An automatic deviation roadway handheld three-dimensional laser scanning device and a use method thereof

Abstract

The application relates to a roadway handheld three-dimensional laser scanning device capable of automatically deflecting and a use method thereof, which comprises a shell body, a scanning head and a handle arranged on the shell body, a driving assembly arranged in the shell body and connected with the scanning head, the driving assembly being capable of driving the scanning head to reciprocatingly deflect relative to the shell body, a positioning piece connected with a rotating shaft of the scanning head, a pushing assembly connected with the handle, when the handle rotates relative to the shell body, the pushing assembly can cooperate with the positioning piece to make the scanning head return to the middle part of the deflection stroke, a protective cover rotatably arranged on the shell body, and an abutting structure connected with the protective cover and the pushing assembly, the abutting structure can drive the protective cover to upwardly deflect after the scanning head returns to the middle part of the deflection stroke, so that the unfolding and folding processes are simplified, and the scanning head is further protected.

Description

Technical Field

[0001] This invention relates to an automatic tilting handheld three-dimensional laser scanning device for roadways and its usage method. Background Technology

[0002] Roadways excavated for coal mine production are a crucial component of minefield development and play a vital role in ensuring safe coal mine operations. By regulating the air velocity or volume within these roadways, good airflow can be maintained throughout the mine, ensuring fresh air in the mining space and thus providing miners with a relatively better working environment. Therefore, the structural safety of the surrounding rock in underground mine roadways is of paramount importance to safe coal mine production.

[0003] The collection and analysis of information on the surrounding rock structure in underground mine roadways mainly relies on supporting equipment such as 3D laser scanners, high-precision Leica total stations, target spheres, and data processing software. Among these related devices, the 3D laser scanner plays a decisive role in the accuracy of information collection. Considering that most of the existing 3D laser scanners used for collecting information on the surrounding rock structure in underground mine roadways are handheld, after use, the handle needs to be disassembled and the 3D laser scanner placed in a protective case. This leads to the need for reassembly before the next use, making the operation process complicated. On the other hand, the 3D laser scanner body and handle are placed separately, which makes them prone to being lost, increasing the difficulty of daily storage and management. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic tilting handheld three-dimensional laser scanning device for roadways and its usage method, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: An automatic tilting handheld 3D laser scanning device for roadways, comprising: The outer casing is equipped with a scanning head and a handle. A drive assembly is disposed within the housing and connected to the scanning head, the drive assembly being capable of driving the scanning head to reciprocate relative to the housing; Positioning component, connecting the rotating shaft of the scanning head; A push component, connected to the handle, is capable of engaging with the positioning element when the handle rotates relative to the housing, so that the scanning head is aligned to the middle of its deflection stroke; The protective cover is rotatably mounted on the outer casing; An abutment structure connects the protective cover and the push assembly. The abutment structure can drive the protective cover to deflect upward after the scanning head is aligned to the middle of its deflection stroke.

[0006] As a further aspect of the present invention: the handle is rotatably connected to the outer shell, and a locking component is provided at the connection point between the two; The locking assembly includes a fixed shaft mounted on the outer casing, a telescopic sleeve slidably sleeved on the fixed shaft, the telescopic sleeve being connected to the fixed shaft via a limiting structure, and a cylindrical spring sleeved on the fixed shaft, one end of the cylindrical spring being connected to the end of the fixed shaft and the other end being connected to the telescopic sleeve. The handle's pivot is a hollow structure, and the telescopic sleeve can pass through the handle's pivot. A convex shaft is also provided on the inner wall of the handle's pivot, and the convex shaft slides in conjunction with a limiting groove provided on the outer side of the telescopic sleeve.

[0007] As a further embodiment of the present invention: the limiting structure includes a limiting groove arranged along the length direction of the fixed shaft and a limiting block arranged on the inner wall of the telescopic sleeve, wherein the limiting groove and the limiting block are slidably connected.

[0008] As a further embodiment of the present invention: the limiting groove includes two sets of straight grooves arranged along the axial direction of the telescopic sleeve, and the two sets of straight grooves are connected by a spiral groove arranged spirally along the axial direction of the telescopic sleeve.

[0009] As a further embodiment of the present invention: the driving assembly includes a driving motor installed in the housing, a turntable connected to the output shaft of the driving motor, and a grooved wheel rotatably mounted at the eccentric position of the turntable; The drive assembly also includes a deflector rod connected to the rotating shaft of the scanning head. The deflector rod has a hysteresis groove along its length, and the grooved wheel can roll within the hysteresis groove.

[0010] As a further embodiment of the present invention: a first gear is coaxially connected to the rotating shaft of the scanning head, the first gear meshes with a second gear rotatably mounted on the outer casing, and the second gear is connected to the positioning component; The positioning component has a guide groove and a positioning groove on the side opposite to the outer shell, and two symmetrical inclined guide surfaces are formed on the positioning groove.

[0011] As a further embodiment of the present invention: the pushing component includes a sliding member disposed on the outer shell, the sliding member having a sliding connecting part and a positioning shaft disposed on the side facing the outer shell, the sliding connecting part being slidably connected to a guide member mounted on the outer shell, and the positioning shaft being able to move within the positioning groove and the guide groove; A hinge rod is also rotatably mounted on the slider, and the end of the hinge rod away from the slider is rotatably connected to the handle.

[0012] As a further embodiment of the present invention: a connector is provided on the outer shell, and the connector is rotatably connected to the rotating shaft of the protective cover; The abutting structure includes a connecting plate connected to the rotating shaft of the protective cover and a bracket connected to the sliding member. An abutting wheel is rotatably mounted on one end of the bracket away from the sliding member, and the abutting wheel is adapted to the connecting plate. A stop assembly is also provided between the connector and the pivot of the protective cover.

[0013] As a further embodiment of the present invention: the stop kit includes a limiting protrusion disposed on the rotating shaft of the protective cover, the limiting protrusion being adapted to the stop portion disposed on the connector.

[0014] A method of using the automatic tilting handheld 3D laser scanning device for roadways as described above includes the following steps: Step 1: Unlock the handle using the locking mechanism; the protective shield will also open at the same time. Step 2: Start the drive component. The drive component can drive the scanning head to swing back and forth to perform the scanning operation; Step 3: After the scan is completed, unlock the grip by connecting the retractable assembly and the pivot, at which point the grip will rotate relative to the outer shell. Step 4: During the rotation of the handle, the push component can bring the scanning head back to the middle of its deflection stroke. At the same time, as the handle continues to rotate, the protective cover can deflect upward to protect the scanning head. Step 5: Place the retracted scanning device into the protective case.

[0015] Compared with the prior art, the beneficial effects of the present invention are: By using a locking mechanism, the convex shaft engages with two sets of straight grooves during use, enabling the handle to maintain a stable retracted and extended state. This reduces the overall storage space of the device and eliminates the need for separate disassembly of the handle, thus simplifying the storage and deployment process. Furthermore, it stabilizes the position of the scanning head during the acquisition of information about the coal mine roadway structure, thereby improving the detection effect. By setting up a push component, when the handle is deflected to retract, the positioning shaft can cooperate with the positioning groove and the guide groove, so that the scanning head rotates to the middle of its deflection stroke. This prevents the protective cover from interfering with the scanning head when the protective cover deflects later, thus protecting the structure of the scanning head to a certain extent. The protective cover can be deflected by the designed abutment structure, so that after the scanning head moves to the middle of its stroke, the protective cover can deflect to protect the scanning head and reduce the risk of damage to the scanning head. When the handle is in the unfolded state, the protective cover can remain in a horizontal position to prevent it from affecting the scanning operation of the scanning head. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of an embodiment of an automatic tilting handheld 3D laser scanning device for roadways.

[0017] Figure 2 This is a structural schematic diagram from another angle of an embodiment of an automatic tilting handheld 3D laser scanning device for roadways.

[0018] Figure 3 for Figure 2 Enlarged view of the structure at point A in the middle.

[0019] Figure 4 An exploded view of the locking component in an embodiment of an automatic tilting handheld 3D laser scanning device for tunnels.

[0020] Figure 5 This is a schematic diagram of the internal structure of the outer casing of an embodiment of an automatic tilting handheld 3D laser scanning device for tunnels.

[0021] Figure 6 for Figure 5 A structural diagram from another angle.

[0022] Figure 7 This is a schematic diagram of the positioning component, pushing component, protective cover, and abutment structure in an embodiment of an automatic tilting handheld 3D laser scanning device for roadways.

[0023] Figure 8 An exploded view of the push component in an embodiment of an automatic tilting handheld 3D laser scanning device for tunnels.

[0024] Figure 9 This is a schematic diagram of the stop kit in an embodiment of an automatic tilting handheld 3D laser scanning device for roadways.

[0025] In the diagram: 1. Outer shell; 2. Handle; 201. Protruding shaft; 3. Scanning head; 4. Fixed shaft; 401. Limiting groove; 5. Cylindrical spring; 6. Telescopic sleeve; 601. Limiting block; 602. Straight groove; 603. Spiral groove; 7. Pushing part; 8. Drive motor; 9. Turntable; 10. Grooved wheel; 11. Deflection rod; 12. Hysteresis groove; 13. Arc-shaped partition; 14. First gear; 15. Second gear; 16. Positioning component; 1601. Guide groove; 1602. Positioning groove; 17. Hinge rod; 18. Sliding component; 1801. Sliding connection part; 19. Positioning shaft; 20. Guide component; 21. Bracket; 22. Abutment wheel; 23. Protective cover; 2301. Limiting protrusion; 24. Connecting component; 2401. Stop part; 25. Connecting plate. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Furthermore, elements in this invention are referred to as being "fixed to" or "set on" another element, which may be directly on the other element or may also include an intervening element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or may also include an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0028] Please see Figures 1-9 In this embodiment of the invention, an automatic tilting handheld 3D laser scanning device for roadways includes: a housing 1, a drive assembly, a positioning component 16, a pushing assembly, a protective cover 23, and an abutment structure. During use, the convex shaft 201, through the cooperation of two sets of straight grooves 602, enables the handle 2 to have a stable retracted and extended state. Based on this, on the one hand, the storage space of the entire device can be reduced, and the handle 2 does not need to be disassembled separately, reducing the operational difficulty during storage and extension. On the other hand, during the acquisition of information on the surrounding rock structure of underground mine roadways, the position of the scanning head 3 is more stable, thereby improving the accuracy of the detection results.

[0029] The outer casing 1 is provided with a scanning head 3 and a handle 2. The outer casing 1 is provided with an arc-shaped through groove, and the scanning head 3 is provided with an arc-shaped partition 13 adapted to the arc-shaped through groove. Furthermore, the handle 2 is rotatably connected to the outer casing 1, and a locking assembly is provided at the connection between the two. The locking structure is used to keep the handle 2 in a stable retracted or extended state, thereby improving the stability of the handle 2 in the retracted or extended state. This allows the handle 2 to be stored without disassembly. At the same time, the high stability after being extended can make the scanning head 3 more stable during handheld scanning, thus improving the scanning effect.

[0030] The locking assembly includes a fixed shaft 4 mounted on the outer casing 1. A telescopic sleeve 6 is slidably sleeved on the fixed shaft 4. The telescopic sleeve 6 is connected to the fixed shaft 4 via a limiting structure. A pushing part 7 is provided at one end of the telescopic sleeve 6 away from the fixed shaft 4. A cylindrical spring 5 is sleeved on the fixed shaft 4. One end of the cylindrical spring 5 is connected to the end of the fixed shaft 4, and the other end is connected to the telescopic sleeve 6. The limiting structure includes a limiting groove 401 arranged along the length direction of the fixed shaft 4 and a limiting block 601 arranged on the inner wall of the telescopic sleeve 6. The limiting groove 401 and the limiting block 601 are slidably connected. With the cooperation of the limiting groove 401 and the limiting block 601, the telescopic sleeve 6 can be axially locked relative to the fixed shaft 4. That is, the telescopic sleeve 6 can only move relative to the length direction of the fixed shaft 4, but cannot rotate relative to the fixed shaft 4.

[0031] The rotating shaft of the handle 2 is a hollow structure, and the telescopic sleeve 6 can pass through the rotating shaft of the handle 2. A convex shaft 201 is also provided on the inner wall of the rotating shaft of the handle 2. The convex shaft 201 is slidably engaged with a limiting groove provided on the outer side of the telescopic sleeve 6. The limiting groove includes two sets of straight grooves 602 arranged along the axial direction of the telescopic sleeve 6. The two sets of straight grooves 602 are connected by a spiral groove 603 arranged spirally along the axial direction of the telescopic sleeve 6.

[0032] In the initial state, the convex shaft 201 is located at one end of one of the straight grooves 602 away from the spiral groove 603. At this time, since the telescopic sleeve 6 cannot rotate relative to the fixed shaft 4, the handle 2 cannot rotate relative to the outer shell 1, thereby improving the stability of the handle 2 in the retracted or extended state. Specifically, when the handle 2 is rotated to retract it, the pressing and pushing part 7 can drive the telescopic sleeve 6 to move. At this time, the cylindrical spring 5 is compressed, and the limiting groove can move relative to the convex shaft 201. When the convex shaft 201 separates from one of the straight grooves 602, the handle 2 is deflected, which allows the convex shaft 201 to move along the spiral groove 603. At this time, the cylindrical spring 5 can be further compressed until the convex shaft 201 moves to the end of the spiral groove 603. Then, the cylindrical spring 5 releases its elastic potential energy, allowing the convex shaft 201 to enter another straight groove 602. At this time, the handle 2 is in the retracted state, thereby reducing the space occupied by the entire scanning device when stored, making it more convenient to store.

[0033] Similarly, during the unfolding process, the push part 7 is pressed to switch the convex shaft 201 to another straight groove 602. However, during this process, when the convex shaft 201 moves into the spiral groove 603, the cylindrical spring 5 can actively drive the handle 2 to rotate by releasing elastic potential energy. Thus, the convex shaft 201 automatically switches to another straight groove 602. That is, when the handle 2 is unfolded, it has a tendency to be driven and actively deflected, thereby increasing the unfolding speed and reducing the workload.

[0034] With the above settings, the convex shaft 201, in cooperation with the two sets of straight grooves 602, enables the handle 2 to have a stable retracted and extended state during use. Based on this, on the one hand, the storage space of the entire device can be reduced, and the handle 2 does not need to be disassembled separately, reducing the operational difficulty in the storage and extension process. On the other hand, the position of the scanning head 3 can be made more stable during use, thereby improving the accuracy of the detection results.

[0035] Please see Figure 5 The drive assembly is disposed inside the housing 1 and connected to the scanning head 3. The drive assembly can drive the scanning head 3 to reciprocate relative to the housing 1. The drive assembly includes a drive motor 8 installed inside the housing 1. A turntable 9 is connected to the output shaft of the drive motor 8. A grooved wheel 10 is rotatably installed at the eccentric position of the turntable 9.

[0036] The drive assembly also includes a deflection rod 11 connected to the rotating shaft of the scanning head 3. The deflection rod 11 is provided with a hysteresis groove 12 along its length, and the grooved wheel 10 can roll in the hysteresis groove 12.

[0037] During the scanning process, the technician holds the handle 2 and starts the drive motor 8. At this time, the output shaft of the drive motor 8 can drive the turntable 9 to rotate and drive the grooved wheel 10 to make a circular motion. The grooved wheel 10, in cooperation with the pre-accommodation groove 12, can drive the deflection rod 11 to deflect back and forth, so as to drive the scanning head 3 to perform a reciprocating deflection action, without the need for manual deflection, thus reducing the difficulty of operation during the scanning process.

[0038] It is worth noting that compared to manual hand-held deflection, the resulting deflection angle is unstable, which can cause incomplete scanning range. Mechanical reciprocating deflection can reduce the instability to a certain extent.

[0039] Please see Figure 3 , Figures 5-8 The positioning component 16 is connected to the rotating shaft of the scanning head 3. A first gear 14 is coaxially connected to the rotating shaft of the scanning head 3. The first gear 14 meshes with a second gear 15 rotatably mounted on the outer casing 1. The second gear 15 is connected to the positioning component 16.

[0040] The positioning member 16 is provided with a guide groove 1601 and a positioning groove 1602 on the side opposite to the outer shell 1, and two symmetrical inclined guide surfaces are formed on the positioning groove 1602. The push component is connected to the handle 2. When the handle 2 rotates relative to the outer shell 1, the push component can cooperate with the positioning member 16 to make the scanning head 3 return to the middle of its deflection stroke. The pushing component includes a slider 18 disposed on the outer shell 1. The slider 18 is provided with a sliding connection portion 1801 and a positioning shaft 19 on the side facing the outer shell 1. The sliding connection portion 1801 is slidably connected to a guide 20 mounted on the outer shell 1. The positioning shaft 19 is capable of moving within the positioning groove 1602 and the guide groove 1601.

[0041] A hinge rod 17 is also rotatably mounted on the slider 18, and the end of the hinge rod 17 away from the slider 18 is rotatably connected to the handle 2.

[0042] During the reciprocating deflection of the scanning head 3, the rotating shaft of the scanning head 3 will also drive the positioning member 16 to deflect through the first gear 14 and the second gear 15. At this time, the positioning shaft 19 can move within the positioning groove 1602 without interference. However, when the scanning head 3 stops moving, its stopping position is uncertain. While a high-speed stepper motor can be used for driving, this would increase costs. In this embodiment, when the handle 2 is deflected to retract it, the handle 2 can drive the sliding member 18 to move along the length direction of the guide member 20 through the hinge rod 17. At this time, the positioning shaft 19 will also move accordingly. When the positioning shaft 19 abuts against the inclined guide surface, it can guide the positioning member 16 to deflect. When the positioning shaft 19 enters the guide groove 1601, it causes the scanning head 3 to rotate to the middle of its deflection stroke. This prevents interference between the protective cover 23 and the scanning head 3 when the protective cover 23 deflects, thus protecting the structure of the scanning head 3 to a certain extent.

[0043] With the above settings, when the handle 2 is deflected to retract the handle 2, the positioning shaft 19 can cooperate with the positioning groove 1602 and the guide groove 1601, so that the scanning head 3 rotates to the middle of its deflection stroke. This prevents the protective cover 23 from interfering with the scanning head 3 when the protective cover 23 deflects, thus protecting the structure of the scanning head 3 to a certain extent.

[0044] Please see Figures 1-3 , Figures 7-9 The protective cover 23 is rotatably mounted on the outer shell 1; The abutting structure connects the protective cover 23 and the pushing component. The abutting structure can drive the protective cover 23 to deflect upward after the scanning head 3 is aligned to the middle of its deflection stroke. The outer shell 1 is provided with a connector 24, which is rotatably connected to the rotating shaft of the protective cover 23; The abutting structure includes a connecting plate 25 connected to the rotating shaft of the protective cover 23 and a bracket 21 connected to the sliding member 18. An abutting wheel 22 is rotatably mounted on one end of the bracket 21 away from the sliding member 18, and the abutting wheel 22 is adapted to the connecting plate 25. A stop kit is also provided between the connecting member 24 and the rotating shaft of the protective cover 23. The stop kit includes a limiting protrusion 2301 provided on the rotating shaft of the protective cover 23, and the limiting protrusion 2301 is adapted to the stop portion 2401 provided on the connecting member 24.

[0045] When the scanning head 3 rotates to the middle of its deflection stroke, the handle 2 will continue to retract. At this time, the slider 18 will continue to move and drive the abutment wheel 22 to move. When the abutment wheel 22 abuts against the connecting plate 25, it can actively drive the connecting plate 25 and the protective cover 23 to deflect until the protective cover 23 deflects to a vertical position, thereby achieving the effect of protecting the scanning head 3. When the entire scanning device is placed in the protective housing, it has the function of double protection for the scanning head 3, further reducing the risk of damage to the scanning head 3.

[0046] When the protective cover 23 is tilted to the vertical position, it is parallel to the scanning head 3. At this time, the limiting protrusion 2301 can abut against the stop part 2401, so that the protective cover 23 can remain stable in this state and prevent the protective cover 23 from moving excessively toward the scanning head 3, which would damage the scanning head 3.

[0047] When the handle 2 is in the unfolded state, the limiting protrusion 2301 on the rotating shaft of the protective cover 23 can abut against the other end of the stop part 2401, thereby keeping the protective cover 23 in a horizontal state to prevent affecting the scanning operation of the scanning head 3.

[0048] With the above settings, the protective cover 23 can be deflected, so that after the scanning head 23 moves to the middle of its stroke, the protective cover 23 deflects to protect the scanning head 3, reducing the risk of damage to the scanning head 3. Furthermore, when the handle 2 is in the unfolded state, the protective cover 23 can remain in a horizontal state to prevent it from affecting the scanning operation of the scanning head 3.

[0049] As an embodiment of the present invention, a method for using the automatic tilting handheld three-dimensional laser scanning device for roadways as described above is also proposed, comprising the following steps: Step 1: Unfold the handle 2 using the locking assembly, and the protective cover 23 will also open at the same time; Step 2: Start the drive component. The drive component can drive the scanning head 3 to swing back and forth to perform the scanning operation; Step 3: After the scan is completed, unlock the grip 2 by means of the retraction assembly and the pivot, at which point the grip 2 will rotate relative to the outer shell 1; Step 4: During the rotation of the handle 2, the push component can bring the scanning head 3 back to the middle of its deflection stroke. At the same time, as the handle 2 continues to rotate, the protective cover 23 can deflect upward to protect the scanning head 3. Step 5: Place the retracted scanning device into the protective case.

[0050] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0051] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An automatic tilting handheld 3D laser scanning device for roadways, comprising: The outer casing (1) is provided with a scanning head (3) and a handle (2); characterized in that it further includes: The drive assembly is located inside the housing (1) and connected to the scanning head (3). The drive assembly can drive the scanning head (3) to swing back and forth relative to the housing (1). Positioning component (16), a rotating shaft connected to the scanning head (3); The push component is connected to the handle (2). When the handle (2) rotates relative to the outer shell (1), the push component can cooperate with the positioning element (16) to make the scanning head (3) return to the middle of its deflection stroke. The protective cover (23) is rotatably mounted on the outer shell (1); The abutment structure connects the protective cover (23) and the push assembly. After the scanning head (3) is aligned to the middle of its deflection stroke, the abutment structure drives the protective cover (23) to deflect upward. The first gear (14) is coaxially connected to the rotating shaft of the scanning head (3). The first gear (14) meshes with the second gear (15) rotatably mounted on the outer shell (1). The second gear (15) is connected to the positioning member (16). The positioning member (16) is provided with a guide groove (1601) and a positioning groove (1602) on the side away from the outer shell (1), and two symmetrical inclined guide surfaces are formed on the positioning groove (1602); The pushing component includes a slider (18) disposed on the outer shell (1). The slider (18) is provided with a sliding connection part (1801) and a positioning shaft (19) on the side facing the outer shell (1). The sliding connection part (1801) is slidably connected to a guide part (20) installed on the outer shell (1). The positioning shaft (19) can move in the positioning groove (1602) and the guide groove (1601). A hinge rod (17) is also rotatably mounted on the slider (18), and the end of the hinge rod (17) away from the slider (18) is rotatably connected to the handle (2); The handle (2) is rotatably connected to the outer shell (1), and a locking assembly is provided at the connection between the two. The locking assembly includes a fixed shaft (4) mounted on the outer shell (1), a telescopic sleeve (6) slidably sleeved on the fixed shaft (4), the telescopic sleeve (6) and the fixed shaft (4) are connected by a limiting structure, and a cylindrical spring (5) is sleeved on the fixed shaft (4), one end of the cylindrical spring (5) is connected to the end of the fixed shaft (4), and the other end is connected to the telescopic sleeve (6); the limiting structure prevents the telescopic sleeve (6) from rotating relative to the fixed shaft (4), and it can only move along the length direction of the fixed shaft (4); The shaft of the handle (2) is hollow, and the telescopic sleeve (6) can pass through the shaft of the handle (2). A convex shaft (201) is also provided on the inner wall of the shaft of the handle (2). The convex shaft (201) slides in cooperation with the limiting groove provided on the outside of the telescopic sleeve (6). The limiting groove includes two sets of straight grooves (602) arranged along the axial direction of the telescopic sleeve (6), and the two sets of straight grooves (602) are connected by a spiral groove (603) arranged spirally along the axial direction of the telescopic sleeve (6).

2. The automatic oscillating handheld three-dimensional laser scanning device for roadways according to claim 1, characterized in that, The limiting structure includes a limiting groove (401) arranged along the length direction of the fixed shaft (4) and a limiting block (601) arranged on the inner wall of the telescopic sleeve (6), wherein the limiting groove (401) and the limiting block (601) are slidably connected.

3. The automatic oscillating handheld three-dimensional laser scanning device for roadways according to claim 1, characterized in that, The drive assembly includes a drive motor (8) installed inside the housing (1), a turntable (9) is connected to the output shaft of the drive motor (8), and a grooved wheel (10) is rotatably installed at the eccentric position of the turntable (9). The drive assembly also includes a deflection rod (11) connected to the rotating shaft of the scanning head (3), the deflection rod (11) having a hysteresis groove (12) along its length, and the grooved wheel (10) being able to roll within the hysteresis groove (12).

4. The automatic oscillating handheld three-dimensional laser scanning device for roadways according to claim 1, characterized in that, A connector (24) is provided on the outer shell (1), and the connector (24) is rotatably connected to the rotating shaft of the protective cover (23); The abutting structure includes a connecting plate (25) connected to the pivot of the protective cover (23) and a bracket (21) connected to the sliding member (18). An abutting wheel (22) is rotatably mounted on one end of the bracket (21) away from the sliding member (18). The abutting wheel (22) is adapted to the connecting plate (25). A stop kit is also provided between the connecting member (24) and the pivot of the protective cover (23).

5. The automatic oscillating handheld three-dimensional laser scanning device for roadways according to claim 4, characterized in that, The stop kit includes a limiting protrusion (2301) disposed on the rotating shaft of the protective cover (23), the limiting protrusion (2301) being adapted to the stop portion (2401) disposed on the connector (24).

6. A method of using the automatic oscillating handheld three-dimensional laser scanning device for roadways as described in any one of claims 1-5, characterized in that, Includes the following steps: Step 1: Unfold the handle (2) by engaging the locking mechanism, and the protective cover (23) will also open at the same time; Step 2: Start the drive component. The drive component can drive the scanning head (3) to swing back and forth to perform the scanning operation; Step 3: After the scan is completed, unlock the grip (2) by means of the locking assembly and the pivot of the grip (2), at which point the grip (2) will rotate relative to the outer shell (1); Step 4: During the rotation of the handle (2), the push component can bring the scanning head (3) back to the middle of its deflection stroke. At the same time, the handle (2) continues to rotate. At this time, the protective cover (23) can deflect upward to protect the scanning head (3). Step 5: Place the retracted scanning device into the protective case.

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