Bulldozer vehicle-mounted three-dimensional laser scanning integrated device

Abstract

This application provides a bulldozer-mounted vehicle-mounted 3D laser scanning integrated device, including a detection mechanism and a protective mechanism. The detection mechanism includes a lidar, a positioning device, a processing system, and a display. The lidar and positioning device are both located on the roof of the bulldozer, while the processing system and display are located inside the cab. The protective mechanism is installed on the roof of the bulldozer and is used to cover the lidar and positioning device. The lidar, positioning device, and display are all electrically connected to the processing system. The bulldozer-mounted vehicle-mounted 3D laser scanning integrated device provided by this application, under the action of the protective mechanism, can cover the lidar and positioning device, thereby protecting them and reducing the impact of dust and flying stones on the detection equipment.

Description

Technical Field

[0001] This application relates to the field of engineering machinery testing equipment technology, and in particular to a bulldozer-mounted three-dimensional laser scanning integrated device. Background Technology

[0002] With the development of science and technology, bulldozers in open-pit mine spoil heaps are beginning to be equipped with 3D laser scanning and other detection equipment for 3D point cloud data acquisition of the spoil heap retaining walls, vehicle spatial positioning, on-site data processing, result display, and assisting in retaining wall repair operations. However, in practical applications, the harsh working environment of open-pit mine spoil heaps, with its large amounts of dust and flying rocks, easily damages the detection equipment. Summary of the Invention

[0003] The purpose of this application is to provide a bulldozer-mounted three-dimensional laser scanning integrated device to solve the technical problem of easy damage to existing detection equipment.

[0004] To achieve the above objectives, the technical solution adopted in this application is: to provide a bulldozer-mounted three-dimensional laser scanning integrated device, comprising: The testing mechanism includes a lidar, a positioning device, a processing system, and a display. The lidar and the positioning device are both located on the roof of the vehicle, and the processing system and the display are both located inside the driver's cabin. A protective mechanism is installed on the top of the bulldozer and is used to cover the lidar and the positioning device.

[0005] Optionally, the protective mechanism includes a shock absorber and a protective cover. The shock absorber is mounted on the roof of the vehicle, and both the lidar and the positioning device are mounted on the shock absorber. The protective cover is mounted on the shock absorber and is used to cover the lidar and the positioning device.

[0006] Optionally, the protective cover includes a cover body and a first opening, the cover body being mounted on the shock-absorbing seat, the first opening being formed in the cover body, and exposing the lidar and the positioning device.

[0007] Optionally, the protective mechanism includes a protective box, two sliding doors, a drive assembly, a shock absorber, and two driven assemblies. The protective box is mounted on the roof of the vehicle. Both sliding doors are mounted on the protective box and can enclose the protective box to form a closed space. The drive assembly is mounted inside the protective box. The shock absorber is mounted on the drive assembly and moves along a first direction under the drive of the drive assembly. Both driven assemblies are mounted inside the protective box and are configured to drive the two sliding doors to move towards each other or away from each other along a second direction via the drive assembly, and are located between the two sliding doors.

[0008] Optionally, the driven component includes a track, a slider, and two hinges. The track is installed inside the protective box and extends along a first direction. The slider is engaged with the track and can slide along the first direction. The hinges are hinged between the two sliding doors and the slider.

[0009] Optionally, the drive assembly includes a linear driver, a mounting bracket, and two partitions. The linear driver is installed inside the protective housing, and the mounting bracket is installed on the linear driver and moves along a first direction under the drive of the linear driver. The partitions are installed between the two sliders and the mounting bracket, and the two partitions are arranged at intervals along a third direction.

[0010] Optionally, the hinge includes a block hinge seat, a door hinge seat, an outer rod, a sliding space, and an inner rod. The block hinge seat is mounted on the slider, the door hinge seat is mounted on the sliding door, one end of the outer rod is hinged to the block hinge seat, the sliding space is opened inside the outer rod, and one end of the inner rod is hinged to the door hinge seat and can slide relative to the outer rod, and is at least partially confined within the sliding space.

[0011] Optionally, the hinge further includes a limiting boss, a limiting plate, and an elastic structure. The limiting boss is formed on the inner circumference of the outer rod. The limiting plate is installed on the end of the inner rod away from the door hinge seat and located in the sliding space. It can limit the movement of the inner rod along the axial direction of the outer rod with the limiting boss. The elastic structure is disposed in the sliding space and abuts against the side of the limiting plate facing away from the inner rod.

[0012] Optionally, the protective box includes a box body, a second opening, two snap-fit ​​strips, and two slots. The second opening is formed in the box body, the two snap-fit ​​strips are installed in the box body and are spaced apart along a third direction, the two slots are respectively formed in the two snap-fit ​​strips, and the two sliding doors are snapped into the two slots.

[0013] Optionally, the shock absorber includes a fixed plate, multiple dampers, and a movable plate. The multiple dampers are all mounted on the fixed plate, and the movable plate is mounted on the end of the multiple dampers away from the fixed plate. The lidar and the positioning device are both mounted on the movable plate.

[0014] The beneficial effects of the bulldozer-mounted integrated three-dimensional laser scanning device provided in this application are as follows: This application provides a bulldozer-mounted integrated 3D laser scanning device. A lidar is used for scanning and ranging, acquiring point cloud data. A positioning device is used for high-precision positioning and acquiring vehicle attitude information. A processing system receives and processes the information collected by the lidar and positioning device. A display shows the processed information, making it visual. A protective mechanism encloses the lidar and positioning device, protecting them and reducing the impact of dust and flying debris on the detection equipment. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A plan view of a bulldozer-mounted three-dimensional laser scanning integrated device provided in Embodiment 1 of this application; Figure 2 This is a three-dimensional view of the overall structure of a bulldozer-mounted three-dimensional laser scanning integrated device provided in Embodiment 1 of this application; Figure 3 This is a three-dimensional view of the overall structure of a bulldozer-mounted three-dimensional laser scanning integrated device provided in Embodiment 2 of this application; Figure 4 This is a perspective view of the internal structure of a bulldozer-mounted three-dimensional laser scanning integrated device provided in Embodiment 2 of this application; Figure 5 An internal perspective view of the hinge component of a bulldozer-mounted three-dimensional laser scanning integrated device provided in Embodiment 2 of this application; Figure 6 for Figure 3 A magnified view of a portion of point A in the middle.

[0017] The following are the labeling elements in the figure: 1. Testing facility; 11. LiDAR; 12. Positioning device; 13. Processing system; 14. Display; 2. Protective mechanism; 21. Shock absorber seat; 211. Fixing plate; 212. Damper; 213. Movable plate; 22. Protective cover; 221. Cover body; 222. First opening; 23. Protective box; 231. Box body; 232. Second opening; 233. Snap-fit ​​strip; 234. Snap-fit ​​groove; 24. Sliding door; 25. Drive assembly; 251. Linear actuator; 252. Mounting bracket; 253. Partition; 26. Driven assembly; 261. Track; 262. Slider; 263. Hinge; 2631. Block hinge seat; 2632. Door hinge seat; 2633. Outer rod; 2634. Sliding space; 2635. Inner rod; 2636. Limiting boss; 2637. Limiting plate; 2638. Elastic structure. Detailed Implementation

[0018] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0019] It should be noted that when a component is referred to as being "mounted to," "fixed to," or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0020] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0021] Furthermore, 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0022] Example 1 like Figure 1 and Figure 2As shown, this application provides a bulldozer-mounted three-dimensional laser scanning integrated device, including a detection mechanism 1 and a protective mechanism 2. The detection mechanism 1 includes a lidar 11, a positioning device 12, a processing system 13, and a display 14. The lidar 11 and the positioning device 12 are both located on the roof of the bulldozer, while the processing system 13 and the display 14 are both located inside the cab. The protective mechanism 2 is installed on the roof of the bulldozer and is used to cover the lidar 11 and the positioning device 12. The lidar 11, the positioning device 12, and the display 14 are all electrically connected to the processing system 13.

[0023] This application provides a bulldozer-mounted three-dimensional laser scanning integrated device. A lidar 11 is used for scanning and ranging, acquiring point cloud data. A positioning device 12 is used for high-precision positioning, acquiring vehicle attitude information. A processing system 13 receives and processes the information collected by the lidar 11 and the positioning device 12. A display 14 shows the information processed by the processing system 13, making the information visual. A protective mechanism 2 encloses the lidar 11 and the positioning device 12, protecting them and reducing the impact of dust and flying stones on the detection equipment.

[0024] In one embodiment of this application, please refer to Figure 1 and Figure 2 The protective mechanism 2 includes a shock absorber 21 and a protective cover 22. The shock absorber 21 is installed on the roof of the vehicle. The lidar 11 and the locator 12 are both installed on the shock absorber 21. The protective cover 22 is installed on the shock absorber 21 and is used to cover the lidar 11 and the locator 12.

[0025] With this configuration, the vibration can be prevented from being directly transmitted to the lidar 11 and the positioning device 12 under the action of the vibration damping seat 21, thereby reducing the impact of vibration on the lidar 11 and the positioning device 12 and helping to improve the detection accuracy of the lidar 11 and the positioning device 12.

[0026] In one embodiment of this application, please refer to the following: Figure 1 and Figure 2 The protective cover 22 includes a cover body 221 and a first opening 222. The cover body 221 is mounted on the shock absorber 21, and the first opening 222 is opened in the cover body 221, exposing the lidar 11 and the locator 12.

[0027] This configuration, with the cover 221, can protect the lidar 11 and the locator 12. The first opening 222 exposes the lidar 11 and the locator 12, preventing their operation from being affected.

[0028] In one embodiment of this application, see reference Figure 1 and Figure 2The shock absorber 21 includes a fixed plate 211, multiple dampers 212 and a movable plate 213. The multiple dampers 212 are all installed on the fixed plate 211, and the movable plate 213 is installed at the end of the multiple dampers 212 away from the fixed plate 211. The lidar 11 and the positioning device 12 are both installed on the movable plate 213.

[0029] With this configuration, a buffer can be formed between the fixed plate 211 and the movable plate 213 under the action of multiple dampers 212, preventing the vibration of the vehicle from being directly transmitted from the fixed plate 211 to the movable plate 213, which helps to improve the detection accuracy of the lidar 11 and the positioning device 12.

[0030] Example 2 This embodiment is basically the same as Embodiment 1, except that: Figure 1 , Figures 3 to 6 As shown, the protective mechanism 2 includes a protective box 23, two sliding doors 24, a drive assembly 25, a shock absorber 21, and two driven assemblies 26. The protective box 23 is installed on the roof of the vehicle. The two sliding doors 24 are both installed in the protective box 23 and can be enclosed with the protective box 23 to form a closed space (not shown in the figure). The drive assembly 25 is installed inside the protective box 23. The shock absorber 21 is installed in the drive assembly 25 and moves along a first direction under the drive of the drive assembly 25. The two driven assemblies 26 are both installed inside the protective box 23 and are configured to drive the two sliding doors 24 to move towards each other or away from each other along a second direction through the drive assembly 25, and are located between the two sliding doors 24.

[0031] It should be noted that the positioning device 12 requires satellite for high-precision positioning. When the cover 221 is used to cover the lidar 11 and the positioning device 12, the cover 221 will affect the signal transmission of the positioning device 12 to some extent.

[0032] It should also be noted that the "above" and "below" directions refer to the bidirectional direction of the shortest connecting line between the sliding door 24 and the drive assembly 25, as detailed below. Figure 3 The X-axis is shown in the diagram. The second direction, above and below, refers to the bidirectional direction of the shortest line connecting the two sliding doors 24, as shown in the diagram. Figure 3 The Y-axis is shown in the diagram. The third direction below refers to the bidirectional direction of the shortest connection between the two driven components 26, specifically as follows: Figure 3 The Z-axis is shown in the figure.

[0033] This application provides a bulldozer-mounted three-dimensional laser scanning integrated device. Under the action of the drive component 25 and two driven components 26, it can drive two sliding doors 24 to move towards each other in a second direction, thereby moving the laser radar 11 and the positioning device 12 into an enclosed space and completely covering the laser radar 11 and the positioning device 12. Compared with the cover 221 having a first opening 222, this greatly improves the protective performance. When the laser radar 11 and the positioning device 12 are not working, it can prevent damage to the laser radar 11 and the positioning device 12.

[0034] Under the action of the drive component 25 and the two driven components 26, the two sliding doors 24 can be driven to move in opposite directions along the second direction, thereby removing the lidar 11 and the locator 12 from the protective box 23. This prevents the protective box 23 from covering the locator 12 in the third direction, thus avoiding any impact on the signal transmission of the locator 12 and helping to further improve the detection accuracy.

[0035] The driven component 26 is configured as two, which is more stable than the driven component 26 being configured as one, allowing the two sliding doors 24 to move towards each other or away from each other along the second direction.

[0036] In one embodiment of this application, please refer to Figure 1 , Figures 3 to 6 The driven component 26 includes a track 261, a slider 262 and two hinges 263. The track 261 is installed inside the protective box 23 and extends along the first direction. The slider 262 is engaged with the track 261 and can slide along the first direction. The two sliding doors 24 and the slider 262 are both hinged to each other with a hinge 263.

[0037] This configuration, under the action of track 261, guides slider 262, allowing it to move only in the first direction. This improves the stability of slider 262's movement in the first direction, enabling it to stably drive the two sliding doors 24 to move in the second direction. The hinge 263 converts the movement of slider 262 in the first direction into movement of the sliding doors 24 in the second direction. Sliding slider 262 is positioned between the two hinges 263. Compared to existing technologies, only one slider 262 is needed to drive the two sliding doors 24 to move towards or away from each other in the second direction. This results in a compact structure and allows the two sliding doors 24 to move synchronously, preventing interference with the shock absorber's movement and ensuring the doors can close.

[0038] In one embodiment of this application, please refer to the following: Figure 1 , Figures 3 to 6The drive assembly 25 includes a linear driver 251, a mounting bracket 252, and two partitions 253. The linear driver 251 is installed inside the protective housing 23. The mounting bracket 252 is installed on the linear driver 251 and moves along a first direction under the drive of the linear driver 251. A partition 253 is installed between the two sliders 262 and the mounting bracket 252. The two partitions 253 are arranged at intervals along a third direction.

[0039] This arrangement, under the action of the partition 253, increases the distance between the slider 262 and the mounting bracket 252 in the first direction, preventing the slider 262 from being too close to the mounting bracket 252 and thus requiring the slider 262 to move to the second opening 232 to fully open the two sliding doors 24. It should be noted that for the slider 262 to move to the second opening 232, the track 261 must also be positioned at the second opening 232; otherwise, the two sliding doors 24 will not be able to close. Therefore, the partition 253 not only ensures that the two sliding doors 24 are fully open but also ensures that they close normally. The full opening of the two sliding doors 24 ensures the normal extension of the laser radar 11 and the positioning device 12, while the normal closure of the two sliding doors ensures protective performance.

[0040] Alternatively, the linear actuator 251 can be configured as a cylinder.

[0041] In one embodiment of this application, see reference Figure 1 , Figures 3 to 6 The hinge 263 includes a block hinge seat 2631, a door hinge seat 2632, an outer rod 2633, a sliding space 2634, and an inner rod 2635. The block hinge seat 2631 is mounted on the slider 262, the door hinge seat 2632 is mounted on the sliding door 24, one end of the outer rod 2633 is hinged to the block hinge seat 2631, the sliding space 2634 is opened in the outer rod 2633, one end of the inner rod 2635 is hinged to the door hinge seat 2632 and can slide relative to the outer rod 2633, and is at least partially confined within the sliding space 2634.

[0042] With this configuration, under the combined action of the block hinge seat 2631, door hinge seat 2632, outer rod 2633, and inner rod 2635, the slider 262 can drive the sliding door 24 to move along the first direction. Under the action of the sliding space 2634, the inner rod 2635 and outer rod 2633 can slide relative to each other, adjusting the distance between the block hinge seat 2631 and the door hinge seat 2632. When the door hinge seat 2632 contacts the inner wall of the housing 231, the laser radar 11 and the positioning device 12 are not completely removed from the housing 231. Under the relative sliding action of the inner rod 2635 and outer rod 2633, the slider 262 can continue to move towards the second opening 232 along the first direction, avoiding a situation where the slider 262 cannot move, preventing the laser radar 11 and the positioning device 12 from fully extending.

[0043] In one embodiment of this application, please refer to Figure 1 , Figures 3 to 6 The hinge 263 also includes a limiting boss 2636, a limiting plate 2637, and an elastic structure 2638. The limiting boss 2636 is formed on the inner circumference of the outer rod 2633. The limiting plate 2637 is installed on the end of the inner rod 2635 away from the door hinge seat 2632 and is located in the sliding space 2634. It can limit the movement of the limiting boss 2636 along the axial direction of the outer rod 2633. The elastic structure 2638 is disposed in the sliding space 2634 and abuts against the side of the limiting plate 2637 facing away from the inner rod 2635.

[0044] With this configuration, under the action of the limiting boss 2636 and the limiting plate 2637, the outer rod 2633 and the inner rod 2635 can form a limit in the axial direction, which can prevent the inner rod 2635 and the outer rod 2633 from separating, and help improve the structural stability between the inner rod 2635 and the outer rod 2633. This allows the two sliding doors 24 to move towards each other in the second direction stably. Before the lidar 11 and the positioning device 12 are put into the housing 231, the elastic structure 2638 can hold the door hinge seat 2632 stably against the inner wall of the housing 231, preventing the lidar 11 and the positioning device 12 from failing to be put into the housing 231 due to the opposing movement of the two sliding doors 24 in the second direction.

[0045] Optionally, the elastic structure 2638 is configured as a spring or a sheet.

[0046] In one embodiment of this application, please refer to the following: Figure 1 , Figures 3 to 6 The protective box 23 includes a box body 231, a second opening 232, two snap-fit ​​strips 233 and two slots 234. The second opening 232 is opened in the box body 231. The two snap-fit ​​strips 233 are installed in the box body 231 and are arranged at intervals along the third direction. The two slots 234 are respectively opened in the two snap-fit ​​strips 233. The two sliding doors 24 are snapped into the two slots 234.

[0047] With this configuration, the sliding door 24 can be guided by the action of the locking strip 233 and the locking groove 234, so that the sliding door 24 can only move in the second direction, which helps to improve the stability of the sliding door 24 in the second direction.

[0048] The working principle of this embodiment is as follows: As the lidar 11 and the locator 12 extend from the housing 231, the linear actuator 251 drives the mounting bracket 252 to move along a first direction toward the second opening 232. The mounting bracket 252, via two partitions 253, drives two sliders 262 to move along the first direction toward the second opening 232. The sliders 262, via two hinges 263, drive two sliding doors 24 to move in opposite directions along a second direction until the door hinge seats 2632 abut against the inner wall of the housing 231. When the door hinge seats 2632 abut against the inner wall of the housing 231, the two sliding doors 24 stop moving, exposing the second opening 232. The linear actuator 251 continues to drive the two sliders 262 to move along the first direction. Under the resistance of the door hinge seat 2632, the outer rod 2633 and the inner rod 2635 slide relative to each other. The inner rod 2635 gradually retracts into the sliding space 2634 until the lidar 11 and the locator 12 are completely removed from the housing 231, that is, the locator 12 is not blocked in the third direction.

[0049] When the lidar 11 and the locator 12 are moved into the housing 231, the linear actuator 251 drives the mounting bracket 252 to move toward the housing 231 in the first direction. The mounting bracket 252 drives the two sliders 262 to move away from the second opening 232 in the first direction through the two partitions 253. Under the resistance of the elastic structure 2638, the outer rod 2633 and the inner rod 2635 slide relative to each other, and the inner rod 2635 gradually moves from the sliding space 2634 until the limiting plate 2637 and the limiting boss 2636 contact each other, and the limiting plate 2637 and the limiting boss 2636 form a limit. During this process, the door hinge seat 2632 is always in contact with the inner wall of the housing 231, that is, the door hinge seat 2632 remains stationary in the second direction. After the lidar 11 and the locator 12 enter the housing 231, the linear actuator 251 drives the two sliders 262 to move away from the second opening 232 along the first direction. The sliders 262 drive the two sliding doors 24 to move towards each other along the second direction through the two hinges 263 until the two sliding doors 24 block the second opening 232.

[0050] One or more embodiments in this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments in this application should be included within the protection scope of this application.

Claims

1. A bulldozer-mounted integrated three-dimensional laser scanning device, characterized in that, include: The testing mechanism includes a lidar, a positioning device, a processing system, and a display. The lidar and the positioning device are both located on the roof of the vehicle, and the processing system and the display are both located inside the driver's cabin. A protective mechanism is installed on the top of the bulldozer and is used to cover the lidar and the positioning device.

2. The bulldozer-mounted vehicle-mounted three-dimensional laser scanning integrated device as described in claim 1, characterized in that, The protective mechanism includes a shock absorber base and a protective cover. The shock absorber base is installed on the roof of the vehicle. The lidar and the positioning device are both installed on the shock absorber base. The protective cover is installed on the shock absorber base and is used to cover the lidar and the positioning device.

3. The bulldozer-mounted vehicle-mounted three-dimensional laser scanning integrated device as described in claim 2, characterized in that, The protective cover includes a cover body and a first opening. The cover body is mounted on the shock-absorbing base, and the first opening is formed in the cover body, exposing the lidar and the positioning device.

4. The bulldozer-mounted vehicle-mounted three-dimensional laser scanning integrated device as described in claim 1, characterized in that, The protective mechanism includes a protective box, two sliding doors, a drive assembly, a shock absorber, and two driven assemblies. The protective box is mounted on the roof of the vehicle. Both sliding doors are mounted on the protective box and can enclose the protective box to form a closed space. The drive assembly is mounted inside the protective box. The shock absorber is mounted on the drive assembly and moves along a first direction under the drive of the drive assembly. Both driven assemblies are mounted inside the protective box and are configured to drive the two sliding doors to move towards each other or away from each other along a second direction via the drive assembly, and are located between the two sliding doors.

5. The bulldozer-mounted vehicle-mounted three-dimensional laser scanning integrated device as described in claim 4, characterized in that, The driven component includes a track, a slider, and two hinges. The track is installed inside the protective box and extends along a first direction. The slider is engaged with the track and can slide along the first direction. The hinges are hinged between the two sliding doors and the slider.

6. The bulldozer-mounted vehicle-mounted three-dimensional laser scanning integrated device as described in claim 5, characterized in that, The drive assembly includes a linear driver, a mounting bracket, and two partitions. The linear driver is installed inside the protective housing, and the mounting bracket is installed on the linear driver and moves along a first direction under the drive of the linear driver. The partitions are installed between the two sliders and the mounting bracket, and the two partitions are arranged at intervals along a third direction.

7. The bulldozer-mounted vehicle-mounted three-dimensional laser scanning integrated device as described in claim 5, characterized in that, The hinge includes a block hinge seat, a door hinge seat, an outer rod, a sliding space, and an inner rod. The block hinge seat is mounted on the slider, the door hinge seat is mounted on the sliding door, one end of the outer rod is hinged to the block hinge seat, the sliding space is opened inside the outer rod, and one end of the inner rod is hinged to the door hinge seat and can slide relative to the outer rod, and is at least partially confined within the sliding space.

8. The bulldozer-mounted vehicle-mounted three-dimensional laser scanning integrated device as described in claim 7, characterized in that, The hinge also includes a limiting boss, a limiting plate, and an elastic structure. The limiting boss is formed on the inner circumference of the outer rod. The limiting plate is installed on the end of the inner rod away from the door hinge seat and located in the sliding space. It can limit the movement of the inner rod along the axial direction of the outer rod with the limiting boss. The elastic structure is disposed in the sliding space and abuts against the side of the limiting plate facing away from the inner rod.

9. The bulldozer-mounted vehicle-mounted three-dimensional laser scanning integrated device as described in claim 5, characterized in that, The protective box includes a box body, a second opening, two snap-fit ​​strips, and two slots. The second opening is formed in the box body. Both snap-fit ​​strips are installed in the box body and are spaced apart along a third direction. The two slots are respectively formed in the two snap-fit ​​strips. Both sliding doors are snapped into the two slots.

10. A bulldozer-mounted vehicle-mounted three-dimensional laser scanning integrated device as described in any one of claims 1-9, characterized in that, The shock absorber base includes a fixed plate, multiple dampers, and a movable plate. The multiple dampers are all mounted on the fixed plate, and the movable plate is mounted on the end of the multiple dampers away from the fixed plate. The lidar and the positioning device are both mounted on the movable plate.

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