. The second multi-stage electric push rod is fixedly arranged on the inner wall of the storage box body, and the output end of the second multi-stage electric push rod is fixedly arranged on the extension plate. Sliding grooves for the extension plate to slide are formed on both sides of the inner wall of the storage box body. Two folding rods are provided and symmetrically arranged at the bottom of the extension plate. A sliding groove for the top end of the folding rod to slide is formed on the bottom wall of the extension plate. The pressure plate is fixedly arranged on the bottoms of the two folding rods. A sliding groove for the bottom end of the folding rod to slide is formed on the pressure plate. The positions of the rotating shafts at the bottoms of the two folding rods are fixedly arranged. The third multi-stage electric push rod is fixedly arranged at the bottom of the extension plate, and the output end is fixedly arranged at the fixed position of the rotating shaft. The convex plate is fixedly arranged on the bottom of the pressure plate, and a rod body penetrates through the convex plate and is rotatably arranged through a bearing. Both ends of the rod body are fixedly arranged on the self-adjusting plate body. The first extraction plate is slidably arranged inside the self-adjusting plate body and extends out of the self-adjusting plate. The folding plate is rotatably arranged on the first extraction plate through a rotating shaft. Two second extraction plates are provided and are both slidably arranged inside the first extraction plate and extend out of the first extraction plate.

[0014] A surveying method for a laser scanning device for historical building structure surveying, the specific steps are as follows: S1: There are many uphill slopes in historical buildings. When conducting a long-distance scan, in specific situations, the scanning device must be placed on the uphill slope to scan the building. Generally, stones or heavier obstacles are moved and placed at the position where scanning is required as a support for the scanning device. The purpose is to prevent the device from slipping or tilting accidentally due to the natural gravity of the slope. However, this method cannot effectively maintain the stability of the device chassis, and during the measurement process, the scanning instrument may shake back and forth due to instability, and the scanning angle cannot be effectively controlled, resulting in an unsatisfactory scanning result. In this device, the cover plate is adjusted to an angle parallel to the horizontal plane through the adjustment component, and the measurement mechanism detects whether the scanning mechanism is at a horizontal scanning angle with the historical building. During the detection process, the angle is adjusted, and then the adjustment stops after reaching a satisfactory scanning angle. After the adjustment is completed, the support mechanism enhances the friction between the device and the ground to improve the stability of the device chassis, ensuring that the scanning mechanism maintains a stable effect during the scanning process; S2: First, find the uphill slope that needs to be scanned. Place the device at the corner connection between the uphill slope and the horizontal ground. Place the base box on the uphill slope. Start the first electric push rod to drive the cover plate to rotate. Stop when it rotates to be flush with the horizontal ground. This operation is to rotate the scanning mechanism to a vertical state so that the scanning mechanism can collect scanning results more effectively. Then, use the measuring mechanism to detect whether the scanning mechanism is at a horizontal scanning angle with the historical building; S3: Start the first multi-stage electric push rod to drive the measuring top plate to extend out of the bottom plate. Use the angle detection component to detect whether the measuring top plate is parallel to the horizontal ground at this moment. If, after the measuring top plate extends out, the limit sliding ball slides and rotates in the slot under natural gravity, and while rotating, the first trigger rod abuts against the first switch, it indicates that the outermost side of the measuring top plate is in an upward-tilted state compared with the horizontal ground. Then, it is necessary to start the first electric push rod to continuously drive the cover plate to rise. If, after the measuring top plate extends out, the limit sliding ball slides and rotates in the slot under natural gravity, and while rotating, the second trigger rod abuts against the second switch, it indicates that the outermost side of the measuring top plate is in a downward-sliding state compared with the horizontal ground. Then, it is necessary to start the first electric push rod to drive the cover plate to descend. If, after the measuring top plate extends out, the limit sliding ball slides and rotates in the slot under natural gravity, and while rotating, the pressing plate presses and rotates the rotating abutting plate, and the rotating abutting plate rotates to drive the third trigger rod to abut against the third switch, it indicates that the measuring top plate is in a parallel state compared with the horizontal ground. This state is the best scanning angle, and this angle is fixed; S4: After fixing the scanning angle, move the device to the uphill slope that needs to be scanned. Use the support mechanism to enhance the friction between the device and the ground and improve the stability of the device chassis to ensure that the scanning mechanism maintains a stable effect during the scanning process. Start the second multi-stage electric push rod to drive the extension plate to extend out of the storage box. Start the third multi-stage electric push rod to drive the folding plate to unfold. When the folding plate unfolds, it slides and unfolds on the extension plate and the pressure plate respectively. When descending, it drives the self-adjusting plate body to abut against the slope surface and rotate for adjustment, so that the self-adjusting plate body fits the slope surface. Pull out the first extraction plate from the self-adjusting plate body, fold the folding plate upward, so that the angle of the folding plate is perpendicular to the angle of the horizontal ground. Then, pull out the second pull-out plate outward so that the second pull-out plate abuts against the folding plate and the abutting object, enhancing the friction of the device chassis and adding an inclined stress point to make the device more stable; S5: Use multiple limiting components to enhance the stability of the scanning part. Pull the pull rod to fix the plug rod and the plug barrel. Multiple triangles limit to make the device more stable during the scanning process. Start the third electric push rod to adjust the height according to the scanning height, and start the motor during the rising process to drive the scanning part to perform multi-angle scanning.

[0015] The present invention has the following beneficial effects: This device is configured with a measurement mechanism. By setting an adjustment component, the scanning mechanism is adjusted to an angle parallel to the building. The measurement mechanism is used to detect whether the scanning mechanism is at a horizontal scanning angle with respect to the historical building, and during the detection process, a secondary angle adjustment is performed to achieve a more satisfactory scanning result and higher scanning efficiency. 2. This device is configured with a support mechanism to enhance the friction between the device and the ground and improve the stability of the device chassis. Additionally, an inclined force-bearing point is added to make the device more stable when it abuts against an abutting object, ensuring the stability of the scanning mechanism during the scanning process and improving the scanning efficiency. 3. By setting a scanning mechanism, the stability of the scanning component is enhanced through multiple limiting components. Pull the draw rod to fix the plug rod and the socket tube. The multiple triangular limits make the device more stable during scanning. The third electric push rod is activated for height adjustment according to the scanning height, and the motor is activated during the rising process to drive the scanning component for multi-angle scanning. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the overall device of the present invention installed on an uphill slope Figure 1 ; Figure 2 Schematic diagram of the overall device of the present invention installed on an uphill slope Figure 2 ; Figure 3 Schematic diagram of the overall structure of the device proposed by the present invention; Figure 4 Partial cross-sectional structure schematic diagram of the measurement mechanism proposed by the present invention; Figure 5 Enlarged structure schematic diagram of the measurement mechanism proposed by the present invention; Figure 6 Cross-sectional structure schematic diagram of the bottom plate proposed by the present invention; Figure 7 Connection structure schematic diagram of the angle detection component proposed by the present invention; Figure 8 Side cross-sectional structure schematic diagram of the angle detection component proposed by the present invention Figure 1 ; Figure 9 Side cross-sectional structure schematic diagram of the angle detection component proposed by the present invention Figure 2 ; Figure 10 Enlarged structure schematic diagram of the scanning mechanism proposed by the present invention Figure 1 ; Figure 11 Enlarged structure schematic diagram of the scanning mechanism proposed by the present invention Figure 2 ; Figure 12 Initial enlarged structure schematic diagram of the support mechanism proposed by the present inventionFigure 1 ; Figure 13 Schematic diagram of the initial enlarged structure of the support mechanism proposed by the present invention Figure 2 ; Figure 14 Proposed by the present invention Figure 13 Schematic diagram of the enlarged structure at point A in Figure 15 Schematic diagram of the sectional structure of the storage box body proposed by the present invention

[0017] In the figure: 1, base box body; 2, cover plate; 3, adjustment component; 31, first electric push rod; 4, bottom plate; 5, measuring mechanism; 51, first multi-stage electric push rod; 52, measuring top plate; 53, telescopic rod; 54, fixing plate; 55, second electric push rod; 56, abutting plate; 57, angle detection component; 571, isosceles arc plate; 572, central rod; 573, sleeve; 574, H-shaped rod; 575, limiting sliding ball; 576, triggering part; 5761, central vertical plate; 5762, first trigger rod; 5763, second trigger rod; 5764, first switch; 5765, second switch; 5766, pressing plate; 5767, rotating abutting plate; 5768, third trigger rod; 5769, third switch; 6, scanning mechanism; 61, third electric push rod; 62, first plate body; 63, motor; 64, second plate body; 65, scanning part; 66, limiting component; 661, connecting plate; 662, pulling rod; 663, inserting rod; 7, storage box body; 8, support mechanism; 81, second multi-stage electric push rod; 82, extension plate; 83, third multi-stage electric push rod; 84, folding rod; 85, pressure plate; 86, convex plate; 87, self-adjusting plate body; 88, first extraction plate; 89, folding plate; 810, second extraction plate Specific embodiments

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments Embodiment 1

[0019] Referring to Figures 1-9 , a laser scanning device and a mapping method for the structure of historical buildings, including a base box body 1, a cover plate 2 is rotatably arranged on the top of the base box body 1 through a rotating shaft, an adjustment component 3 for adjusting the horizontal angle of the cover plate 2 is fixedly arranged inside the base box body 1, a bottom plate 4 is fixedly arranged on the top of the cover plate 2, and a measuring mechanism 5 for measuring the plane angle of the bottom plate 4 is slidably arranged inside the bottom plate 4

[0020] The adjusting assembly 3 includes two first electric push rods 31. The two first electric push rods 31 are symmetrically arranged inside the base box body 1. The bottom of the first electric push rod 31 is rotatably arranged on the inner wall of the base box body 1 through a rotating shaft, and the output end of the first electric push rod 31 is rotatably arranged on the bottom of the cover plate 2 through a rotating shaft.

[0021] Referring to Figures 4-6 , the measuring mechanism 5 includes a first multi-stage electric push rod 51, a measuring top plate 52, a telescopic rod 53, a fixing plate 54, a second electric push rod 55, an abutting plate 56 and an angle detection assembly 57. The number of the first multi-stage electric push rods 51 is two and they are fixedly arranged on the inner wall of the bottom plate 4. The output end of the first multi-stage electric push rod 51 is fixedly arranged with the measuring top plate 52. The measuring top plate 52 is slidably arranged inside the bottom plate 4 and extends out of the inside of the bottom plate 4. The number of the telescopic rods 53 is two and they are slidably arranged inside the cover plate 2 and extend out of the inside of the cover plate 2. The bottom of the measuring top plate 52 is fixedly arranged with the telescopic rod 53. The fixing plate 54 is fixedly arranged at the bottom of the measuring top plate 52. The number of the second electric push rods 55 is two and they are fixedly arranged at the bottom of the fixing plate 54. The output ends of the two second electric push rods 55 are both fixedly arranged with the abutting plate 56. The angle detection assembly 57 is fixedly arranged with the fixing plate 54.

[0022] Referring to Figures 7-9 , the angle detection assembly 57 includes an isosceles arc plate 571, a central rod 572, a sleeve 573, an H-shaped rod 574, a limit sliding ball 575 and a trigger 576. The isosceles arc plate 571 is fixedly arranged with the fixing plate 54. The central rod 572 is fixedly arranged on both sides of the inner wall of the isosceles arc plate 571. The sleeve 573 is sleeved on the central rod 572 and is rotatably arranged through a bearing at the connection with the central rod 572. The H-shaped rod 574 is fixedly arranged with the sleeve 573. The number of the limit sliding balls 575 is two and they are respectively fixedly arranged at both ends of the bottom of the H-shaped rod 574. Grooves for the limit sliding balls 575 to slide are formed on both sides of the inner wall of the isosceles arc plate 571. The trigger 576 is fixedly arranged at the center of the H-shaped rod 574.

[0023] The trigger member 576 includes a central vertical plate 5761, a first trigger rod 5762, a second trigger rod 5763, a first switch 5764, a second switch 5765, a pressing plate 5766, a rotating abutting plate 5767, a third trigger rod 5768 and a third switch 5769. The central vertical rod is fixedly arranged at the center of the H-shaped rod 574. The first trigger rod 5762 and the second trigger rod 5763 are respectively fixedly arranged on both side walls of the central vertical plate 5761. The first switch 5764 and the second switch 5765 are respectively fixedly arranged on both sides of the inner wall of the isosceles arc-shaped plate 571. The pressing plate 5766 is fixedly arranged at the bottom of the central vertical plate 5761. The rotating abutting plate 5767 is rotatably arranged on the bottom wall of the isosceles arc-shaped plate 571 through a rotating shaft, and the third trigger rod 5768 is fixedly arranged on the bottom wall of the rotating abutting plate 5767. The third switch 5769 is fixedly arranged on the inner wall of the isosceles arc-shaped plate 571.

[0024] In this embodiment, there are many uphill slopes in historical buildings. When performing long-distance scanning, in specific situations, the scanning device must be placed on the uphill slope for building scanning. Generally, stones or heavier obstacles will be moved and placed at the position where scanning is required as a support for the scanning device, aiming to prevent the device from slipping or tilting accidentally due to the natural gravity of the slope. However, this method cannot effectively maintain the stability of the device chassis, and during the measurement process, the scanning instrument may shake back and forth due to instability, and the scanning angle cannot be effectively controlled, resulting in unsatisfactory scanning results. In this device, the cover plate 2 is adjusted to an angle parallel to the horizontal plane by setting the adjustment component 3, and the measurement mechanism 5 is used to detect whether the scanning mechanism 6 is at a horizontal scanning angle with the historical building. During the detection process, the angle is adjusted, and the adjustment is stopped after reaching a satisfactory scanning angle. First, find the uphill slope that needs to be scanned. Place the device at the corner connection between the uphill slope and the horizontal ground, and place the base box body 1 on the uphill slope. Start the first electric push rod 31 to drive the cover plate 2 to rotate, and stop when it is flush with the horizontal ground. This operation is to rotate the scanning mechanism 6 to a vertical state so that the scanning mechanism 6 can collect scanning results more effectively. Then, use the measurement mechanism 5 to detect whether the scanning mechanism 6 is at a horizontal scanning angle with the historical building. Start the first multi-stage electric push rod 51 to drive the measurement top plate 52 to extend out of the interior of the bottom plate 4. Use the angle detection component 57 to detect whether the measurement top plate 52 is parallel to the horizontal ground at this moment. If, after the measurement top plate 52 extends out, the limit sliding ball 575 slides and rotates in the slot under natural gravity, and while rotating, the first trigger rod 5762 abuts against the first switch 5764, it indicates that the outermost side of the measurement top plate 52 is in an upward warping state compared with the horizontal ground. Then, it is necessary to start the first electric push rod 31 to continuously drive the cover plate 2 to rise. If, after the measurement top plate 52 extends out, the limit sliding ball 575 slides and rotates in the slot under natural gravity, and while rotating, the second trigger rod 5763 abuts against the second switch 5765, it indicates that the outermost side of the measurement top plate 52 is in a downward sliding state compared with the horizontal ground. Then, it is necessary to start the first electric push rod 31 to drive the cover plate 2 to descend. If, after the measurement top plate 52 extends out, the limit sliding ball 575 slides and rotates in the slot under natural gravity, and while rotating, the pressing plate 5766 presses and rotates the rotating abutting plate 5767, and the rotating abutting plate 5767 rotates to drive the third trigger rod 5768 to abut against the third switch 5769, it indicates that the measurement top plate 52 is in a parallel state compared with the horizontal ground. This state is the best scanning angle, and this angle is fixed. Embodiment 2

[0025] Refer to Figures 12-15 , which is different from Embodiment 1 in that: a storage box body 7 is fixedly arranged at the bottom of the cover plate 2, and a support mechanism 8 for enhancing the friction between the device and the ground and improving the chassis stability of the device is slidably arranged inside the storage box body 7.

[0026] The support mechanism 8 includes a second multi-stage electric push rod 81, an extension plate 82, a third multi-stage electric push rod 83, a folding rod 84, a pressure plate 85, a convex plate 86, a self-adjusting plate body 87, a first extraction plate 88, a folding plate 89, and a second extraction plate 810. The second multi-stage electric push rod 81 is fixedly arranged on the inner wall of the storage box body 7, and the output end of the second multi-stage electric push rod 81 is fixedly arranged with the extension plate 82. Sliding grooves for the extension plate 82 to slide are formed on both sides of the inner wall of the storage box body 7. The number of the folding rods 84 is two and they are symmetrically arranged at the bottom of the extension plate 82. A sliding groove for the top end of the folding rod 84 to slide is formed on the bottom wall of the extension plate 82. The pressure plate 85 is fixedly arranged with the bottoms of the two folding rods 84. A sliding groove for the bottom end of the folding rod 84 to slide is formed on the pressure plate 85. The positions of the bottom rotating shafts of the two folding rods 84 are fixedly arranged. The third multi-stage electric push rod 83 is fixedly arranged at the bottom of the extension plate 82 and the output end is fixedly arranged with the rotating shaft fixed position. The convex plate 86 is fixedly arranged at the bottom of the pressure plate 85, and a rod body penetrates through the convex plate 86 and is rotatably arranged through a bearing. Both ends of the rod body are fixedly arranged with the self-adjusting plate body 87. The first extraction plate 88 is slidably arranged inside the self-adjusting plate body 87 and extends out of the self-adjusting plate. The folding plate 89 is rotatably arranged with the first extraction plate 88 through a rotating shaft. The number of the second extraction plates 810 is two and they are both slidably arranged inside the first extraction plate 88 and extend out of the first extraction plate 88.

[0027] In this embodiment, after fixing the scanning angle, move the device to the uphill where scanning is required, and enhance the friction between the device and the ground through the support mechanism 8 to improve the stability of the device chassis, ensuring that the scanning mechanism 6 maintains a stable effect during scanning. Start the second multi-stage electric push rod 81 to drive the extension plate 82 to extend out of the storage box body 7, and start the third multi-stage electric push rod 83 to drive the folding plate 89 to unfold. When the folding plate 89 unfolds, it slides and unfolds on the extension plate 82 and the pressure plate 85 respectively. When descending, it drives the self-adjusting plate body 87 to abut against the slope surface and rotate and adjust, so that the self-adjusting plate body 87 fits the slope surface. Pull out the first extraction plate 88 from inside the self-adjusting plate body 87, and fold the folding plate 89 upward so that the angle of the folding plate 89 is perpendicular to the angle of the horizontal ground. Then pull out the second extraction plate outward so that the second extraction plate abuts against the folding plate 89 and the abutting object, enhancing the friction of the device chassis and adding an inclined stress point to make the device more stable. Embodiment Three

[0028] Refer to Figures 10-11 , which is different from Embodiments One and Two in that: a scanning mechanism 6 for scanning the historical building structure is fixedly arranged on the top of the bottom plate 4.

[0029] The scanning mechanism 6 includes a third electric push rod 61, a first plate body 62, a motor 63, a second plate body 64, a scanning member 65 and a limiting component 66. The third electric push rod 61 is fixedly arranged with the bottom plate 4. The first plate body 62 is fixedly arranged at the output end of the third electric push rod 61. A plurality of support rods are fixedly arranged between the first plate body 62 and the second plate body 64. The motor 63 is fixedly arranged at the center between the first plate body 62 and the second plate body 64. The output end of the motor 63 is fixedly arranged with the scanning member 65. The scanning member 65 is fixedly arranged at the top of the second plate body 64.

[0030] The limiting component 66 includes a connecting plate 661, a pulling rod 662 and a plug rod 663. The connecting plate 661 is fixedly arranged at the output end of the third electric push rod 61. The number of pulling rods 662 is multiple, and one end of each pulling rod 662 is rotatably arranged with the connecting plate 661 through a rotating shaft. The other end of the pulling rod 662 is rotatably arranged with the plug rod 663 through a bearing. A plug cylinder for inserting the plug rod 663 is fixedly arranged on the bottom plate 4.

[0031] In this embodiment, the stability of the scanning member 65 is enhanced by a plurality of limiting components 66. Pull the pulling rod 662 to fix the plug rod 663 with the plug cylinder. The multiple triangular limits make the device more stable during the scanning process. Start the third electric push rod 61 for height adjustment according to the scanning height. And start the motor 63 during the rising process to drive the scanning member 65 for multi-angle scanning.

[0032] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A laser scanning device for mapping the structure of a historical building, comprising a base box (1), characterized in that: A cover plate (2) is rotatably provided on the top of the base box body (1) via a rotating shaft, an adjusting assembly (3) for adjusting the horizontal angle of the cover plate (2) is fixedly provided inside the base box body (1), a bottom plate (4) is fixedly provided on the top of the cover plate (2), a measuring mechanism (5) for measuring the plane angle of the bottom plate (4) is slidably provided inside the bottom plate (4), a scanning mechanism (6) for scanning the structure of a historical building is fixedly provided on the top of the bottom plate (4), a storage box body (7) is fixedly provided on the bottom of the cover plate (2), and a supporting mechanism (8) for enhancing the friction between the device and the ground and improving the stability of the device chassis is slidably provided inside the storage box body (7).

2. The laser scanning device for mapping the structure of a historical building according to claim 1, characterized in that: The adjustment assembly (3) comprises two first electric push rods (31), the two first electric push rods (31) being symmetrically arranged inside the base box body (1), the bottom of the first electric push rod (31) being rotatably arranged with the inner wall of the base box body (1) via a rotating shaft, and the output end of the first electric push rod (31) being rotatably arranged with the bottom of the cover plate (2) via the rotating shaft.

3. The laser scanning device for mapping the structure of a historical building according to claim 2, characterized in that: The measuring mechanism (5) comprises a first multi-stage electric push rod (51), a measuring top plate (52), a telescopic rod (53), a fixing plate (54), a second electric push rod (55), an abutment plate (56) and an angle detection assembly (57); two first multi-stage electric push rods (51) are provided and are fixedly arranged on the inner wall of the bottom plate (4); an output end of the first multi-stage electric push rod (51) is fixedly arranged on the measuring top plate (52); the measuring top plate (52) is slidably arranged inside the bottom plate (4) and extends out of the bottom plate (4); The telescopic rods (53) are provided in two numbers and are slidably arranged inside the cover plate (2) and extend out of the cover plate (2); the bottom of the measuring top plate (52) is fixedly arranged on the telescopic rod (53); the fixing plate (54) is fixedly arranged on the bottom of the measuring top plate (52); the second electric push rods (55) are provided in two numbers and are fixedly arranged on the bottom of the fixing plate (54); the output ends of the two second electric push rods (55) are fixedly arranged on the abutment plate (56); and the angle detection component (57) is fixedly arranged on the fixing plate (54).

4. The laser scanning device method for mapping the structure of a historical building according to claim 3, characterized in that: The angle detection assembly (57) comprises an isosceles arc plate (571), a center rod (572), a sleeve (573), an H-shaped rod (574), a limit sliding ball (575) and a trigger member (576). The isosceles arc plate (571) is fixedly arranged on the fixed plate (54), the center rod (572) is fixedly arranged on both sides of the inner wall of the isosceles arc plate (571), the sleeve (573) is sleeved on the center rod (572) and a bearing is provided at the connection with the center rod (572) and is rotatably arranged through the bearing, the H-shaped rod (574) is fixedly arranged on the sleeve (573), two limit sliding balls (575) are provided and are respectively fixedly arranged on both ends of the bottom of the H-shaped rod (574), and grooves for sliding the limit sliding balls (575) are provided on both sides of the inner wall of the isosceles arc plate (571), and the trigger member (576) is fixedly arranged at the center of the H-shaped rod (574).

5. The laser scanning device for surveying and mapping the structure of a historical building according to claim 4, characterized in that: The trigger member (576) comprises a central vertical plate (5761), a first trigger rod (5762), a second trigger rod (5763), a first switch (5764), a second switch (5765), an extrusion plate (5766), a rotating plate (5767), a third trigger rod (5768) and a third switch (5769). The central vertical rod is fixedly arranged at the center of the H-shaped rod (574). The first trigger rod (5762) and the second trigger rod (5763) are respectively connected to the two sides of the central vertical plate (5761). The side wall is fixedly arranged, the first switch (5764) and the second switch (5765) are respectively fixedly arranged on both sides of the inner wall of the isosceles arc plate (571), the extrusion plate (5766) is fixedly arranged on the bottom of the central vertical plate (5761), the rotating abutment plate (5767) is rotatably arranged on the bottom wall of the isosceles arc plate (571) through a rotating shaft, and the third trigger rod (5768) is fixedly arranged on the bottom wall of the rotating abutment plate (5767), and the third switch (5769) is fixedly arranged on the inner wall of the isosceles arc plate (571).

6. The laser scanning device for surveying and mapping the structure of a historical building according to claim 1, characterized in that: The scanning mechanism (6) comprises a third electric push rod (61), a first plate (62), a motor (63), a second plate (64), a scanning element (65) and a limit assembly (66); the third electric push rod (61) is fixedly arranged on the bottom plate (4); the first plate (62) is fixedly arranged on an output end of the third electric push rod (61); a plurality of support rods are fixedly arranged between the first plate (62) and the second plate (64); the motor (63) is fixedly arranged at a center between the first plate (62) and the second plate (64); the output end of the motor (63) is fixedly arranged on the scanning element (65); and the scanning element (65) is fixedly arranged on a top of the second plate (64).

7. The laser scanning device for surveying and mapping the structure of a historical building according to claim 6, characterized in that: The limit assembly (66) comprises a connecting plate (661), a pull-out rod (662) and an insertion rod (663); the connecting plate (661) is fixedly arranged with the output end of the third electric push rod (61); a plurality of pull-out rods (662) are provided, one end of which is rotatably arranged with the connecting plate (661) via a rotating shaft; the other end of the pull-out rod (662) is rotatably arranged with the insertion rod (663) via a bearing; and an insertion tube which is plugged into the insertion rod (663) is fixedly arranged on the bottom plate (4).

8. The laser scanning device for mapping the structure of a historical building according to claim 1, characterized in that: The support mechanism (8) comprises a second multi-stage electric push rod (81), an extension plate (82), a third multi-stage electric push rod (83), a folding rod (84), a pressure plate (85), a convex plate (86), a self-adjusting plate body (87), a first pull-out plate (88), a folding plate (89) and a second pull-out plate (810); the second multi-stage electric push rod (81) is fixedly arranged on the inner wall of the storage box body (7), and the output end of the second multi-stage electric push rod (81) is fixedly arranged on the extension plate (82); both sides of the inner wall of the storage box body (7) are provided with sliding grooves for the extension plate (82) to slide; the folding rod (84) is provided in two numbers and is symmetrically arranged at the bottom of the extension plate (82); the bottom wall of the extension plate (82) is provided with a sliding groove for the top end of the folding rod (84) to slide; the pressure plate (85) is fixedly arranged on the bottom of the two folding rods (84); The pressure plate (85) is provided with a slide groove for sliding one end of the bottom of the folding rod (84); the bottom rotation shafts of the two folding rods (84) are fixedly arranged; the third multi-stage electric push rod (83) is fixedly arranged with the bottom of the extension plate (82) and the output end is fixedly arranged with the rotation shaft fixed position; the convex plate (86) is fixedly arranged with the bottom of the pressure plate (85); a rod body is penetrated inside the convex plate (86) and the rod body is rotatably arranged through a bearing; both ends of the rod body are fixedly arranged with the self-adjusting plate body (87); the first extraction plate (88) is slidably arranged inside the self-adjusting plate body (87) and extends out of the self-adjusting plate; the folding plate (89) is rotatably arranged with the first extraction plate (88) through the rotation shaft; the second extraction plate (810) is provided with two and both are slidably arranged with the inside of the first extraction plate (88) and extend out of the inside of the first extraction plate (88).

9. A surveying and mapping method of a laser scanning device for surveying and mapping a historical building structure according to any one of claims 1 to 8, characterized in that: The specific steps are: S1: In the device, the cover plate (2) is adjusted to an angle parallel to the horizontal plane by setting an adjustment component (3), and the scanning mechanism (6) is detected by a measuring mechanism (5) to determine whether the scanning angle is horizontal with the historical building. The angle is adjusted during the detection process, and the adjustment is stopped after a satisfactory scanning angle is reached. After the adjustment is completed, the friction between the device and the ground is enhanced by a supporting mechanism (8) to improve the stability of the device chassis, thereby ensuring that the scanning mechanism (6) maintains a stable effect during the scanning process; S2: First, find the uphill slope to be scanned, place the device at the corner connection between the uphill slope and the horizontal ground, place the base box body (1) on the uphill slope, start the first electric push rod (31) to drive the cover plate (2) to rotate, and stop after rotating until it is flush with the horizontal ground. The operation is to rotate the scanning mechanism (6) to a vertical state so that the scanning mechanism (6) can collect scanning results more effectively, and then use the measuring mechanism (5) to detect whether the scanning mechanism (6) is at a horizontal scanning angle with the historical building; S3: Start the first multi-stage electric push rod (51) to drive the measuring top plate (52) to extend out of the interior of the bottom plate (4), and detect whether the measuring top plate (52) is parallel to the horizontal ground at this moment through the angle detection component (57). If the measuring top plate (52) is extended, the limit sliding ball (575) slides and rotates inside the slot under natural gravity, and the first trigger rod (5762) abuts against the first switch (5764) while rotating, indicating that the outermost side of the measuring top plate (52) is in an upward state after comparison with the horizontal ground, and it is necessary to start the first electric push rod (31) to continuously drive the cover plate (2) to rise. If the measuring top plate (52) is extended, the limit sliding ball (575) slides and rotates inside the slot under natural gravity, When the second trigger rod (5763) is rotated, it is indicated that the outermost side of the measuring top plate (52) is in a downward sliding state after being compared with the horizontal ground, and the first electric push rod (31) needs to be started to drive the cover plate (2) to descend. After the measuring top plate (52) is extended, the limit sliding ball (575) slides and rotates inside the slot under natural gravity, and the squeezing plate (5766) squeezes the rotating plate (5767) while rotating, so that the rotating plate (5767) rotates and drives the third trigger rod (5768) to abut against the third switch (5769), indicating that the measuring top plate (52) is in a parallel state after being compared with the horizontal ground, and this state is the optimal scanning angle, and the angle is fixed; S4: After the scanning angle is fixed, the device is moved to an uphill position where scanning is required, and the friction between the device and the ground is enhanced by the support mechanism (8) to improve the stability of the device chassis, so as to ensure that the scanning mechanism (6) maintains a stable effect during the scanning process, and the second multi-stage electric push rod (81) is started to drive the extension plate (82) to extend out of the storage box body (7), and the third multi-stage electric push rod (83) is started to drive the folding plate (89) to unfold. When the folding plate (89) is unfolded, it is respectively between the extension plate (82) and the pressure plate (85). ) slides and unfolds, and when descending, drives the self-adjusting plate body (87) to abut against the slope surface and rotates and adjusts, so that the self-adjusting plate body (87) fits the slope surface, pulls the first pull-out plate (88) out of the self-adjusting plate body (87), and folds the folding plate (89) upward, so that the angle of the folding plate (89) is perpendicular to the angle of the horizontal ground, and then pulls out the second pull-out plate, so that the second pull-out plate and the folding plate (89) abut against the abutting object, thereby enhancing the friction force of the chassis of the device and adding an inclined force point to make the device more stable; S5: The stability of the scanning piece (65) is enhanced by using a plurality of limit assemblies (66), and the pull-out rod (662) is pulled to fix the insertion rod (663) and the insertion tube. The plurality of triangular limit assemblies make the device more stable during the scanning process. The third electric push rod (61) is started to adjust the height according to the scanning height, and the motor (63) is started during the rising process to drive the scanning piece (65) to perform multi-angle scanning.

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