Adjusting device for a laser scanner

Abstract

The adjusting device of the laser scanner discloses to the technical field of laser mapping, and relates to the adjusting device of the laser scanner, which comprises a hollow outer rod and an inner rod, a guide rod is connected to the inner wall of the bottom of the outer rod, the inner rod is arranged in the outer rod and is in sliding connection with the guide rod, the upper end of the inner rod penetrates the top of the outer rod and extends to the outside, and a scanner body is installed at the bottom of the outer rod and is used for laser scanning of a stairwell to obtain three-dimensional image data; the inherent stairwell gap of the building stairwell is used as a climbing channel, the relative extension and contraction of the outer rod and the inner rod are used, the alternating support of the upper climbing mechanism and the lower climbing mechanism is used, the independent layer-by-layer climbing of the device in the stairwell is realized, the obstruction of the normal personnel passage of the stairwell caused by the occupation of the step surface by the equipment is avoided, and the applicability and convenience of the equipment in public buildings are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of laser mapping technology, and more particularly to an adjustment device for a laser scanner. Background Technology

[0002] Laser scanning technology, as a non-contact 3D measurement method, acquires 3D image data of indoor and outdoor spaces in buildings, and has become an important tool in fields such as architectural surveying, structural inspection, ancient building preservation, and indoor navigation. Laser scanners acquire 3D point cloud data of the surface of the object being measured by emitting a laser beam, enabling the rapid generation of high-precision building structural models. This provides accurate geometric information for architectural design, construction acceptance, and subsequent operation and maintenance. In the process of 3D digitization of indoor buildings, staircases, as core vertical circulation spaces connecting different floors, require complete 3D data acquisition for applications such as building information modeling, structural safety assessment, and indoor navigation.

[0003] Currently, laser scanning for vertical spaces such as staircases mainly employs the following two technical solutions: One approach is the tripod-mounted scanner, which acquires 3D point cloud data for each floor by setting up the scanner on a tripod layer by layer. However, this approach has significant limitations in practice: First, due to severe obstruction of views in stairwells, there are often many scanning blind spots at a single tripod location, requiring repeated setup of the equipment on each floor, which is cumbersome and time-consuming. Second, the point cloud data collected from different floors needs to be stitched together using manually placed target points, and the stitching error between stations accumulates with increasing floor height, making it difficult to accurately align the data from the top and bottom floors. Third, the process of moving the instrument requires frequent disassembly, assembly, and leveling, resulting in low work efficiency.

[0004] Secondly, there is the mobile scanner, which uses SLAM technology. The operator can carry or hold the device while walking up stairs to achieve continuous data acquisition by scanning as they walk. However, the mobile scanning solution has the following technical drawbacks: the operator's walking speed, posture changes, and the jolting of the handheld / carried device all affect the point cloud quality, making it difficult to guarantee data consistency; moreover, the absolute accuracy of existing mobile scanning equipment is still lower than that of stationary equipment, making it difficult to meet the requirements of engineering scenarios with stringent accuracy requirements.

[0005] Furthermore, Chinese patent CN118031069A discloses an intelligent laser scanning device for building structure mapping. This device uses a walking mechanism to move on the surface of steps, and a balancing and adjusting mechanism to maintain a constant relative posture between the scanning component and the steps. While this solution achieves continuous scanning of steps, its walking mechanism needs to move on the step surface, causing significant wear and tear on the stairs and obstructing pedestrian traffic, thus limiting its applicability in public buildings. Therefore, an adjustment device for the laser scanner is proposed. Summary of the Invention

[0006] The purpose of this invention is to solve the problems in the prior art by providing an adjustment device for a laser scanner.

[0007] An adjustment device for a laser scanner, comprising: The outer rod and inner rod are hollow. A guide rod is connected to the bottom inner wall of the outer rod. The inner rod is set inside the outer rod and is slidably connected to the guide rod. The upper end of the inner rod passes through the top of the outer rod and extends to the outside. The scanner body is mounted on the bottom of the outer rod and is used to perform laser scanning on the stairwell to obtain three-dimensional image data; The inner rod is provided with an upper climbing mechanism at its top, and the outer rod is provided with a lower climbing mechanism at its bottom. Both the outer rod and the inner rod are provided with a drive mechanism for controlling the sliding of the outer rod and the inner rod, so that they can climb up the stairwell floor by floor in conjunction with the upper climbing mechanism and the lower climbing mechanism.

[0008] Preferably, the climbing mechanism includes two pairs of rotating seats, the two pairs of rotating seats are installed on the top of the inner rod, and an upper support plate is rotatably connected to each pair of rotating seats. A limit block is fixedly connected to the inner rod above the upper support plate to limit the upward rotation angle of the upper support plate. A torsion spring for driving the upper support plate to reset is provided at the rotatable connection between the upper support plate and the rotating seat.

[0009] Preferably, the lower climbing mechanism includes a lifting block and an electric telescopic cylinder, wherein the lifting block is slidably connected to the bottom end of the guide rod; The bottom of the outer rod has two rotating openings on both sides, and two lower support plates are rotatably connected to the two rotating openings respectively; Each of the lower support plates is coaxially equipped with an unfolding gear on its rotating shaft, and two unfolding racks are connected to both sides of the lifting block, with the two unfolding racks meshing with the two unfolding gears respectively; The electric telescopic cylinder is installed on the bottom inner wall of the outer rod, and the movable end of the electric telescopic cylinder is connected to the bottom of the lifting block.

[0010] Preferably, the drive mechanism includes a forward and reverse rotation control motor, which is mounted on the top outer wall of the outer rod; A drive vertical groove is provided on the side wall of the inner rod, and a climbing rack is provided in the drive vertical groove. The output shaft of the forward and reverse control motor extends into the outer rod and is coaxially connected to a climbing gear, which meshes with the climbing rack.

[0011] Preferably, a displacement sensor is installed on the top inner wall of the outer rod to obtain the climbing height and the thickness of the stair tread by detecting the relative sliding between the outer rod and the inner rod.

[0012] Preferably, pressure sensors are provided on the bottom surface of the upper support plate and on both the upper and lower surfaces of the lower support plate.

[0013] Preferably, the outer rod is provided with a control circuit board for receiving signals from pressure sensors and displacement sensors on the upper and lower support plates, and for controlling the forward and reverse output and shutdown of the forward and reverse control motor and the extension and retraction of the electric telescopic cylinder.

[0014] Preferably, the bottom surface of the upper support plate and both the upper and lower surfaces of the lower support plate are provided with padding layers.

[0015] Preferably, the bottom of the outer rod is connected to a mounting component, the bottom of the mounting component is equipped with a pan-tilt unit, and the scanner body is mounted on the movable base of the pan-tilt unit to achieve angle adjustment of the scanner body.

[0016] Compared with existing technologies, the advantages of this invention are: 1. This invention utilizes the inherent stairwell gaps in building stairwells as climbing channels. Through the relative extension and retraction of the outer and inner rods, combined with the alternating support of the upper and lower climbing mechanisms, the device achieves autonomous, floor-by-floor climbing within the stairwell. This avoids obstructing normal passage for people in the stairwell due to the equipment occupying the steps, significantly improving the applicability and convenience of the equipment in public buildings.

[0017] 2. After each ascent and reaching its destination, the upper and lower support plates of this invention form a stable clamping state with the stair platforms and the bottom of the stairs on different floors, ensuring that the entire adjustment device does not shake or shift during the operation of the scanner body. At the same time, after the scanner body ascends with the outer rod, it is located at the top of the stairwell, effectively avoiding the obstruction of the view by the stair railings and improving the data integrity and three-dimensional image accuracy of the laser scan. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention.

[0019] Figure 2 This is a cross-sectional view of the structure of the present invention.

[0020] Figure 3 for Figure 2 Enlarged diagram of point A in the middle.

[0021] Figure 4 This is a schematic diagram of the climbing mechanism in this invention.

[0022] Figure 5 This is a schematic diagram of the lower climbing mechanism in this invention.

[0023] Figure 6 This is a schematic diagram of the structure of the gimbal and scanner body in this invention.

[0024] Figure 7 This is a schematic diagram of the initial placement of the present invention in a stairwell.

[0025] Figure 8 This is a schematic diagram showing the position of the invention after its first ascent in the stairwell.

[0026] Figure 9 This is a schematic diagram showing the position of the invention after the second ascent in the stairwell.

[0027] Figure 10 This is a schematic diagram showing the position of the invention after the third ascent in the stairwell.

[0028] Figure 11 This is a top view of the invention when used in a stairwell.

[0029] In the diagram: 1 Outer rod, 11 Guide rod, 12 Mounting component, 2 Inner rod, 3 Upper climbing mechanism, 31 Rotating seat, 32 Upper support plate, 33 Limiting block, 4 Lower climbing mechanism, 41 Lifting block, 42 ​​Rotating port, 43 Lower support plate, 44 Unfolding gear, 45 Unfolding rack, 46 Electric telescopic cylinder, 5 Drive mechanism, 51 Forward and reverse control motor, 52 Drive vertical slot, 53 Climbing rack, 54 Climbing gear, 6 Pan-tilt unit, 7 Scanner body, 8 Displacement sensor. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. In the description of this application, "several" means at least one, such as one, two, etc., unless otherwise explicitly specified. It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be 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. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is only for describing particular embodiments and is not intended to limit the scope of this application. The term “and / or” as used herein includes any and all combinations of one or more of the related listed items.

[0032] Reference Figure 1-6 As shown, an adjustment device for a laser scanner includes: a hollow outer rod 1 and an inner rod 2. A vertically extending guide rod 11 is fixedly connected to the bottom inner wall of the outer rod 1. The inner rod 2 is disposed inside the outer rod 1 and slidably connected to the guide rod 11. The guide rod 11 guides the sliding of the inner rod 2 to ensure the straightness of the relative movement between the outer rod 1 and the inner rod 2. The upper end of the inner rod 2 passes through the top of the outer rod 1 and extends to the outside. The scanner body 7 is installed at the bottom of the outer rod 1 and is used to perform laser scanning on the stairwell to obtain three-dimensional image data; The top of the inner rod 2 is provided with an upper climbing mechanism 3, and the bottom of the outer rod 1 is provided with a lower climbing mechanism 4. The outer rod 1 and the inner rod 2 are jointly provided with a drive mechanism 5, which is used to control the relative sliding of the outer rod 1 and the inner rod 2, so as to achieve the step-by-step climbing action in the stairwell in conjunction with the upper climbing mechanism 3 and the lower climbing mechanism 4.

[0033] In this invention, the climbing mechanism 3 specifically includes two pairs of rotating seats 31. The two pairs of rotating seats 31 are installed on both sides of the top of the inner rod 2. Each pair of rotating seats 31 is rotatably connected to an upper support plate 32, which can rotate around the rotating seat 31 within a certain angle range. A limiting block 33 is fixedly connected to the inner rod 2 above each upper support plate 32. This limiting block 33 is used to limit the upward rotation angle of the upper support plate 32. A torsion spring is provided at the rotatable connection between the upper support plate 32 and the rotating seat 31. This torsion spring provides elastic preload, causing the upper support plate 32 to have an upward rotation tendency in its free state. When the inner rod 2 moves upward in the stairwell, the unfolded upper support plate 32 will contact the bottom of the stairs and be pressed downward. After passing the narrowest part of the stairwell, the preload of the torsion spring causes the upper support plate 32 to rotate upward again. The setting of the limiting block 33 ensures that the maximum unfolding angle of the upper support plate 32 is exactly horizontal.

[0034] Furthermore, the lower climbing mechanism 4 includes a lifting block 41 and an electric telescopic cylinder 46. The lifting block 41 is slidably connected to the bottom part of the guide rod 11, that is, the lifting block 41 is sleeved on the guide rod 11 and can slide up and down along the guide rod 11. Rotating openings 42 are provided on both sides of the bottom of the outer rod 1. Two lower support plates 43 are rotatably connected to the two rotating openings 42 respectively. An unfolding gear 44 is coaxially arranged on the rotating shaft of each lower support plate 43. Two unfolding racks 45 are fixedly connected to both sides of the lifting block 41 respectively. The two unfolding racks 45 mesh with the two unfolding gears 44 respectively. The electric telescopic cylinder 46... Installed on the bottom inner wall of the outer rod 1, its movable end is connected to the bottom of the lifting block 41. When the electric telescopic cylinder 46 extends upward, it pushes the lifting block 41 to slide upward along the guide rod 11. The unfolding racks 45 on both sides of the lifting block 41 move upward accordingly, driving the unfolding gear 44 meshing with it to rotate. The rotation of the unfolding gear 44 drives the lower support plate 43 to rotate downward to achieve retraction until the lower support plate 43 is flush with the outer wall of the outer rod 1. When the electric telescopic cylinder 46 retracts, the lifting block 41 slides downward, the unfolding racks 45 drive the unfolding gear 44 to rotate in the opposite direction, and the lower support plate 43 unfolds outward around the rotation axis. If the two sides of the stairwell are not at the same horizontal height, the upper support plate 32 and the lower support plate 43 can be set as staggered parts, with the height difference being the height difference of the stairs on both sides of the stairwell.

[0035] The specific structure of the drive mechanism 5 is as follows: The drive mechanism 5 includes a forward and reverse control motor 51, which is mounted on the top outer wall of the outer rod 1. A vertically extending drive groove 52 is provided on the side wall of the inner rod 2. A climbing rack 53 is fixedly installed in the drive groove 52. The output shaft of the forward and reverse control motor 51 extends into the outer rod 1, and a climbing gear 54 is coaxially connected to the end of the output shaft. The climbing gear 54 meshes with the climbing rack 53. When the forward and reverse control motor 51 outputs, the climbing gear 54 rotates, driving the climbing rack 53 to move relative to the climbing gear 54. When the outer rod 1 is supported by the outside and the inner rod 2 is not supported by the outside, the forward and reverse control motor 51 drives the inner rod 2 to move up and down. When the outer rod 1 is not supported by the outside and the inner rod 2 is supported by the outside, the forward and reverse control motor 51 drives the outer rod 1 to move up and down. When both the outer rod 1 and the inner rod are supported by the outside, the forward and reverse control motor 51 drives one of them to move in a direction other than the movement limit.

[0036] In this embodiment, a displacement sensor 8 is installed on the inner top wall of the outer rod 1. This displacement sensor 8 detects the relative sliding displacement between the outer rod 1 and the inner rod 2 to achieve real-time monitoring of the climbing height, and can also be used to acquire floor thickness data. The displacement sensor 8 can be a pull-string displacement sensor or a magnetostrictive displacement sensor, with its fixed end installed on the inner wall of the outer rod 1. When the outer rod 1 and the inner rod 2 move relative to each other, the displacement sensor 8 outputs an electrical signal proportional to the displacement, recording the height data of each climb, which assists the scanner body 7 in accurately scanning and verifying the data of each floor of the staircase.

[0037] In this embodiment, pressure sensors are provided on the bottom surface of the upper support plate 32 and on both the upper and lower surfaces of the lower support plate 43. When the corresponding support plate on the upper climbing mechanism 3 or the lower climbing mechanism 4 comes into contact with the stair structure and generates pressure, the pressure sensor detects the pressure value and outputs a signal. The control system determines whether the climbing mechanism is in position based on the signal from the pressure sensor.

[0038] To achieve automated control, a control circuit board is installed inside the outer rod 1. This control circuit board is electrically connected to the pressure sensor on the bottom surface of the upper support plate 32, the pressure sensors on both sides of the lower support plate 43, the displacement sensor 8, the forward and reverse control motor 51, and the electric telescopic cylinder 46. The control circuit board receives signals from the pressure sensor and the displacement sensor 8, and controls the forward and reverse rotation and shutdown of the forward and reverse control motor 51 according to a preset logic algorithm, as well as the extension and retraction of the electric telescopic cylinder 46. At the same time, the pressure sensor and the displacement sensor 8 work together to calculate the distance and monitor the height of each floor and the thickness of the stair slab.

[0039] In a preferred embodiment, a padding layer is provided on the bottom surface of the upper support plate 32 and on both the upper and lower surfaces of the lower support plate 43. This padding layer can be made of a material with a certain degree of elasticity, such as rubber or silicone. The function of the padding layer is to increase the contact and clamping between the support plate and the stair structure surface, ensuring that the adjustment device does not shake or shift during the operation of the scanner body 7, such as when adjusting the direction and angle, thus maintaining stability and improving scanning accuracy.

[0040] In addition, a mounting bracket 12 is connected to the bottom of the outer rod 1, and a pan-tilt head 6 is mounted on the bottom of the mounting bracket 12. The scanner body 7 is mounted on the movable seat of the pan-tilt head 6. The pan-tilt head 6 can be a two-axis or three-axis pan-tilt head. By adjusting the pan-tilt head 6, the pitch and horizontal angles of the scanner body 7 relative to the outer rod 1 can be adjusted. After the device climbs to the target floor, the pan-tilt head 6 can adjust the direction of the scanner body 7 according to the preset scanning path or the remote control command of the operator, so that it can perform a comprehensive scan of the stair structure at different angles, further expanding the applicability of the device.

[0041] The working process and principle of this invention are as follows: In use, the device is initially positioned with the outer rod 1 and inner rod 2 in a retracted state, meaning the inner rod 2 is mostly retracted into the outer rod 1. Its overall length is relatively short, making it easy for operators to carry to the stairwell to be scanned. The operator places the device vertically into the stairwell, near one of the turns. The specific placement is as follows: Figure 7 and Figure 11 As shown.

[0042] First, the upper support plate 32 is in the unfolded state and its bottom surface is in contact with the stair platforms on both sides of the third floor of the stairwell. Then, the two lower support plates 43 in the lower climbing mechanism are unfolded so that the top surface of the lower support plate 43 is in contact with the bottom surface of the stairs on both sides of the second floor of the stairwell. At this time, the upper support plate 32 and the lower support plate 43 are in the state of clamping the stair slabs of the second and third floors. The entire adjustment device remains stable, and the scanner body 7 is turned on to perform laser scanning on the first floor stairwell.

[0043] After scanning is complete, the electric telescopic cylinder 46 controls the two lower support plates 43 to rotate downwards and retract. At this time, the inner rod 2 is supported by the outside, while the outer rod 1 is unsupported. Then, the forward and reverse control motor 51 starts working (forward rotation), driving the outer rod 1 to move upwards through gear meshing. When the outer rod 1 moves upwards a certain distance (greater than the sum of the thickness of the stair slab and the height of the rotating opening 42), the electric telescopic cylinder 46 controls the two lower support plates 43 to rotate upwards and become horizontally extended. Then, the forward and reverse control motor 51 reverses, and the outer rod 1 moves downwards. After the bottom surface of the lower support plate 43 contacts the stair platforms on both sides of the second floor of the stairwell (subtracting the two displacement distances of the outer rod 1, i.e., the upward movement distance of the outer rod 1 minus the downward movement distance of the outer rod 1, gives the thickness of the second-floor stair slab), as shown... Figure 8As shown. The forward / reverse control motor 51 continues to rotate in reverse, but because the outer rod 1 is supported by the outside, the subsequent power output will push the inner rod 2 upward until the inner rod 2 reaches its limit. At this time, the upper support plate 32 above the inner rod 2 has passed the third floor stairwell and reached the fourth floor. The forward / reverse control motor 51 automatically switches to forward rotation, driving the inner rod 2 downward. Under the action of the torsion spring, the upper support plate 32 that has passed the fourth floor stair tread is in the unfolded state. During the downward movement of the inner rod 2, the bottom surface of the upper support plate 32 will contact the stair platforms on both sides of the fourth floor of the stairwell, as shown. Figure 9 As shown. The forward and reverse control motor 51 continues to rotate forward. Since the inner rod 2 is supported by the outside, the subsequent power output will pull the outer rod 1 upward. When the top surface of the lower support plate 43 contacts the bottom surface of the stairs on both sides of the third floor of the stairwell, the pressure sensor will send a signal to the control circuit board to stop the forward and reverse control motor 51. At this time, the scanner body 7 has climbed to the top position of the second floor stairwell with the outer rod 1, and the laser scanning of the second floor stairwell can be started. Since the upper support plate 32 and the lower support plate 43 are in a state of clamping the stair treads of the third and fourth floors, as Figure 10 As shown, the entire adjustment device remains stable, ensuring no shaking or displacement during the working orientation of the pan-tilt unit 6 and the scanner body 7, thereby improving scanning accuracy.

[0044] After the second floor scan is completed, the above operation can be repeated to complete the scanning of each floor ascent and each stairwell.

[0045] In summary, the adjustment device for the laser scanner provided by this invention, through the telescopic cooperation of the outer rod 1 and the inner rod 2, and the alternating use of the upper climbing mechanism 3 and the lower climbing mechanism 4, enables autonomous climbing in the narrow gaps of the stairwell. This avoids obstructing the normal passage of people in the stairwell due to the equipment occupying the step surface, significantly improving the applicability and convenience of the equipment in public buildings. At the same time, it also avoids the cumbersome operation of moving the equipment floor by floor in the traditional station-type solution and the accuracy loss problem of the mobile solution.

[0046] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way without contradiction. In order to avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0047] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An adjustment device for a laser scanner, characterized in that, include: Hollow outer rod (1) and inner rod (2), a guide rod (11) is connected to the bottom inner wall of the outer rod (1), the inner rod (2) is set inside the outer rod (1) and is slidably connected to the guide rod (11), and the upper end of the inner rod (2) passes through the top of the outer rod (1) and extends to the outside; The scanner body (7) is mounted on the bottom of the outer rod (1) and is used to perform laser scanning on the stairwell to obtain three-dimensional image data; The top of the inner rod (2) is provided with an upper climbing mechanism (3), and the bottom of the outer rod (1) is provided with a lower climbing mechanism (4). The outer rod (1) and the inner rod (2) are jointly provided with a drive mechanism (5) for controlling the sliding of the outer rod (1) and the inner rod (2), so that they can climb layer by layer in the stairwell in conjunction with the upper climbing mechanism (3) and the lower climbing mechanism (4). The upper climbing mechanism (3) includes two pairs of rotating seats (31), which are installed on the top of the inner rod (2). Each pair of rotating seats (31) is rotatably connected to an upper support plate (32). A limit block (33) is fixedly connected on the inner rod (2) and above the upper support plate (32) to limit the angle of upward rotation of the upper support plate (32). A torsion spring for driving the upper support plate (32) to reset is provided at the rotational connection between the upper support plate (32) and the rotating seat (31); The lower climbing mechanism (4) includes a lifting block (41) and an electric telescopic cylinder (46). The lifting block (41) is connected to the bottom part of the guide rod (11) through and slidably. The bottom sides of the outer rod (1) are provided with rotating openings (42), and two lower support plates (43) are rotatably connected to the two rotating openings (42). Each of the lower support plates (43) is coaxially provided with an unfolding gear (44) on its rotation shaft. Two unfolding racks (45) are connected to both sides of the lifting block (41), and the two unfolding racks (45) mesh with the two unfolding gears (44) respectively. The electric telescopic cylinder (46) is installed on the bottom inner wall of the outer rod (1), and the movable end of the electric telescopic cylinder (46) is connected to the bottom of the lifting block (41); The bottom of the outer rod (1) is connected to a mounting piece (12), and a pan-tilt unit (6) is mounted on the bottom of the mounting piece (12). The scanner body (7) is mounted on the movable seat of the pan-tilt unit (6) to achieve angle adjustment of the scanner body (7).

2. The adjustment device for a laser scanner according to claim 1, characterized in that: The drive mechanism (5) includes a forward and reverse rotation control motor (51), which is mounted on the top outer wall of the outer rod (1); A drive vertical groove (52) is provided on the side wall of the inner rod (2), and a climbing rack (53) is provided in the drive vertical groove (52). The output shaft of the forward and reverse control motor (51) extends into the outer rod (1) and is coaxially connected to a climbing gear (54). The climbing gear (54) meshes with the climbing rack (53).

3. The adjustment device for a laser scanner according to claim 2, characterized in that: A displacement sensor (8) is installed on the top inner wall of the outer rod (1). The climbing height and the thickness of the stair tread are obtained by detecting the relative sliding between the outer rod (1) and the inner rod (2).

4. The adjustment device for a laser scanner according to claim 3, characterized in that: Pressure sensors are provided on the bottom surface of the upper support plate (32) and the upper and lower surfaces of the lower support plate (43).

5. The adjustment device for a laser scanner according to claim 4, characterized in that: The outer rod (1) is equipped with a control circuit board for receiving signals from pressure sensors and displacement sensors (8) on the upper support plate (32) and lower support plate (43), and for controlling the forward and reverse output and shutdown of the forward and reverse control motor (51) and the extension and retraction of the electric telescopic cylinder (46).

6. The adjustment device for a laser scanner according to claim 2, characterized in that: The bottom surface of the upper support plate (32) and the upper and lower surfaces of the lower support plate (43) are provided with padding layers.

Images