An underground space real scene three-dimensional data acquisition device

Abstract

The application relates to the technical field of laser radar data collection and close-range photogrammetry, and discloses an underground space real scene three-dimensional data collection device. When the vehicle body is stuck in the moving process due to the high-low difference road condition formed by steps, the auxiliary wheel assists the vehicle body to slightly lift up so that the vehicle body continues to move, and when the vehicle body is stuck in the moving process and skids and idles, the pad wheel moves into the pit to pad the road for the vehicle body so as to eliminate the skidding and idling condition, so that the movement of the three-dimensional data collection device in the underground space is not affected by the complex road condition, the device can be stably and continuously moved in the underground space, the efficiency of overall data collection is improved, and the continuity and quality of data collection are improved; in the construction tunnel, the field environment is seriously dusty, the cave wall is wet, and the three-dimensional data collection device can clearly acquire images in the lightless state, the cave wall is not reflective but overexposed in the wet state.

Description

Technical Field

[0001] This invention relates to the field of lidar data acquisition and close-range photogrammetry technology, specifically to a three-dimensional data acquisition device for underground space. Background Technology

[0002] During tunnel construction, it is necessary to perform 3D scanning of the tunnel excavation face and obtain high-definition photos to facilitate the use of computer programs to obtain accurate data for simulation, design of key and difficult locations in the construction process, construction techniques, and potential difficulties. The data acquisition process requires a lot of equipment and tools, including a 3D data acquisition device with a lidar system.

[0003] Existing 3D data acquisition devices, such as Chinese patent CN218883539U, utilize rotating positioning seats at the bottom of each device to flexibly and quickly adjust the shooting angle and position it at any time. The rotating positioning seats allow for flexible switching between device rotation and positioning to acquire complete excavation face point cloud data or complete excavation face photographs, effectively improving the efficiency of 3D data acquisition and ensuring the clarity and accuracy of 3D images and high-definition photographs. By incorporating a telescopic main pole, a folding tripod, and an instrument mounting platform, the device provides a horizontal working platform adaptable to the on-site construction environment. The telescopic and folding design reduces the device's size, making it easy and quick to store. Rollers and push-pull rods at the bottom and side of the storage box facilitate highly mobile movement by surveyors. Furthermore, the integrated design and unified storage effectively prevent accidental damage and loss of the equipment.

[0004] However, the following problems still exist: the road conditions inside the tunnel are complex, and there are basically no flat surfaces for moving the 3D data acquisition device, which makes it inconvenient to move the 3D data acquisition device as a whole in the tunnel, affecting the overall data acquisition efficiency. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a 3D real-world data acquisition device for underground spaces. This device is designed to ensure stable and continuous movement within underground spaces, unaffected by complex road conditions, thus improving overall data acquisition efficiency, continuity, and quality. It solves the problem of inconvenient movement of the 3D data acquisition device in tunnels due to complex road conditions and the lack of flat surfaces, which negatively impacts overall data acquisition efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a three-dimensional real-scene data acquisition device for underground space, comprising a vehicle body, an acquisition mechanism mounted on the vehicle body, and an auxiliary mechanism mounted on the acquisition mechanism. The acquisition mechanism includes a probe, which is mounted next to the vehicle body. The probe performs laser radar scanning on the underground space.

[0007] The auxiliary mechanism includes an auxiliary wheel and a pad wheel. The auxiliary wheel is located next to the vehicle body. When the vehicle body moves, the auxiliary wheel deflects when it gets stuck in the uneven road conditions formed by steps. The auxiliary wheel lifts the vehicle body so that the vehicle body can continue to move. The pad wheel is located next to the vehicle body. When the vehicle body moves, the pad wheel deflects when it gets stuck in potholes and slips. The pad wheel moves into the potholes and fills the bottom of the vehicle body.

[0008] Preferably, the acquisition mechanism further includes a driver's seat, which is located inside the vehicle body. The driver's seat controls the overall operation of the three-dimensional data acquisition device. A display is located inside the vehicle body and is adjacent to the driver's seat. Steering wheels are located at the bottom of the vehicle body and control the direction of movement of the vehicle body.

[0009] Preferably, a vehicle panel is fixedly installed on the lower end of one side of the vehicle body, and a data storage device is fixedly installed on the vehicle panel. The data storage device is used to store 3D scanning data. An opening is provided on the data storage device, and a drawer cabinet is slidably fitted into the opening of the data storage device. The size of the drawer cabinet is adapted to the size of the opening of the data storage device. A data changer is provided on the drawer cabinet, and the data changer is signal-connected to the data storage device. The data changer replaces the data storage disk in the data storage device.

[0010] Preferably, a processor is fixedly mounted on the vehicle panel, the processor is adjacent to the data storage device, the processor is signal-connected to the data storage device, the data storage device is located between the processor and the vehicle body, the processor is used to process the data scanned by the lidar, the probe is fixedly mounted on the processor, and the probe is signal-connected to the processor.

[0011] Preferably, the bottom end of the vehicle platform is rotatably fitted with multiple sprockets, which are symmetrically distributed on both sides of the vehicle platform. All the sprockets are at the same height and are located below the processor. Tracks are tensioned on the sprockets on each side, and the bottom end of the track is at the same height as the bottom end of the steering wheel.

[0012] Preferably, a hydraulic cylinder driver is fixedly installed at the bottom end of the vehicle body. The hydraulic cylinder driver is used to drive the vehicle body to move. A pulley is provided on the shaft of the hydraulic cylinder driver. The sprockets on both sides are connected by a shaft. A driven wheel is provided on the shaft of the sprocket. A chain is tensioned on the pulley of the hydraulic cylinder driver and the driven wheel on the sprocket shaft.

[0013] Preferably, the auxiliary mechanism further includes a first hydraulic rod, which is rotatably fitted to the bottom end of the vehicle platform. The first hydraulic rod is located between the track and the steering wheel. A second hydraulic rod is rotatably fitted to the bottom end of the vehicle platform, adjacent to the first hydraulic rod. A connecting frame is provided below the vehicle platform. One side of the connecting frame is rotatably fitted to the extension rod of the first hydraulic rod, and the other side of the connecting frame is rotatably fitted to the extension rod of the second hydraulic rod. The connection point between the connecting frame and the first hydraulic rod is located at one end of the connecting frame, and the connection point between the connecting frame and the second hydraulic rod is located at one end of the connecting frame.

[0014] Preferably, the other end of the connecting frame is rotatably fitted with the auxiliary wheel, the bottom end of the deflection trajectory of the auxiliary wheel is located below the track, and a baffle is fixedly installed at the bottom end of the vehicle plate. The baffle is adjacent to the auxiliary wheel and the deflection trajectory of the auxiliary wheel, and the baffle provides a protective shielding surface for the auxiliary wheel.

[0015] Preferably, both sides of the bottom end of the vehicle platform are rotatably fitted with extension frames, the extension frames are adjacent to the track, and multiple rotary cylinders are fixedly installed at the bottom end of the vehicle platform. Each rotary cylinder is poweredly connected to each extension frame, and the length of the extension frame is adapted to the distance from the bottom end of the vehicle platform to the bottom end of the track.

[0016] Preferably, each extension frame is rotatably fitted with a telescopic rod, and each extension rod is fitted with a spring. One end of the spring is connected to the fixed rod of the telescopic rod, and the other end of the spring is connected to the extension rod of the telescopic rod. Each extension rod of the telescopic rod is rotatably fitted with a pad wheel, and the deflection trajectory of the pad wheel covers the underside of the track.

[0017] Compared with existing technologies, the present invention provides a three-dimensional data acquisition device for underground space, which has the following advantages:

[0018] 1. This underground space real-scene 3D data acquisition device, by moving the 3D data acquisition device into the underground space and manually controlling the vehicle, allows the device to move within the underground space. The device uses a LiDAR sensor to collect 3D data about the underground space. When the vehicle encounters uneven terrain such as steps that cause it to get stuck, the auxiliary wheels are deflected, moving to the higher point of the step to slightly lift the vehicle and allow it to continue moving. If the vehicle gets stuck in potholes and begins to slip, the padding wheels are deflected, moving into the potholes to level the surface and increase the contact area, allowing the vehicle to continue moving and eliminating slippage. Therefore, the movement of the 3D data acquisition device in the underground space is not affected by complex terrain, ensuring stable and continuous movement, improving the overall efficiency, continuity, and quality of data acquisition.

[0019] 2. The underground space real-scene 3D data acquisition device, through the setting of the drawer cabinet, allows the data disk to be opened when the processed data disk needs to be retrieved, and the data disk to be replaced using the data changer. This enables the 3D data acquisition device to replace the stored data disk in real time when the storage is full, thereby increasing the processing distance of the device in underground spaces and improving the applicability of the device.

[0020] 3. The underground space real-scene 3D data acquisition device, through the setting of springs, allows the pad wheel to move under the track. The elasticity of the springs resets the extension of the telescopic rod, so that the retraction and reset of the telescopic rod drives the pad wheel to always press against the bottom end of the track, ensuring the stable operation of the structure and improving the stability of the 3D data acquisition device. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structural distribution at the vehicle panel of the present invention;

[0022] Figure 2 This is a schematic diagram of the overall structure of the three-dimensional data acquisition device of the present invention;

[0023] Figure 3 This is a schematic diagram of the data acquisition mechanism of the present invention;

[0024] Figure 4 This is a schematic diagram of the structural distribution at the display of the present invention;

[0025] Figure 5 This is a schematic diagram of the structural distribution at the data changer of the present invention;

[0026] Figure 6 This is a schematic diagram of the structural distribution at the track section of the present invention;

[0027] Figure 7This is a schematic diagram of the auxiliary mechanism structure of the present invention;

[0028] Figure 8 This is a schematic diagram of the structural distribution at the connecting frame of the present invention;

[0029] Figure 9 This is a schematic diagram of the structural distribution at the extension frame of the present invention;

[0030] Figure 10 for Figure 9 Enlarged structural diagram at point A in the middle.

[0031] In the diagram: 1. Vehicle body; 2. Data acquisition mechanism; 21. Driver's seat; 22. Display; 23. Steering wheel; 24. Vehicle platform; 25. Data storage device; 26. Drawer cabinet; 27. Data changer; 28. Processor; 29. ​​Probe; 210. Sprocket; 211. Track; 212. Hydraulic cylinder driver; 213. Chain; 3. Auxiliary mechanism; 31. First hydraulic rod; 32. Second hydraulic rod; 33. Connecting frame; 34. Auxiliary wheel; 35. Baffle; 36. Extension frame; 37. Rotary cylinder; 38. Telescopic rod; 39. Spring; 310. Pad wheel. Detailed Implementation

[0032] 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.

[0033] As described in the background section, there are shortcomings in the existing technology. In order to solve the above-mentioned technical problems, this application proposes a three-dimensional data acquisition device for underground space.

[0034] Example 1, a typical implementation of this application, such as Figure 1 As shown, a three-dimensional data acquisition device for underground space includes a vehicle body 1, an acquisition mechanism 2 mounted on the vehicle body 1, and an auxiliary mechanism 3 mounted on the acquisition mechanism 2. The acquisition mechanism 2 includes a probe 29, which is located next to the vehicle body 1 and performs laser radar scanning on the underground space.

[0035] The auxiliary mechanism 3 includes an auxiliary wheel 34 and a pad wheel 310. The auxiliary wheel 34 is located next to the vehicle body 1. When the vehicle body 1 moves, the auxiliary wheel 34 deflects when it gets stuck in the uneven road conditions formed by steps. The auxiliary wheel 34 lifts the vehicle body 1 so that the vehicle body 1 can continue to move. The pad wheel 310 is located next to the vehicle body 1. When the vehicle body 1 moves, the pad wheel 310 deflects when it gets stuck in potholes and forms slippage. The pad wheel 310 moves into the potholes and pads the bottom of the vehicle body 1.

[0036] When using this invention:

[0037] The 3D data acquisition device is moved into the underground space. The vehicle 1 is manually operated to move within the underground space, and the probe 29 uses a lidar to collect 3D data. When the vehicle 1 encounters uneven terrain, such as steps, causing it to become stuck, the auxiliary wheel 34 is deflected. The auxiliary wheel 34 moves to the higher point of the step, slightly lifting the vehicle 1 to allow it to continue moving. If the vehicle 1 gets stuck in a pothole and begins to slip, the pad wheel 310 is deflected, moving into the pothole to level the surface and increase the contact area, allowing the vehicle 1 to continue moving and eliminating slippage. Therefore, the movement of the 3D data acquisition device in the underground space is not affected by complex road conditions, ensuring stable and continuous movement, improving the overall efficiency, continuity, and quality of data acquisition.

[0038] Example 2, as Figures 2-6 As shown, the difference from the above embodiment is that the acquisition mechanism 2 also includes a driver's seat 21. The driver's seat 21 is provided inside the vehicle body 1. The driver's seat 21 controls the overall operation of the three-dimensional data acquisition device. The display 22 is provided inside the vehicle body 1. The display 22 is adjacent to the driver's seat 21. Steering wheels 23 are provided at the bottom of the vehicle body 1. The steering wheels 23 control the movement direction of the vehicle body 1.

[0039] Furthermore, a vehicle plate 24 is fixedly installed on the lower side of one side of the vehicle body 1. A data storage device 25 is fixedly installed on the vehicle plate 24. The data storage device 25 is used to store three-dimensional scanning data. An opening is provided on the data storage device 25. A drawer cabinet 26 is slidably fitted in the opening of the data storage device 25. The size of the drawer cabinet 26 is adapted to the size of the opening of the data storage device 25. A data changer 27 is provided on the drawer cabinet 26. The data changer 27 is signal-connected to the data storage device 25. The data changer 27 replaces the data storage disk in the data storage device 25.

[0040] Furthermore, a processor 28 is fixedly installed on the vehicle body 24. The processor 28 is adjacent to the data storage device 25 and the processor 28 is signal-connected to the data storage device 25. The data storage device 25 is located between the processor 28 and the vehicle body 1. The processor 28 is used to process the data scanned by the lidar. A probe 29 is fixedly installed on the processor 28 and the probe 29 is signal-connected to the processor 28.

[0041] Furthermore, the processor 28 is signal-connected to the display 22, which is used to display the real-time data detected by the processor 28.

[0042] Furthermore, the bottom of the vehicle plate 24 is rotatably fitted with multiple sprockets 210. The sprockets 210 are symmetrically distributed on both sides of the vehicle plate 24, and all the sprockets 210 are at the same height. The sprockets 210 are located below the processor 28, and tracks 211 are tensioned on each sprocket 210. The bottom end of the track 211 is at the same height as the bottom end of the steering wheel 23.

[0043] Furthermore, a hydraulic cylinder driver 212 is fixedly installed at the bottom of the vehicle plate 24. The hydraulic cylinder driver 212 is used to drive the vehicle body 1 to move. A pulley is provided on the shaft of the hydraulic cylinder driver 212. The sprockets 210 on both sides are connected by a shaft. A driven wheel is provided on the shaft of the sprocket 210. A chain 213 is tensioned on the pulley of the hydraulic cylinder driver 212 and the driven wheel on the shaft of the sprocket 210.

[0044] Furthermore, the cylinder actuator 212 is a mobile driving power source, specifically an engine structure, used to provide the vehicle body 1 with the power to move.

[0045] When the 3D data acquisition device is scanning, the worker sits in the driver's seat 21 and operates the entire device. The worker starts the hydraulic cylinder driver 212, which drives the chain 213 to rotate. The chain 213 drives the sprocket 210 to rotate, and the sprocket 210 drives the track 211 to rotate, causing the track 211 to move the vehicle body 1 in the underground space. The worker also controls the steering wheels 23 to rotate, causing the vehicle body 1 to turn. At the same time, the worker starts the processor 28 and the probe 29. The probe 29 uses lidar to detect the underground space. The processor 28 converts and processes the data detected by the probe 29 and stores the processed data in the data storage device 25. Meanwhile, the display 22 displays the data processed by the processor 28 in real time. When it is necessary to retrieve the data disk stored in the data storage device 25, the worker opens the drawer cabinet 26 and replaces the data changer 27 in the drawer cabinet 26.

[0046] Example 3, as Figures 7-10 As shown, the difference from the above embodiment is that the auxiliary mechanism 3 also includes a first hydraulic rod 31. The first hydraulic rod 31 is rotatably fitted at the bottom end of the vehicle plate 24. The first hydraulic rod 31 is located between the track 211 and the steering wheel 23. The second hydraulic rod 32 is rotatably fitted at the bottom end of the vehicle plate 24. The second hydraulic rod 32 is adjacent to the first hydraulic rod 31. A connecting frame 33 is provided below the vehicle plate 24. One side of the connecting frame 33 is rotatably fitted with the extension rod of the first hydraulic rod 31, and the other side of the connecting frame 33 is rotatably fitted with the extension rod of the second hydraulic rod 32. The connection between the connecting frame 33 and the first hydraulic rod 31 is located at one end of the connecting frame 33, and the connection between the connecting frame 33 and the second hydraulic rod 32 is located at one end of the connecting frame 33.

[0047] Furthermore, the other end of the connecting frame 33 is rotatably fitted with an auxiliary wheel 34. The bottom end of the deflection trajectory of the auxiliary wheel 34 is located below the track 211. A baffle 35 is fixedly installed at the bottom end of the vehicle plate 24. The baffle 35 is adjacent to the auxiliary wheel 34 and the deflection trajectory of the auxiliary wheel 34 is adjacent to the baffle 35. The baffle 35 provides a protective shield for the auxiliary wheel 34.

[0048] Furthermore, extension frames 36 are rotatably fitted on both sides of the bottom end of the vehicle plate 24. The extension frames 36 are adjacent to the track 211. Multiple rotary cylinders 37 are fixedly installed at the bottom end of the vehicle plate 24. Each rotary cylinder 37 is poweredly connected to each extension frame 36. The length of the extension frame 36 is adapted to the distance from the bottom end of the vehicle plate 24 to the bottom end of the track 211.

[0049] Furthermore, each extension frame 36 is rotatably fitted with a telescopic rod 38, and each extension rod of the telescopic rod 38 is fitted with a spring 39. One end of the spring 39 is connected to the fixed rod of the telescopic rod 38, and the other end of the spring 39 is connected to the extension rod of the telescopic rod 38. Each extension rod of the telescopic rod 38 is rotatably fitted with a pad wheel 310, and the deflection trajectory of the pad wheel 310 covers the underside of the track 211.

[0050] When the vehicle body 1 encounters a step-like elevation difference that causes it to become stuck, the first hydraulic rod 31 and the second hydraulic rod 32 are activated. The first hydraulic rod 31 extends, and the second hydraulic rod 32 retracts, causing the first hydraulic rod 31 and the second hydraulic rod 32 to work together to push the connecting frame 33 to deflect. The connecting frame 33 then drives the auxiliary wheel 34 to deflect, causing the auxiliary wheel 34 to reach the highest point of the step-like elevation difference and continue to deflect, thus lifting the vehicle platform 24. This allows the vehicle platform 24 to slightly lift the track 211. As the track 211 continues to rotate, it is no longer stuck due to the elevation difference caused by the step-like elevation difference, and the track 211 can continue to drive the vehicle body 1 to move. When the body 1 gets stuck in a pothole during movement, causing it to slip and spin, the rotary cylinder 37 is activated. The rotary cylinder 37 drives the extension frame 36 to deflect, the extension frame 36 drives the telescopic rod 38 to deflect, and the telescopic rod 38 drives the pad wheel 310 to deflect, so that the pad wheel 310 moves under the track 211. The spring 39 then uses the pad wheel 310 to press the pad wheel 310 against the bottom end of the track 211. As the track 211 continues to rotate, the track 211 drives the pad wheel 310 to move towards the rear end of the track 211, so that the pad wheel 310 is squeezed between the rear end of the track 211 and the rear end of the pothole. The pad wheel 310 pushes the track 211 forward to increase the contact area between the track 211 and the road surface. Then, as the track 211 continues to rotate, the track 211 continues to move on the road surface.

[0051] Furthermore, in underground spaces, such as construction tunnels, where the environment is dusty and the tunnel walls are wet, the 3D data acquisition device can still clearly acquire images even in the absence of light. When the tunnel walls are wet, the image is not reflective and is not overexposed.

[0052] Working principle of the invention:

[0053] The 3D data acquisition device is moved into an underground space. The vehicle 1 is manually operated to move within the underground space, and the probe 29 uses a lidar to collect 3D data about the underground space. When the vehicle 1 encounters uneven terrain such as steps that cause it to get stuck, the auxiliary wheel 34 is deflected and moves to the higher point of the steps, slightly lifting the vehicle 1 to prevent it from getting stuck and allow it to continue moving. If the vehicle 1 gets stuck in a pothole and begins to slip, the pad wheel 310 is deflected and moves into the pothole to pad the vehicle 1, increasing the contact area and allowing it to continue moving. This eliminates slippage and ensures that the movement of the 3D data acquisition device in the underground space is not affected by complex road conditions, allowing the device to move stably and continuously in the underground space, improving the overall efficiency, continuity, and quality of data acquisition.

[0054] When the 3D data acquisition device is scanning, the worker sits in the driver's seat 21 and operates the entire device. The worker starts the hydraulic cylinder driver 212, which drives the chain 213 to rotate. The chain 213 drives the sprocket 210 to rotate, and the sprocket 210 drives the track 211 to rotate, so that the track 211 moves the vehicle body 1 in the underground space. The worker also controls the steering wheel 23 to rotate, so that the vehicle body 1 can turn. At the same time, the worker starts the processor 28 and the probe 29. The probe 29 uses laser radar to detect the underground space. The processor 28 converts and processes the data detected by the probe 29 and stores the processed data in the data storage device 25. At the same time, the display 22 displays the data processed by the processor 28 in real time. When it is necessary to retrieve the data disk stored in the data storage device 25, the worker opens the drawer cabinet 26 and replaces the data changer 27 in the drawer cabinet 26.

[0055] When the vehicle body 1 encounters a step-like elevation difference that causes it to become stuck, the first hydraulic rod 31 and the second hydraulic rod 32 are activated. The first hydraulic rod 31 extends, and the second hydraulic rod 32 retracts, causing the first hydraulic rod 31 and the second hydraulic rod 32 to work together to push the connecting frame 33 to deflect. The connecting frame 33 drives the auxiliary wheel 34 to deflect, causing the auxiliary wheel 34 to reach the highest point of the step-like elevation difference and continue to deflect, thus lifting the platform 24. This allows the platform 24 to slightly lift the track 211. As the track 211 continues to rotate, it is no longer stuck due to the elevation difference caused by the step-like elevation difference. With the rotation of the track 211, the track 211 can continue to drive the vehicle body 1 to move. When the track gets stuck in a pothole during movement, causing it to slip and spin, the rotary cylinder 37 is activated. The rotary cylinder 37 drives the extension frame 36 to deflect, the extension frame 36 drives the telescopic rod 38 to deflect, and the telescopic rod 38 drives the pad wheel 310 to deflect, so that the pad wheel 310 moves under the track 211. The spring 39 then uses the pad wheel 310 to press the pad wheel 310 against the bottom end of the track 211. As the track 211 continues to rotate, the track 211 drives the pad wheel 310 to move towards the rear end of the track 211, so that the pad wheel 310 is squeezed between the rear end of the track 211 and the rear end of the pothole. The pad wheel 310 pushes the track 211 forward to increase the contact area between the track 211 and the road surface. Then, as the track 211 continues to rotate, the track 211 continues to move on the road surface.

[0056] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1.A kind of underground space real scene three-dimensional data acquisition device, including car body, acquisition mechanism being arranged on the car body, auxiliary mechanism being arranged on the acquisition mechanism, it is characterized in that: The acquisition mechanism includes probe, the probe is arranged beside the car body, the probe carries out laser radar scanning to underground space; The auxiliary mechanism includes auxiliary wheel, pad wheel, the auxiliary wheel is arranged beside the car body, the auxiliary wheel is deflected in the high-low difference road condition formed by the step in the car body movement, the auxiliary wheel lifts the car body to make the car body continue to move, the pad wheel is arranged beside the car body, the pad wheel is deviated in the skid idling condition formed by the pit in the car body movement, the pad wheel moves to pit and pads the bottom end of the car body; Vehicle plate is fixedly installed on the side lower end of the car body, data storage device is fixedly installed on the vehicle plate, the data storage device is used to store three-dimensional scanning data, a through opening is formed in the data storage device, a drawer cabinet is slidably connected in the through opening of the data storage device, the size of the drawer cabinet is matched with the size of the through opening of the data storage device, data changer is arranged on the drawer cabinet, the data changer is connected with the data storage device signal, the data changer replaces the data storage disk in the data storage device; Steering wheel is arranged at the bottom end of the car body, the steering wheel controls the moving direction of the car body, processor is fixedly installed on the vehicle plate, the processor is adjacent to the data storage device, a plurality of sprockets are rotatably connected at the bottom end of the vehicle plate, the sprockets are symmetrically distributed on both sides of the vehicle plate, the sprockets are located at the same height, the sprockets are located below the processor, the track is tensioned on each side of the sprocket, the bottom end of the track is located at the same height with the bottom end of the steering wheel; Extension frame is rotatably connected at both sides of the bottom end of the vehicle plate, the extension frame is adjacent to the track, a plurality of rotary oil cylinders are fixedly installed at the bottom end of the vehicle plate, each rotary oil cylinder is connected with each extension frame, the length of the extension frame is matched with the distance from the bottom end of the vehicle plate to the bottom end of the track; Telescopic rod is rotatably connected on the extension frame, spring is sleeved on the telescopic rod, one end of the spring is connected with the fixed rod of the telescopic rod, the other end of the spring is connected with the telescopic rod, the pad wheel is rotatably connected on the telescopic rod, the deflection track of the pad wheel covers below the track. 2.The underground space real scene three-dimensional data acquisition device according to claim 1, wherein: The acquisition mechanism further comprises a driver seat, the driver seat is arranged in the car body, the driver seat controls the overall operation of the three-dimensional data acquisition device, and a display is arranged in the car body, the display is adjacent to the driver seat. 3.The underground space real scene three-dimensional data acquisition device according to claim 2, wherein: The processor is connected with the data storage signal, the data storage is located between the processor and the vehicle body, the processor is used for processing the data of laser radar scanning, the probe is fixedly installed on the processor, and the probe is connected with the processor signal. 4.The underground space real scene three-dimensional data acquisition device according to claim 3, characterized in that: The bottom end of the vehicle plate is fixedly installed with an oil cylinder driver, the oil cylinder driver is used for driving the vehicle body to move, a belt wheel is arranged on the shaft of the oil cylinder driver, the chain wheels are connected in the middle, a driven wheel is arranged on the shaft of the chain wheel, and the belt wheel of the oil cylinder driver is tensioned with a chain on the driven wheel of the chain wheel shaft. 5.The underground space real scene three-dimensional data acquisition device according to claim 4, characterized in that: The auxiliary mechanism further comprises a first hydraulic rod, the bottom end of the vehicle plate is rotatably connected with the first hydraulic rod, the first hydraulic rod is located between the track and the steering wheel, the bottom end of the vehicle plate is rotatably connected with a second hydraulic rod, the second hydraulic rod is adjacent to the first hydraulic rod, a connecting frame is arranged below the vehicle plate, one side of the connecting frame is rotatably connected with the extension rod of the first hydraulic rod, the other side of the connecting frame is rotatably connected with the extension rod of the second hydraulic rod, the connection between the connecting frame and the first hydraulic rod is located at one end of the connecting frame, and the connection between the connecting frame and the second hydraulic rod is located at one end of the connecting frame. 6.The underground space real scene three-dimensional data acquisition device according to claim 5, characterized in that: The other end of the connecting frame is rotatably connected with the auxiliary wheel, the bottom end of the deflection track of the auxiliary wheel is located below the track, the bottom end of the vehicle plate is fixedly installed with a baffle, the baffle is adjacent to the auxiliary wheel, the baffle is adjacent to the deflection track of the auxiliary wheel, and the baffle provides a protection and shielding surface for the auxiliary wheel.

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