Mobile three-dimensional laser scanning device for tunnels

Abstract

The present application relates to surveying equipment technical field, specifically to a kind of mobile three-dimensional laser scanning device for tunnel;In the present design, track mechanism is used as moving part, track mechanism includes track body, two front track wheels, two rear track wheels, two adjustable track wheels, tension control assembly, multiple guide wheels and support, track body is covered in the outside of front track wheel, rear track wheel and adjustable track wheel and engages, cooperate tension control assembly to adjust tension, and multiple guide wheels are guided to the guide bar inside track body, this track type design is compared with universal wheel, when moving on the road surface of different roughness, slope and material, can better guarantee the stability of device, passability, meet the moving demand under the diversification road environment, and the structure that the tension of track body is adjustable can facilitate quickly subsequent to multiple track wheels disassembly or overhaul.

Description

Technical Field

[0001] This invention relates to the field of surveying equipment technology, and in particular to a mobile three-dimensional laser scanning device for tunnels. Background Technology

[0002] In the field of tunnel engineering surveying equipment, 3D laser scanning technology has been widely used due to its unique advantages. Existing 3D laser scanning technology can acquire high-precision 3D point cloud data with millimeter-level accuracy, providing a reliable foundation for accurate tunnel modeling, deformation monitoring, and crack detection. This technology eliminates the need for direct contact with the object being measured, avoiding measurement errors and safety hazards caused by contact. This is especially beneficial in the confined and complex environments of tunnels, where non-contact measurement is safer and more efficient. Furthermore, its fast scanning speed allows for the rapid acquisition and processing of large amounts of data, improving work efficiency. In addition, regular 3D scanning of tunnels allows for real-time monitoring of tunnel deformation and cracks, enabling timely early warning signals and providing a scientific basis for tunnel maintenance and safety management. For example, in subway tunnel inspection, traditional methods require three workers and two days to complete a 50-meter cross-section measurement, while 3D laser scanning requires only one person to operate the equipment and complete data acquisition in two hours, significantly improving inspection efficiency.

[0003] A mobile 3D laser scanning device for tunnels, as described in CN202422175593.7, includes a worktable with outriggers, wheels, a 3D laser scanner, a gyroscope, a controller, a ball joint seat, a platform plate, and two sets of electric cylinders. The ball joint seat includes a base and a ball head. Each electric cylinder includes a cylinder body and a lead screw. The wheels are fixed to the lower ends of the outriggers. The base and the two cylinder bodies are arranged in a triangle, and are respectively fixed to the worktable. A support rod is fixed to the ball head, and the support rod is fixed to the platform plate. A groove corresponding to the end of the lead screw is provided at the lower end of the platform plate. The end of the lead screw extends into the groove and contacts the top surface of the groove. The lead screw can slide along the top surface of the groove. The gyroscope is fixed to the platform plate, and the 3D laser scanner is fixed to the worktable. The controller is electrically connected to both the gyroscope and the electric cylinders. The advantage of this device is that it improves the efficiency of multi-site measurements inside the tunnel.

[0004] Currently, the above-mentioned device uses casters as moving parts. From the perspective of mobility performance, its overall mobility effect is not ideal. Due to the characteristics of casters, when moving on road surfaces with different roughness, slope and material, the stability and passability of the device are greatly affected, and it cannot meet the mobility needs in diverse road environments. Summary of the Invention

[0005] The purpose of this invention is to provide a mobile three-dimensional laser scanning device for tunnels, which aims to solve the technical problem that the existing devices use omnidirectional wheels as moving parts. From the perspective of mobility performance, their overall mobility effect is not ideal. Due to the characteristics of omnidirectional wheels, when moving on road surfaces with different roughness, slope and material, the stability and passability of the device are greatly affected, and it cannot meet the mobility needs in diverse road environments.

[0006] To achieve the above objectives, the present invention employs a mobile three-dimensional laser scanning device for tunnels, comprising two tracked mechanisms, a mounting platform, and a base frame. Each tracked mechanism includes a track body, two front track wheels, two rear track wheels, two adjustable track wheels, a tension control assembly, multiple guide wheels, and a bracket. Two guide strips are provided on the inner side of the track body. The mounting platform has three mounting slots, all arranged in an equilateral triangle structure. A scanning mechanism is installed in each mounting slot. The track body covers the outer sides of the two front track wheels, the two rear track wheels, and the two adjustable track wheels. Both the rear track wheel and the adjustable track wheel mesh with the track body. The two front track wheels are connected by a front dual-axis motor located at the front end of the bracket. The two rear track wheels are connected by a rear dual-axis motor located at the rear end of the bracket. The two adjustable track wheels are connected by a secondary dual-axis motor located at the output end of the tension control component. The tension control component is mounted on the bracket. Multiple guide wheels are respectively located on the outer side of the bracket, and each guide wheel abuts against the corresponding guide strip. The bracket is fixedly mounted on the outer side of the base frame by multiple connecting columns. The mounting platform is mounted on the base frame by a shock absorption mechanism.

[0007] The tension control assembly includes two tension control components, each comprising a fixed frame, two guide rods, and a tension control motor. A threaded sleeve is located below the fixed frame, and a tension control screw is located at the output end of the tension control motor. The bracket has multiple guide grooves and a cavity. The auxiliary dual-axis motor is fixedly mounted within the fixed frame, which is positioned above the two guide rods. Both guide rods pass through their respective guide grooves. The tension control motor is fixedly mounted within the cavity, and the tension control screw is threaded into the threaded sleeve.

[0008] The track mechanism further includes two protective barriers, which are fixedly connected to the bracket by bolts and are symmetrically arranged on both sides of the bracket, covering the front track wheel, the rear track wheel and the adjustable track wheel.

[0009] The scanning mechanism includes a three-dimensional laser scanning body, a vertical angle adjustment component, a left and right rotating stage, and an inverted U-shaped frame. The left and right rotating stage is equipped with a left and right rotating motor, and the inverted U-shaped frame is equipped with a lifting push rod. The three-dimensional laser scanning body is fixedly installed at the output end of the vertical angle adjustment component, the vertical angle adjustment component is fixedly installed at the output end of the left and right rotating motor, the left and right rotating stage is fixedly installed at the output end of the lifting push rod, and the inverted U-shaped frame is fixedly installed in the corresponding mounting slot.

[0010] The vertical angle adjustment assembly includes a worm gear, a worm wheel, an adjustment shaft, and a U-shaped frame. A mounting box is provided on the outer side of the U-shaped frame. The worm gear is rotatably mounted in the mounting box via an angle adjustment motor. The worm wheel is fixedly mounted in the middle of the adjustment shaft and located in the mounting box, with the worm gear meshing with the worm wheel. The adjustment shaft is rotatably mounted on the U-shaped frame, and the three-dimensional laser scanning body is fixedly mounted on the adjustment shaft. The U-shaped frame is fixedly mounted at the output end of the left and right rotation motor.

[0011] The damping mechanism includes multiple dampers, multiple damping springs, and multiple vertical rods. The upper surface of the base frame has multiple vertical holes. The multiple dampers are distributed and fixedly arranged between the mounting platform and the base frame. The multiple damping springs are fixedly arranged between the mounting platform and the base frame, and each damping spring is sleeved on the outside of the corresponding damper. The multiple vertical rods are fixedly arranged at the bottom of the mounting platform and are also inserted into the corresponding vertical holes.

[0012] The mobile three-dimensional laser scanning device for the tunnel also includes a positioning enclosure, which is fixedly connected to the base frame and located at the outer edge of the base frame, and the positioning enclosure also covers the outside of the mounting platform.

[0013] This invention discloses a mobile three-dimensional laser scanning device for tunnels. In this design, a tracked mechanism is used as the moving component. The tracked mechanism includes a track body, two front track wheels, two rear track wheels, two adjustable track wheels, a tension control component, multiple guide wheels, and a support frame. The track body covers and engages with the front, rear, and adjustable track wheels, adjusting the tension in conjunction with the tension control component. The multiple guide wheels abut against guide strips on the inner side of the track body for guidance. Compared to omnidirectional wheels, this tracked design better ensures the stability and passability of the device when moving on road surfaces with different roughness, slope, and materials, meeting the mobility needs in diverse road environments. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a three-dimensional perspective view of the present invention.

[0016] Figure 2 This is the front view of the present invention.

[0017] Figure 3 This is the invention Figure 2 A cross-sectional view along line AA in the middle.

[0018] Figure 4 This is the invention Figure 3 A cross-sectional view along the BB line.

[0019] Figure 5 This is the invention Figure 4 A magnified view of a section at point C.

[0020] Figure 6 This is the invention Figure 3 A cross-sectional view of the DD line.

[0021] Figure 7 This is the invention Figure 6 A magnified view of a section at point E in the middle.

[0022] Figure 8 This is the invention Figure 6 A cross-sectional view of the FF line.

[0023] Figure 9 This is the invention Figure 8 A magnified view of a section at point G.

[0024] Figure 10 This is the invention Figure 6 A cross-sectional view of the middle HH line.

[0025] Figure 11 This is a schematic diagram of the track mechanism in this invention.

[0026] In the diagram: 1-Mounting platform, 2-Base frame, 3-Track body, 4-Front track wheel, 5-Rear track wheel, 6-Adjustable track wheel, 7-Guide wheel, 8-Bracket, 9-Guide strip, 10-Mounting slot, 11-Front dual-axis motor, 12-Rear dual-axis motor, 13-Secondary dual-axis motor, 14-Connecting column, 15-Fixed frame, 16-Positioning enclosure, 17-Tension control motor, 18-Threaded sleeve, 19-Tension control screw, 20-Vertical hole, 21-Cavity, 22-Protective guard, 23-Bolt, 24-3D laser scanning body, 25-Left and right rotating platform, 26-Inverted U-shaped frame, 27-Left and right rotating motor, 28-Lifting push rod, 29-Worm gear, 30-Worm wheel, 31-Adjusting shaft, 32-U-shaped frame, 33-Mounting box, 34-Damper, 35-Shock absorption spring, 36-Vertical rod. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0028] Please see Figures 1 to 11 This invention provides a mobile three-dimensional laser scanning device for tunnels, comprising two tracked mechanisms, a mounting platform 1, and a base frame 2. Each tracked mechanism includes a track body 3, two front track wheels 4, two rear track wheels 5, two adjustable track wheels 6, a tension control assembly, multiple guide wheels 7, and a bracket 8. Two guide strips 9 are provided on the inner side of the track body 3. The mounting platform 1 has three mounting slots 10, all arranged in an equilateral triangle structure. A scanning mechanism is provided in each mounting slot 10. The track body 3 covers the outer sides of the two front track wheels 4, the two rear track wheels 5, and the two adjustable track wheels 6. Both the pulley 5 and the adjustable track wheel 6 are engaged with the track body 3. The two front track wheels 4 are connected by a front dual-axis motor 11 and are located at the front end of the bracket 8. The two rear track wheels 5 are connected by a rear dual-axis motor 12 and are located at the rear end of the bracket 8. The two adjustable track wheels 6 are connected by a secondary dual-axis motor 13 and are located at the output end of the tension control component. The tension control component is located on the bracket 8. Multiple guide wheels 7 are respectively located on the outside of the bracket 8, and each guide wheel 7 abuts against the corresponding guide strip 9. The bracket 8 is fixedly located on the outside of the base frame 2 by multiple connecting columns 14. The mounting platform 1 is located on the base frame 2 by a shock absorption mechanism.

[0029] In this embodiment, the front dual-axis motor 11, the rear dual-axis motor 12, and the auxiliary dual-axis motor 13 are widely used in the prior art, and are generally DC or AC motors that convert electrical energy into mechanical energy to drive the wheels to rotate. The laser scanning components in the scanning mechanism are also existing mature technologies, used to emit and receive laser signals for three-dimensional scanning. The structure of two tracked mechanisms combined with the mounting platform 1 and the base frame 2 makes the device highly stable and has good passability when moving in complex tunnel terrain, and can adapt to road surfaces with different roughness, slope, and materials. The three mounting slots 10 arranged in an equilateral triangle structure on the mounting platform 1 provide a stable and reasonable layout for the scanning mechanism, enabling three-dimensional laser scanning of the tunnel from all directions, improving the accuracy and completeness of the scan.

[0030] In this embodiment, the front dual-axis motor 11 drives the two front track wheels 4 to rotate, the rear dual-axis motor 12 drives the two rear track wheels 5 to rotate, and the auxiliary dual-axis motor 13 drives the two adjustable track wheels 6 under the action of the tension control component. In conjunction with the multiple guide wheels 7, the track body 3 is guided, so that the entire track mechanism moves, driving the mounting platform 1 and the scanning mechanism on it to move in the tunnel to perform scanning work.

[0031] Furthermore, the tension control assembly includes two tension control components, each including a fixed frame 15, two guide rods, and a tension control motor 17. A threaded sleeve 18 is provided below the fixed frame 15, and a tension control screw 19 is provided at the output end of the tension control motor 17. The bracket 8 has multiple guide grooves and a cavity 21 inside the bracket 8. The auxiliary dual-axis motor 13 is fixedly installed inside the fixed frame 15. The fixed frame 15 is located above the two guide rods, and both guide rods pass through the corresponding guide grooves. The tension control motor 17 is fixedly installed inside the cavity 21, and the tension control screw 19 is threaded into the threaded sleeve 18.

[0032] In this embodiment, the tension control motor 17 can be a stepper motor or a servo motor. The tension control motor 17 is common in the prior art. The stepper motor can precisely control the rotation angle, while the servo motor can achieve more precise speed and position control. The threaded sleeve 18 and the tension control screw 19 are common mechanical transmission components used to convert rotational motion into linear motion. The tension control assembly, through the design of the two tension control components, can precisely adjust the tension of the track body 3, ensuring that the front track wheel 4, the rear track wheel 5, and the adjustable track wheel 6 can be easily disassembled and assembled during subsequent maintenance of the track mechanism.

[0033] In this embodiment, the tension control motor 17 rotates, driving the tension control screw 19 to rotate. Since the tension control screw 19 is threadedly connected to the threaded sleeve 18, the fixed frame 15 moves along the guide groove under the guidance of the two guide rods, thereby driving the auxiliary dual-axis motor 13 and the adjustable track wheel 6 to move, thus realizing the adjustment of the tension of the track body 3.

[0034] Furthermore, the track mechanism also includes two protective blocks 22, which are fixedly connected to the bracket 8 by bolts 23 and are symmetrically arranged on both sides of the bracket 8, covering the front track wheel 4, the rear track wheel 5 and the adjustable track wheel 6.

[0035] In this embodiment, the two protective barriers 22 can effectively protect the front track wheel 4, the rear track wheel 5 and the adjustable track wheel 6, prevent debris and gravel in the tunnel from damaging them, reduce the number of repairs, reduce maintenance costs, and improve the reliability and service life of the device.

[0036] In this embodiment, the protective barrier 22 is fixedly connected to the bracket 8 by bolts 23, covering the outside of the front track wheel 4, the rear track wheel 5 and the adjustable track wheel 6. When the device moves in the tunnel, it prevents external objects from contacting the wheels, thus providing protection.

[0037] Furthermore, the scanning mechanism includes a three-dimensional laser scanning body 24, a vertical angle adjustment component, a left and right rotating stage 25, and an inverted U-shaped frame 3226. The left and right rotating stage 25 is equipped with a left and right rotating motor 27, and the inverted U-shaped frame 3226 is equipped with a lifting push rod 28. The three-dimensional laser scanning body 24 is fixedly installed at the output end of the vertical angle adjustment component, the vertical angle adjustment component is fixedly installed at the output end of the left and right rotating motor 27, the left and right rotating stage 25 is fixedly installed at the output end of the lifting push rod 28, and the inverted U-shaped frame 3226 is fixedly installed in the corresponding mounting slot 10.

[0038] In this embodiment, the left and right rotating motor 27 can be a servo motor. The left and right rotating motor 27 and the lifting push rod 28 are common in the prior art. The servo motor is used to precisely control the rotation, and the electric push rod is used to realize linear lifting motion. The three-dimensional laser scanning body 24 is a mature three-dimensional scanning device used to acquire three-dimensional information of objects. The scanning mechanism, through the cooperation of the left and right rotating stage 25, the up and down angle adjustment component and the lifting push rod 28 on the inverted U-shaped frame, can realize multi-angle adjustment of the three-dimensional laser scanning body 24 in the horizontal and vertical directions as well as height adjustment, which greatly increases the scanning range and flexibility and meets the scanning needs of different positions and angles in the tunnel.

[0039] In this embodiment, the left and right rotation motor 27 drives the left and right rotation stage 25 to rotate, thereby causing the entire scanning assembly to rotate horizontally; the up and down angle adjustment assembly adjusts the vertical angle of the three-dimensional laser scanning body 24; the lifting push rod 28 pushes the left and right rotation stage 25 to move up and down, thereby realizing the height adjustment of the three-dimensional laser scanning body 24 and completing the all-round scanning.

[0040] Furthermore, the vertical angle adjustment assembly includes a worm gear 29, a worm wheel 30, an adjustment shaft 31, and a U-shaped frame 32. A mounting box 33 is provided on the outer side of the U-shaped frame 32. The worm gear 29 is rotatably mounted in the mounting box 33 via an angle adjustment motor. The worm wheel 30 is fixedly mounted in the middle of the adjustment shaft 31 and located in the mounting box 33, with the worm gear 29 meshing with the worm wheel 30. The adjustment shaft 31 is rotatably mounted on the U-shaped frame 32, and the three-dimensional laser scanning body 24 is fixedly mounted on the adjustment shaft 31. The U-shaped frame 32 is fixedly mounted at the output end of the left and right rotation motor 27.

[0041] In this embodiment, the angle adjustment motor can be a stepper motor, which is common in the prior art. Stepper motors can precisely control the rotation angle. The worm 29 and the worm wheel 30 are common mechanical transmission components used to achieve deceleration and self-locking functions. The up and down angle adjustment assembly adopts the transmission structure of the worm 29 and the worm wheel 30, which has a self-locking function. It can maintain stability after the angle of the three-dimensional laser scanning body 24 is adjusted, preventing angle deviation due to vibration and other factors, and ensuring the accuracy of scanning.

[0042] In this embodiment, the angle adjustment motor drives the worm gear 29 to rotate, the worm gear 29 drives the worm wheel 30 to rotate, and the worm wheel 30 is fixed on the adjustment shaft 31, thereby driving the adjustment shaft 31 and the three-dimensional laser scanning body 24 to rotate, thereby realizing angle adjustment. Due to the self-locking characteristics of the worm wheel 30 and worm gear 29, the angle can remain stable after adjustment.

[0043] Furthermore, the damping mechanism includes multiple dampers 34, multiple damping springs 35, and multiple vertical rods 36. The upper surface of the bottom frame 2 has multiple vertical holes 20. The multiple dampers 34 are respectively distributed and fixedly arranged between the mounting platform 1 and the bottom frame 2. The multiple damping springs 35 are respectively fixedly arranged between the mounting platform 1 and the bottom frame 2, and each damping spring 35 is sleeved on the outside of the corresponding damper 34. The multiple vertical rods 36 are respectively fixedly arranged at the bottom of the mounting platform 1, and the multiple vertical rods 36 are also respectively inserted into the corresponding vertical holes 20.

[0044] In this embodiment, the damper 34 can be a hydraulic damper 34, which is common in the prior art. The hydraulic damper 34 uses the principle of liquid damping to reduce vibration. The shock-absorbing spring 35 is a common mechanical elastic element. The shock-absorbing mechanism, through the combination of multiple dampers 34, shock-absorbing springs 35 and vertical rod 36, can effectively absorb the vibration generated during the movement of the device, reduce the impact of vibration on the scanning mechanism, improve the accuracy and stability of the scanning data, and extend the service life of each component of the device.

[0045] In this embodiment, when the device moves and generates vibration, the damper 34 consumes vibration energy through damping, the shock-absorbing spring 35 absorbs vibration energy through elastic deformation, and the vertical rod 36 moves within the vertical hole 20 to guide and restrict movement. The three work together to achieve a shock absorption effect.

[0046] Furthermore, the mobile three-dimensional laser scanning device for the tunnel also includes a positioning enclosure 16, which is fixedly connected to the base frame 2 and located at the outer edge of the base frame 2, and the positioning enclosure 16 also covers the outside of the mounting platform 1.

[0047] In this embodiment, the positioning barrier 16 can protect the mounting platform 1, prevent objects in the tunnel from colliding with the mounting platform 1, and at the same time limit the movement range of the device to a certain extent, thereby improving the safety and stability of the device when moving and scanning in the tunnel.

[0048] In this embodiment, the positioning enclosure 16 is fixedly connected to the bottom frame 2 and covers the outside of the mounting platform 1. When the device moves in the tunnel, it prevents external objects from contacting the mounting platform 1, thus playing a protective and positioning role.

[0049] In this invention, the device is placed at a suitable location at the tunnel entrance. The front dual-axis motor 11, the rear dual-axis motor 12, and the auxiliary dual-axis motor 13 are activated, causing the front track wheel 4, the rear track wheel 5, and the adjustable track wheel 6 to rotate, thus moving the track body 3 within the tunnel. The guide wheel 7 guides the track body 3. The tension control component can adjust the tension of the track body 3 according to actual working conditions. The protective barrier 22 protects the front track wheel 4, the rear track wheel 5, and the adjustable track wheel 6 from damage by debris within the tunnel. During movement, the shock absorption mechanism, through the damper 34… The shock-absorbing spring 35 and the vertical rod 36 absorb vibrations. After reaching a suitable position, the scanning mechanism is activated. The left and right rotary motor 27 drives the left and right rotary tables 25 to rotate horizontally. The angle adjustment motor drives the worm gear 29 and the worm wheel 30 to rotate, thereby driving the adjustment shaft 31 and the three-dimensional laser scanning body 24 to perform vertical angle adjustment. The lifting push rod 28 pushes the left and right rotary tables 25 to move up and down to achieve height adjustment of the three-dimensional laser scanning body 24. The positioning enclosure 16 protects the mounting platform 1 and positions it to a certain extent, thereby completing the three-dimensional laser scanning of the tunnel from all directions.

[0050] The above description discloses only one preferred embodiment of the present invention, and should not be construed as limiting the scope of the present invention. Those skilled in the art will understand that all or part of the processes of the above embodiments can be implemented, and equivalent changes made in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. A mobile three-dimensional laser scanning device for tunnels, characterized in that, The system includes two track mechanisms, a mounting platform, and a base frame. Each track mechanism includes a track body, two front track wheels, two rear track wheels, two adjustable track wheels, a tension control assembly, multiple guide wheels, and a bracket. Two guide strips are provided on the inner side of the track body. The mounting platform has three mounting slots, all arranged in an equilateral triangle structure. Each mounting slot contains a scanning mechanism. The track body covers the outer sides of the two front track wheels, two rear track wheels, and two adjustable track wheels, and the front track wheels, rear track wheels, and adjustable track wheels are all connected. All wheels mesh with the track body. The two front track wheels are connected by a front dual-axis motor located at the front end of the bracket. The two rear track wheels are connected by a rear dual-axis motor located at the rear end of the bracket. The two adjustable track wheels are connected by a secondary dual-axis motor located at the output end of the tension control component. The tension control component is mounted on the bracket. Multiple guide wheels are respectively located on the outer side of the bracket, and each guide wheel abuts against the corresponding guide strip. The bracket is fixedly mounted on the outer side of the base frame by multiple connecting columns. The mounting platform is mounted on the base frame by a shock absorption mechanism.

2. The mobile three-dimensional laser scanning device for tunnels as described in claim 1, characterized in that, The tension control assembly includes two tension control components, each comprising a fixed frame, two guide rods, and a tension control motor. A threaded sleeve is provided below the fixed frame, and a tension control screw is provided at the output end of the tension control motor. The bracket has multiple guide grooves and a cavity. The auxiliary dual-axis motor is fixedly mounted inside the fixed frame, which is positioned above the two guide rods. Both guide rods pass through their respective guide grooves. The tension control motor is fixedly mounted inside the cavity, and the tension control screw is threaded into the threaded sleeve.

3. The mobile three-dimensional laser scanning device for tunnels as described in claim 2, characterized in that, The track mechanism also includes two protective barriers, which are fixedly connected to the bracket by bolts and are symmetrically arranged on both sides of the bracket, covering the front track wheel, the rear track wheel and the adjustable track wheel.

4. The mobile three-dimensional laser scanning device for tunnels as described in claim 3, characterized in that, The scanning mechanism includes a three-dimensional laser scanning body, a vertical angle adjustment component, a left and right rotating stage, and an inverted U-shaped frame. The left and right rotating stage is equipped with a left and right rotating motor, and the inverted U-shaped frame is equipped with a lifting push rod. The three-dimensional laser scanning body is fixedly installed at the output end of the vertical angle adjustment component, the vertical angle adjustment component is fixedly installed at the output end of the left and right rotating motor, the left and right rotating stage is fixedly installed at the output end of the lifting push rod, and the inverted U-shaped frame is fixedly installed in the corresponding mounting slot.

5. The mobile three-dimensional laser scanning device for tunnels as described in claim 4, characterized in that, The vertical angle adjustment assembly includes a worm gear, a worm wheel, an adjustment shaft, and a U-shaped frame. A mounting box is provided on the outer side of the U-shaped frame. The worm gear is rotatably mounted in the mounting box via an angle adjustment motor. The worm wheel is fixedly mounted in the middle of the adjustment shaft and located in the mounting box, with the worm gear meshing with the worm wheel. The adjustment shaft is rotatably mounted on the U-shaped frame, and the three-dimensional laser scanning body is fixedly mounted on the adjustment shaft. The U-shaped frame is fixedly mounted at the output end of the left and right rotation motor.

6. The mobile three-dimensional laser scanning device for tunnels as described in claim 5, characterized in that, The damping mechanism includes multiple dampers, multiple damping springs, and multiple vertical rods. The upper surface of the base frame has multiple vertical holes. The multiple dampers are distributed and fixedly arranged between the mounting platform and the base frame. The multiple damping springs are fixedly arranged between the mounting platform and the base frame, and each damping spring is sleeved on the outside of the corresponding damper. The multiple vertical rods are fixedly arranged at the bottom of the mounting platform, and the multiple vertical rods are also inserted into the corresponding vertical holes.

7. The mobile three-dimensional laser scanning device for tunnels as described in claim 6, characterized in that, The mobile three-dimensional laser scanning device for tunnels also includes a positioning enclosure, which is fixedly connected to the base frame and located at the outer edge of the base frame, and the positioning enclosure also covers the outside of the mounting platform.

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