Three-dimensional monitoring laser scanner

Abstract

The utility model relates to a three-dimensional monitoring laser scanner, and the scanner comprises a pedestal; the mounting assembly comprises a mounting seat and a shell, the mounting seat is arranged on the base, and the shell is rotatably arranged on the mounting seat; the scanner body is rotatably arranged on the shell and exposed to the outer side of the shell; the first rotating structure is arranged in the containing cavity, and the output end of the first rotating structure is connected with the shell so as to drive the shell to drive the scanner body to rotate around the first axis relative to the base; the second rotating structure is arranged in the containing cavity, and the output end of the second rotating structure is connected with the scanner body so as to drive the scanner body to rotate around a second axis relative to the shell; wherein the first axis is perpendicular to the second axis. Therefore, the rotation angle of the scanner body can be automatically adjusted, manual adjustment is not needed, the accuracy of a measurement result is ensured, meanwhile, the scanning range of the scanner body can be increased, and the working efficiency and the working quality of scanning are improved.

Description

Technical Field

[0001] This application relates to the technical field of scanning devices, and particularly to a three-dimensional monitoring laser scanner. Background Art

[0002] Three-dimensional laser scanning technology emerged in the mid-1990s. It is another major breakthrough in surveying and mapping technology after the GPS spatial positioning system. Through high-speed laser scanning measurement, three-dimensional laser scanning technology can rapidly acquire the three-dimensional coordinate data of the surface of the measured object with high resolution over a large area. It can quickly and massively collect spatial point information, providing a brand-new technical means for quickly establishing a three-dimensional image model of an object. It has the characteristics of rapidity, non-contact, real-time, dynamic, initiative, high density and high precision, digitalization, automation, etc.

[0003] Currently, most three-dimensional laser scanners are fixed and supported by a tripod. The function of the tripod is relatively single, and it requires manual adjustment of the rotation angle of the three-dimensional laser scanner to adjust the measurement position of the three-dimensional laser scanner. However, during the scanning process of the three-dimensional laser scanner, the manual adjustment method of the three-dimensional laser scanner is not convenient for adjusting the angle for scanning, and it is easy to cause the three-dimensional laser scanner to fall, affecting the accuracy of the measurement results. Summary of the Invention

[0004] Based on this, in view of the problem that it is not convenient to adjust the angle manually for the current three-dimensional laser scanner, it is necessary to provide a three-dimensional monitoring laser scanner that can automatically adjust the rotation angle of the scanner body without manual adjustment, thereby avoiding the situation of the scanner body falling caused by manual adjustment, ensuring the accuracy of the measurement results, and also being able to increase the scanning range of the scanner body and improve the working efficiency and quality of scanning.

[0005] A three-dimensional monitoring laser scanner includes:

[0006] A base;

[0007] An installation component, including a mounting base and a housing. The mounting base is provided on the base, and the housing is rotatably provided on the mounting base and encloses an accommodation chamber;

[0008] A scanner body, which is rotatably provided on the housing and exposed outside the housing;

[0009] A first rotation structure, which is provided in the accommodation chamber, and the output end of the first rotation structure is connected to the housing to drive the housing to drive the scanner body to rotate relative to the base around a first axis; and

[0010] A second rotating structure is disposed in the accommodation chamber, and an output end of the second rotating structure is connected to the scanner body to drive the scanner body to rotate relative to the housing about a second axis;

[0011] Wherein, the first axis is perpendicular to the second axis.

[0012] In an embodiment of the present application, the first rotating structure includes a first driving member, a first transmission assembly, and a first output member. The first output member is connected to the housing and extends along the first axis. The first transmission assembly is drivingly connected to the first driving member and the first output member;

[0013] The first driving member drives the first transmission assembly to drive the first output member to move, so that the first output member drives the housing and the scanner body to rotate about the first axis.

[0014] In an embodiment of the present application, the first transmission assembly includes a first gear and a second gear. The first gear is disposed on the first driving member, the second gear is connected to the first output member, and the first gear meshes with the second gear;

[0015] The second gear includes an annular gear and a transfer plate. The transfer plate is disposed at a first end of the annular gear. The first gear is located inside the annular gear and meshes with the annular gear. The transfer plate is connected to the first output member, or both the first gear and the second gear are external gears.

[0016] In an embodiment of the present application, the second rotating structure includes a second driving member, a second transmission assembly, and a second output member. The second driving member is disposed on the housing. The second output member is rotatably disposed on the housing and extends along the second axis. The second transmission assembly is drivingly connected to the second driving member and the second output member;

[0017] The second driving member drives the second transmission assembly to drive the second output member to rotate, so that the second output member drives the scanner body to rotate about the second axis.

[0018] In an embodiment of the present application, the second transmission assembly includes a first transmission portion and a second transmission portion. The first transmission portion is disposed on the second driving member, the second transmission portion is disposed on the second output member, and the first transmission portion and the second transmission portion are in driving cooperation;

[0019] The first transmission portion and the second transmission portion are gears, or the first transmission portion and the second transmission portion are drivingly connected by a connecting belt.

[0020] In an embodiment of the present application, the three-dimensional monitoring laser scanner further includes a clamping structure disposed in the base for clamping the fixing protrusion of the mounting base;

[0021] The clamping structure includes two clamping components symmetrically disposed on both sides of the fixing protrusion and movably disposed in the base, and the end of the clamping component can abut against the fixing protrusion;

[0022] The clamping component includes a clamping rod and a first elastic member. The clamping rod is movably disposed in the base, and one end thereof extends toward the fixing protrusion. One end of the first elastic member is fixed to the base, and the other end is connected to the clamping rod. The elastic force of the first elastic member causes the clamping rod to remain in contact with the fixing protrusion.

[0023] In an embodiment of the present application, the clamping structure further includes a sliding component and two linkage components. The base has a sliding groove, the sliding component is slidably disposed in the sliding groove, and the two linkage components are respectively disposed at both ends of the sliding component and are movably connected to the corresponding clamping components;

[0024] When the sliding component moves, it can drive the linkage component to drive the corresponding clamping component to move, so that the two clamping components approach or move away from each other.

[0025] In an embodiment of the present application, the sliding component includes a sliding member and two second elastic members. The sliding member has two connecting rods respectively corresponding to the two clamping components. One end of the second elastic member is fixed to the base, and the other end is connected to the connecting rod. The elastic force of the second elastic member causes the connecting rod to be away from the clamping component, and the linkage component connects the sliding member and the clamping rod of the clamping component;

[0026] And / or, the linkage component includes a first connecting portion, a second connecting portion and a linkage rod. The first connecting portion and the second connecting portion are rotatably disposed at both ends of the linkage rod, and the first connecting portion is disposed on the clamping rod of the clamping component, and the second connecting portion is slidably disposed on the sliding member of the sliding component.

[0027] In an embodiment of the present application, the three-dimensional monitoring laser scanner further includes three feet disposed at one end of the base away from the mounting base, and the three feet are symmetrically distributed;

[0028] Each foot includes a first arm and a second arm. The top of the first arm is connected to the base, and the bottom of the first arm is vertically movable in the second arm.

[0029] In an embodiment of the present application, each of the feet further includes a limiting member. The first arm is movably disposed in the second arm. The limiting member is telescopically disposed on the outer wall of the first arm. The second arm has a plurality of limiting holes along the axial direction, and the limiting holes penetrate through the second arm along the radial direction. The first arm is located in the second arm, and the limiting member can be clamped in the corresponding limiting hole;

[0030] Alternatively, the inner wall of the second arm has an internal thread, and the outer wall of the first arm has an external thread. The second arm is threadedly connected to the first arm.

[0031] After adopting the above technical solutions, the present application has at least the following technical effects:

[0032] For the three-dimensional monitoring laser scanner of the present application, the mounting base of the mounting assembly is disposed on the top of the base. The housing is rotatably disposed on the mounting base and encloses a receiving chamber with the mounting base. The first rotating structure and the second rotating structure are disposed in the receiving chamber. The scanner body is rotatably disposed in the housing and exposed outside the housing for scanning. The output end of the first rotating structure is connected to the housing to drive the housing to drive the scanner body to rotate relative to the mounting base around the first axis. The output end of the second rotating structure is connected to the scanner body to drive the scanner body to rotate relative to the housing around the second axis to adjust the position of the scanner body.

[0033] For this three-dimensional monitoring laser scanner, the first rotating structure is used to drive the housing to drive the scanner body to rotate around the first axis, and the second rotating structure is used to drive the scanner body to rotate around the second axis, so that the scanner body can rotate in all directions, thereby enabling better scanning, increasing the scanning range of the scanner body, and improving the working efficiency and quality of scanning. Moreover, the scanner body can automatically adjust the rotation angle through the first rotating structure and the second rotating structure, without manual adjustment, thereby avoiding the situation that the scanner body falls due to manual adjustment and ensuring the accuracy of the measurement results. Description of the Drawings

[0034] Figure 1 It is a schematic diagram of the three-dimensional monitoring laser scanner according to an embodiment of the present application.

[0035] Figure 2 It is Figure 1 a vertical sectional view of the three-dimensional monitoring laser scanner shown.

[0036] Figure 3 It is Figure 1 a horizontal sectional view of the three-dimensional monitoring laser scanner shown.

[0037] Wherein: 100, 3D monitoring laser scanner; 110, base; 111, fixing groove; 112, sliding groove; 120, mounting component; 121, mounting seat; 1211, fixing protrusion; 1212, limiting groove; 122, housing; 1221, recessed part; 130, scanner body; 140, first rotating structure; 141, first driving member; 142, first transmission component; 1421, first gear; 1422, second gear; 143, first output member; 150, second rotating structure; 151, second driving member; 152, second transmission component; 1521, first transmission part; 1522, second transmission part; 1523, connecting belt; 153, second output member; 160, clamping structure; 161, clamping component; 1611, clamping rod; 1612, first elastic member; 162, sliding component; 1621, slider; 16211, connecting rod; 1622, second elastic member; 163, linkage component; 1631, first connecting part; 1632, second connecting part; 1633, linkage rod; 170, support leg; 171, first support arm; 172, second support arm; 1721, limiting hole; 173, limiting member; L1, first axis; L2, second axis. Detailed implementation manners

[0038] To make the above objects, features, and advantages of the present application more apparent and understandable, the following describes the detailed implementation manners of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description to facilitate a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0039] In the description of the present application, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0040] In addition, if the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0041] In this application, unless otherwise clearly stipulated and defined, if terms such as "installed", "connected", "joined", "fixed", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0042] In this application, unless otherwise clearly stipulated and defined, if there is a description such as a first feature "on" or "under" a second feature, its meaning can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath", and "underneath" the second feature can mean that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature has a lower horizontal height than the second feature.

[0043] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right", and similar expressions used in this application are only for illustrative purposes and do not represent the only implementation manner.

[0044] See Figure 1 and Figure 2 , this application provides a three-dimensional monitoring laser scanner 100. Figure 1 is a schematic diagram of the three-dimensional monitoring laser scanner 100 according to an embodiment of this application, Figure 2 is Figure 1Vertical sectional view of the three-dimensional monitoring laser scanner 100 shown. The three-dimensional monitoring laser scanner 100 can perform high-speed laser scanning measurement. Specifically, through the method of high-speed laser scanning measurement, three-dimensional coordinate data of the surface of the object to be measured can be quickly obtained with a large area and high resolution, and spatial point position information can be collected quickly and in large quantities to quickly establish a three-dimensional image model of the object.

[0045] It can be understood that during the scanning process of the three-dimensional laser scanner, the method of manually adjusting the three-dimensional laser scanner is not convenient for adjusting the angle for scanning, and it is easy to cause the three-dimensional laser scanner to fall, affecting the accuracy of the measurement results. For this reason, the present application provides a new type of three-dimensional monitoring laser scanner 100, which can automatically adjust the rotation angle of the scanner body 130 without manual adjustment, thereby avoiding the situation that the scanner body 130 falls due to manual adjustment, ensuring the accuracy of the measurement results, and also increasing the scanning range of the scanner body 130, improving the working efficiency and working quality of scanning. The following introduces the specific structure of the three-dimensional monitoring laser scanner 100 in an embodiment.

[0046] See Figure 1 and Figure 2 , in an embodiment, the three-dimensional monitoring laser scanner 100 includes a base 110, a mounting assembly 120, a scanner body 130, a first rotating structure 140, and a second rotating structure 150. The mounting assembly 120 includes a mounting seat 121 and a housing 122. The mounting seat 121 is provided on the base 110, and the housing 122 is rotatably provided on the mounting seat 121 and encloses a receiving chamber. The scanner body 130 is rotatably provided on the housing 122 and is exposed outside the housing 122. The first rotating structure 140 is provided in the receiving chamber, and the output end of the first rotating structure 140 is connected to the housing 122 to drive the housing 122 to drive the scanner body 130 to rotate relative to the base 110 about the first axis L1. The second rotating structure 150 is provided in the receiving chamber, and the output end of the second rotating structure 150 is connected to the scanner body 130 to drive the scanner body 130 to rotate relative to the housing 122 about the second axis L2; wherein, the first axis L1 and the second axis L2 are perpendicular.

[0047] The base 110 is the mounting base of the three-dimensional monitoring laser scanner 100. Through the base 110, each component of the three-dimensional monitoring laser scanner 100 is carried, so that the three-dimensional monitoring laser scanner 100 forms an integral structure. The mounting assembly 120 is provided on the base 110 and is used to mount the structure for the three-dimensional monitoring laser scanner 100 to rotate. The scanner body 130 is the scanning instrument of the three-dimensional monitoring laser scanner 100, and laser scanning is performed through the scanner body 130 to obtain three-dimensional coordinate data of the surface of the object to be measured.

[0048] In this embodiment, takingFigure 1 and Figure 2 The specific structure of the three-dimensional monitoring laser scanner 100 is described based on the up, down, left, and right directions shown. And, the first axis L1 is arranged in the vertical direction, and the second axis L2 is located in the horizontal plane, as Figure 1 and Figure 2 shown, the first axis L1 is perpendicular to the second axis L2. The scanner body 130 can rotate around the first axis L1 and can also rotate around the second axis L2 to adjust the rotation angle of the scanner body 130, so that the scanner body 130 can rotate in all directions, thereby enabling better scanning, increasing the scanning range of the scanner body 130, and improving the working efficiency and working quality of scanning.

[0049] The mounting assembly 120 includes a mounting base 121 and a housing 122. The housing 122 is rotatably mounted in the mounting base 121, and the housing 122 is disposed above the mounting base 121. The housing 122 and the mounting base 121 enclose a receiving chamber. The first rotating structure 140 and the second rotating structure 150 are disposed in the receiving chamber. The first rotating structure 140 and the second rotating structure 150 are components for driving the scanner body 130 to rotate. The output end of the first rotating structure 140 extends along the first axis L1, and the output end of the second rotating structure 150 extends along the second axis L2. The first rotating structure 140 is connected to the housing 122, and the second rotating structure 150 is connected to the scanner body 130.

[0050] When it is necessary to control the scanner body 130 to rotate around the first axis L1, the first rotating structure 140 operates, and the first rotating structure 140 outputs a rotational motion to drive the housing 122 to rotate around the first axis L1. Then, the housing 122 drives the scanner body 130 thereon to rotate around the first axis L1 synchronously. When it is necessary to control the scanner body 130 to rotate around the second axis L2, the second rotating structure 150 operates, and the second rotating structure 150 outputs a rotational motion to drive the scanner body 130 to rotate around the second axis L2.

[0051] It should be noted that the second rotating structure 150 is disposed on the housing 122. When the first rotating structure 140 drives the housing 122 to rotate, it can synchronously drive the second rotating structure 150 to rotate. In this way, the movements of the first rotating structure 140 and the second rotating structure 150 will not interfere with each other, ensuring that the scanner body 130 can rotate around the first axis L1 and the second axis L2 to meet the requirements for angle adjustment of the scanner body 130. Moreover, the rotation angles output by the first rotating structure 140 and the second rotating structure 150 are not restricted in principle, that is, the scanner body 130 can be rotated to the required position according to the scanning requirements; there is no restriction on the order of rotation of the first rotating structure 140 and the second rotating structure 150.

[0052] The three-dimensional monitoring laser scanner 100 of the above embodiment uses the first rotating structure 140 to drive the housing 122 to drive the scanner body 130 to rotate around the first axis L1, and uses the second rotating structure 150 to drive the scanner body 130 to rotate around the second axis L2, so that the scanner body 130 can rotate in all directions, thereby enabling better scanning, increasing the scanning range of the scanner body 130, and improving the working efficiency and quality of scanning. Moreover, the scanner body 130 can automatically adjust the rotation angle through the first rotating structure 140 and the second rotating structure 150 without manual adjustment, thereby avoiding the situation where the scanner body 130 drops due to manual adjustment and ensuring the accuracy of the measurement results.

[0053] Optionally, the first rotating structure 140 can drive the housing 122 to drive the scanner body 130 to rotate 360° around the first axis L1. It can be understood that the housing 122 is rotatably arranged on the mounting seat 121, the central axis of the housing 122 is the first axis L1, and coincides with the central axis of the mounting seat 121. When the first rotating structure 140 drives the housing 122 to drive the scanner body 130 to rotate, the rotation of the housing 122 will not be restricted or blocked by other components and can rotate at any angle to achieve a 360° rotation around the first axis L1360°.

[0054] Optionally, the housing 122 has a recessed portion 1221, and the recessed portion 1221 is recessed on the surface of the housing 122. The scanner body 130 is rotatably arranged in the recessed portion 1221. That is to say, the outer surface of the housing 122 is recessed to form the recessed portion 1221, and the scanner body 130 is rotatably arranged in the recessed portion 1221 around the second axis L2.

[0055] Optionally, the second rotating structure 150 can drive the scanner body 130 to rotate 0° to 270° around the second axis L2. It can be understood that the scanner body 130 is arranged in the recessed portion 1221 of the housing 122. Due to the blockage of the recessed portion 1221 and the limitation of the bottom wall of the recessed portion 1221, the scanner body 130 cannot perform scanning after rotating to certain positions. Therefore, the scanner body 130 can rotate 0° to 270° around the second axis L2.

[0056] Optionally, the recessed portion 1221 can be arranged to penetrate along the radial direction of the housing 122. That is to say, the housing 122 includes a first support portion and a second support portion, the first support portion and the second support portion are symmetrically arranged, the space between the first support portion and the second support portion is the through recessed portion 1221, the scanner body 130 is located between the first support portion and the second support portion, and is rotatably arranged on the first support portion and / or the second support portion, which can increase the rotation range of the scanner body 130 around the second axis L2.

[0057] Optionally, the housing 122 further includes a third support portion, which is disposed at the bottoms of the first support portion and the second support portion, and the third support portion is rotatably disposed in the mounting base 121. The third support portion is an annular housing, and the first support portion and the second support portion are supported by the third support portion. Optionally, the first support portion and the second support portion are protruding housings.

[0058] Of course, in other embodiments of the present application, the recess 1221 is recessed inward along the radial direction on one side of the housing 122. That is to say, the recess 1221 does not penetrate the housing 122 in the radial direction. After the scanner body 130 is installed in the recess 1221, the housing 122 surrounds the outside of the scanner body 130 at the bottom and three sides of the scanner body 130, and the scanner body 130 performs a scanning operation through the opening at the bottom and the opening at the top of the recess 1221.

[0059] See Figure 2 , in one embodiment, the first rotation structure 140 includes a first driving member 141, a first transmission assembly 142, and a first output member 143. The first output member 143 is connected to the housing 122 and extends along the first axis L1. The first transmission assembly 142 is drivingly connected to the first driving member 141 and the first output member 143; the first driving member 141 drives the first transmission assembly 142 to drive the first output member 143 to move, so that the first output member 143 drives the housing 122 and the scanner body 130 to rotate around the first axis L1.

[0060] The first driving member 141 is the power source of the first rotation structure 140, the first output member 143 is the component that outputs motion of the first rotation structure 140, and the first transmission assembly 142 realizes the transmission of rotational motion to transmit the rotational motion output by the first driving member 141 to the first output member 143. The first output member 143 is rotatably disposed in the mounting base 121, and the first output member 143 extends along the first axis L1 and is connected to the housing 122.

[0061] When the first driving member 141 works, the first driving member 141 drives the first transmission assembly 142 to move, and then the first transmission assembly 142 drives the first output member 143 to rotate around the first axis L1. Further, the first output member 143 can drive the housing 122 and the scanner body 130 thereon to rotate around the first axis L1, realizing the rotational control of the scanner body 130 around the first axis L1. Optionally, the first driving member 141 is a motor or the like. Optionally, the first output member 143 is a rotating shaft.

[0062] See Figure 2, in one embodiment, the first transmission assembly 142 includes a first gear 1421 and a second gear 1422. The first gear 1421 is disposed on the first driving member 141, the second gear 1422 is connected to the first output member 143, and the first gear 1421 meshes with the second gear 1422. When the first driving member 141 operates, the first driving member 141 drives the first gear 1421 to rotate. When the first gear 1421 rotates, it drives the second gear 1422 engaged therewith to rotate. Further, when the second gear 1422 rotates, it drives the first output member 143 to rotate relative to the mounting base 121, so that the first output member 143 drives the housing 122 and the scanner body 130 thereon to rotate about the first axis L1.

[0063] See Figure 2 , in one embodiment, the second gear 1422 includes an annular gear and a transfer plate. The transfer plate is disposed at the first end of the annular gear. The first gear 1421 is located inside the annular gear and meshes with the annular gear. The transfer plate is connected to the first output member 143. That is to say, the first gear 1421 is an external gear, the second gear 1422 is an internal gear, and the first gear 1421 is rotatably disposed inside the second gear 1422.

[0064] The first driving member 141 is located in the accommodation chamber. The second gear 1422 is fixedly connected to the first output member 143 and is rotatably disposed on the mounting base 121 through the first output member 143. The first gear 1421 meshes with the second gear 1422 inside the second gear 1422. When the first driving member 141 operates, the first driving member 141 can drive the first gear 1421 to drive the second gear 1422 to rotate. Further, the second gear 1422 can drive the housing 122 and the scanner body 130 thereon to rotate about the first axis L1 through the first output member 143.

[0065] Further, the second gear 1422 includes an annular gear and a transfer plate. The transfer plate is disposed at one end of the annular gear. The first output member 143 is fixedly connected to the transfer plate and passes through the transfer plate to be connected to the housing 122. The first gear 1421 is located outside the annular gear. The tooth portion of the annular gear is located inside the annular gear, that is, an internal gear. When the first driving member 141 drives the first gear 1421 to drive the annular gear engaged therewith to rotate, the annular gear can drive the first output member 143 to rotate through the transfer plate, so that the first output member 143 drives the housing 122 and the scanner body 130 thereon to rotate about the first axis L1.

[0066] Optionally, the first driving member 141 is disposed at the bottom of the housing 122 and extends toward the accommodating chamber. Of course, in other embodiments of the present application, the first driving member 141 may also be disposed on the mounting base 121. It should be noted that the installation position of the first driving member 141 is not restricted in principle. Whether the first driving member 141 is disposed on the housing 122 or the mounting base 121 does not affect the transmission of motion, as long as the first driving member 141 cooperates with the first transmission assembly 142 and the first output member 143 to control the rotation of the housing 122 about the first axis L1.

[0067] Of course, in other embodiments of the present application, both the first gear 1421 and the second gear 1422 are external gears. That is to say, the first gear 1421 and the second gear 1422 can be arranged side by side, the first gear 1421 is located outside the second gear 1422, and the rotation axis of the second gear 1422 is the second axis L2, so as to drive the first output member 143 to drive the housing 122 and the scanner body 130 thereon to rotate about the first axis L1.

[0068] Of course, in other embodiments of the present application, the type of the first transmission assembly 142 can also be a belt drive, a chain drive or other structures, as long as the transmission of motion can be achieved.

[0069] See Figure 2 , in an embodiment, the second rotation structure 150 includes a second driving member 151, a second transmission assembly 152 and a second output member 153. The second driving member 151 is disposed on the housing 122, the second output member 153 is rotatably disposed on the housing 122 and extends along the second axis L2, and the second transmission assembly 152 is in transmission connection with the second driving member 151 and the second output member 153. The second driving member 151 drives the second transmission assembly 152 to drive the second output member 153 to rotate, so that the second output member 153 drives the scanner body 130 to rotate about the second axis L2.

[0070] The second driving member 151 is the power source of the second rotation structure 150, the second output member 153 is the component that outputs motion of the second rotation structure 150, and the second transmission assembly 152 realizes the transmission of rotational motion to transmit the rotational motion output by the second driving member 151 to the second output member 153. The second output member 153 is rotatably disposed in the housing 122, and moreover, the second output member 153 extends along the second axis L2 and is connected to the scanner body 130.

[0071] When the second driving member 151 is working, the second driving member 151 drives the second transmission assembly 152 to move, and then the second transmission assembly 152 drives the second output member 153 to rotate around the second axis L2, and then the second output member 153 can drive the scanner body 130 to rotate around the second axis L2, so as to realize the rotation control of the scanner body 130 around the second axis L2. Optionally, the second driving member 151 is a motor, etc. Optionally, the second output member 153 is a rotating shaft.

[0072] See also Figure 2 In one embodiment, the second transmission assembly 152 includes a first transmission part 1521 and a second transmission part 1522. The first transmission part 1521 is disposed on the second driving member 151, and the second transmission part 1522 is disposed on the second output member 153. The first transmission part 1521 and the second transmission part 1522 are in transmission cooperation. When the second driving member 151 is working, the second driving member 151 drives the first transmission part 1521 to rotate. When the first transmission part 1521 rotates, the second transmission part 1522 that cooperates with it rotates. Then, when the second transmission part 1522 rotates, the second output member 153 is driven to rotate relative to the housing 122, so that the second output member 153 drives the scanner body 130 to rotate around the second axis L2.

[0073] See also Figure 2 Optionally, the first transmission part 1521 and the second transmission part 1522 are connected by a connecting belt 1523. The connecting belt 1523 is sleeved on the first transmission part 1521 and the second transmission part 1522, and when the first transmission part 1521 rotates, the second transmission part 1522 can be driven to rotate synchronously through the connecting belt 1523. Optionally, the first transmission part 1521, the second transmission part 1522 and the connecting belt 1523 are belt transmission structures or chain transmission structures. Of course, in other embodiments of the present application, the first transmission part 1521 and the second transmission part 1522 are gears, and the first transmission part 1521 and the second transmission part 1522 are directly meshed and connected.

[0074] It is worth noting that the structural form of the mounting seat 121 is not limited in principle, as long as the mounting seat 121 can be mounted on the base 110 and has a cavity and a rotatable mounting shell 122. Optionally, the mounting seat 121 is a square seat. Of course, in other embodiments of the present application, the mounting seat 121 can also be spherical, cylindrical or other shapes.

[0075] Optionally, the mounting base 121 has a hollow cavity, and the first rotating structure 140 and the second rotating structure 150 are disposed in the hollow cavity. The outer shell 122 is covered on the mounting base 121, and the outer shell 122 can enclose the hollow cavity to form an accommodation chamber. It should be noted that the structural form of the hollow cavity is not restricted in principle, as long as it does not affect the movement of the first rotating structure 140 and the second rotating structure 150. Optionally, the hollow cavity is generally spherical. Of course, in other embodiments of the present application, the hollow cavity can also be of other shapes.

[0076] Optionally, the bottom of the mounting base 121 has a fixing protrusion 1211, and the top of the base 110 has a fixing groove 111. The fixing protrusion 1211 is installed in the fixing groove 111, thereby reliably fixing the mounting base 121 to the fixing groove 111 and preventing the mounting base 121 from falling off the base 110. Moreover, the fixing protrusion 1211 is also detachably disposed in the fixing groove 111 to facilitate the quick disassembly of the base 110 and the mounting base 121, thereby facilitating the replacement of the 3D scanner body 130.

[0077] See Figure 1 and Figure 3 , in one embodiment, the 3D monitoring laser scanner 100 further includes a clamping structure 160. The clamping structure 160 is disposed in the base 110 and is used for clamping the mounting base 121. Figure 3 For Figure 1 is a cross-sectional view of the 3D monitoring laser scanner 100 shown in the horizontal direction. The clamping structure 160 is disposed in the mounting base 121 and can extend into the fixing groove 111. The end of the clamping structure 160 can abut against the fixing protrusion 1211 to fix the fixing protrusion 1211 to the fixing groove 111, thereby reliably fixing the mounting base 121 to the base 110.

[0078] The clamping structure 160 can output radial movement to switch between the clamping state and the release state. When no external force acts on the clamping structure 160, the clamping structure 160 maintains the clamping state. At this time, the clamping structure 160 extends radially and abuts against the fixing protrusion 1211 to realize the clamping of the fixing protrusion 1211 and axially limit the fixing protrusion 1211, thereby fixing the mounting base 121 to the base 110 and preventing the fixing protrusion 1211 from protruding from the fixing groove 111. When an external force acts on the clamping structure 160, the clamping structure 160 can move radially outward, that is, away from the fixing protrusion 1211. At this time, the clamping structure 160 is in the release state, and the mounting base 121 can be installed on the base 110 or disassembled from the base 110.

[0079] When the scanner body 130 needs to be replaced, the clamping structure 160 is operated so that the end of the clamping structure 160 disengages from the fixing protrusion 1211. At this time, the fixing protrusion 1211 is no longer restricted by the radial abutment, and the mounting base 121 can be pulled out from the base 110, thereby realizing the disassembly of the scanner body 130. When installing the scanner body 130, the clamping structure 160 is operated so that the clamping structure 160 moves radially outward. At this time, the fixing protrusion 1211 of the mounting base 121 can be installed in the fixing groove 111. Subsequently, the clamping structure 160 is released, and the clamping structure 160 switches from the released state to the clamping state, and the clamping structure 160 can clamp the fixing protrusion 1211.

[0080] That is to say, in the present application, the clamping structure 160 can realize the detachable connection between the mounting base 121 and the base 110, so as to realize the disassembly and replacement of the scanner body 130 to meet the scanning requirements of different scenarios. During disassembly, directly operating the clamping structure 160 (applying an external force to the clamping structure 160) can cause the clamping structure 160 to disengage from the fixing protrusion 1211, facilitating the disassembly of the mounting base 121. After the mounting base 121 is installed, releasing the clamping structure 160 can realize the reliable fixation of the mounting base 121. In this way, it is convenient to replace the scanner body 130 and convenient for users to use.

[0081] See Figure 3 , in an embodiment, the clamping structure 160 includes two clamping components 161. The two clamping components 161 are symmetrically arranged on both sides of the fixing protrusion 1211 and are movably arranged in the base 110. The end of the clamping component 161 can abut against the fixing protrusion 1211. The two clamping components 161 are symmetrically arranged on both sides of the fixing protrusion 1211 along the radial direction. In the present application, the radial direction refers to the radius direction of the housing 122. The clamping component 161 can move along the radial direction to abut against or disengage from the fixing protrusion 1211, realizing the clamping or release of the fixing protrusion 1211.

[0082] When the two clamping components 161 move along the radial direction, they can approach or move away from each other. When the two clamping components 161 approach each other, the ends of the two clamping components 161 can abut against the fixing protrusion 1211, realizing the axial limit of the fixing protrusion 1211 and preventing the fixing protrusion 1211 from disengaging from the fixing groove 111, thereby ensuring that the mounting base 121 is reliably fixed to the base 110. When the two clamping components 161 move away from each other, the ends of the two clamping components 161 can gradually disengage from the fixing protrusion 1211. At this time, the fixing protrusion 1211 can protrude from the fixing groove 111, facilitating the disassembly and assembly of the mounting base 121, and further facilitating the replacement of the scanner body 130.

[0083] See Figure 3, in one embodiment, the clamping assembly 161 includes a clamping rod 1611 and a first elastic member 1612. The clamping rod 1611 is movably disposed on the base 110, and one end thereof extends toward the fixing protrusion 1211. One end of the first elastic member 1612 is fixed to the base 110, and the other end is connected to the clamping rod 1611. The elastic force of the first elastic member 1612 causes the clamping rod 1611 to remain in contact with the fixing protrusion 1211.

[0084] The structures of the two clamping assemblies 161 are the same. The clamping rod 1611 is the main component for the clamping assembly 161 to achieve clamping and limiting. The clamping rod 1611 extends radially. One end of the clamping rod 1611 can contact or disengage from the fixing protrusion 1211. The other end of the clamping rod 1611 is connected to one end of the first elastic member 1612, and the other end of the first elastic member 1612 is fixed to the base 110. The elastic force of the first elastic member 1612 can push the clamping rod 1611 to move, so that the clamping rod 1611 remains in contact with the fixing protrusion 1211 under normal conditions.

[0085] When the scanner body 130 needs to be disassembled and replaced, an external force away from the fixing protrusion 1211 is applied to the clamping rod 1611, so that the clamping rod 1611 overcomes the elastic force of the first elastic member 1612 and can move radially away from the fixing protrusion 1211. When the end of the clamping rod 1611 disengages from the fixing protrusion 1211, the mounting base 121 can be pulled out from the base 110. Optionally, the first elastic member 1612 is a spring or an elastic column, etc.

[0086] See Figure 2 and Figure 3 , in one embodiment, the outer wall of the fixing protrusion 1211 has symmetric limiting grooves 1212, and the clamping rod 1611 can be moved into or out of the corresponding limiting grooves 1212. That is to say, when the clamping assembly 161 clamps the fixing protrusion 1211, the clamping rod 1611 can extend into the limiting grooves 1212, and the cooperation between the clamping rod 1611 and the limiting grooves 1212 can ensure that the clamping rod 1611 reliably performs axial limiting on the limiting grooves 1212.

[0087] See Figure 3 , in one embodiment, the clamping structure 160 further includes a sliding assembly 162 and two linkage assemblies 163. The base 110 has a sliding groove 112. The sliding assembly 162 is slidably disposed in the sliding groove 112. The two linkage assemblies 163 are respectively disposed at both ends of the sliding assembly 162 and are movably connected to the corresponding clamping assemblies 161. When the sliding assembly 162 moves, it can drive the linkage assemblies 163 to drive the corresponding clamping assemblies 161 to move, so that the two clamping assemblies 161 approach or move away from each other.

[0088] The middle part of the base 110 is disposed in the sliding groove 112. The two sides of the sliding groove 112 are slidably connected to the sliding components 162, and the sliding components 162 are located on the sides of the two clamping components 161. The two ends of the sliding component 162 respectively correspond to the two clamping components 161. The two ends of the sliding component 162 are respectively connected to a linkage component 163, and each linkage component 163 is connected to the clamping rod 1611 of a clamping component 161. When the sliding component 162 moves, the sliding component 162 can drive the corresponding clamping rod 1611 to compress or release the first elastic member 1612 through the linkage component 163, so that the clamping rod 1611 is disengaged from or abuts against the fixing protrusion 1211.

[0089] See Figure 3 , in an embodiment, the sliding component 162 includes a sliding member 1621 and two second elastic members 1622. The sliding member 1621 has two connecting rods 16211, and the two connecting rods 16211 respectively correspond to the two clamping components 161. One end of the second elastic member 1622 is fixed to the base 110, and the other end is connected to the connecting rod 16211. The elastic force of the second elastic member 1622 causes the connecting rod 16211 to move away from the clamping component 161. The linkage component 163 connects the sliding member 1621 and the clamping rod 1611 of the clamping component 161.

[0090] The sliding member 1621 is slidably disposed in the sliding groove 112. The two connecting rods 16211 of the sliding member 1621 respectively correspond to the two clamping components 161, and the two connecting rods 16211 are respectively rotatably connected to one end of the linkage component 163. The other end of the linkage component 163 is rotatably connected to the clamping rod 1611 of the corresponding clamping component 161. When the sliding member 1621 is pressed, the sliding member 1621 drives the linkage component 163 to move through the connecting rod 16211. Furthermore, the linkage component 163 can drive the clamping rod 1611 to move radially, so that the two clamping rods 1611 approach or move away from each other.

[0091] Moreover, a second elastic member 1622 is disposed between the connecting rod 16211 and the base 110. One end of the second elastic member 1622 is connected to one end of the connecting rod 16211, and the other end of the second elastic member 1622 is fixed to the base 110. The elastic force of the second elastic member 1622 can cause the sliding member 1621 to move in a direction away from the fixed protrusion 1211. Further, the sliding member 1621 can drive the clamping rod 1611 to abut against the fixed protrusion 1211 through the connecting rod 16211 and the linkage assembly 163. When the sliding member 1621 is pressed, the sliding member 1621 presses the second elastic member 1622 through the connecting rod 16211. Further, the linkage assembly 163 drives the clamping rod 1611 to press the first elastic member 1612, so that the clamping rod 1611 is disengaged from the fixed air vent. After the sliding member 1621 is released, the second elastic member 1622 drives the sliding member 1621 to reset, and the first elastic member 1612 drives the clamping rod 1611 to reset.

[0092] Optionally, the sliding member 1621 further includes an operating rod. The operating rod is connected to two connecting rods 16211. When the operating rod slides in the sliding groove 112, it can synchronously drive the two connecting rods 16211 to move. Optionally, the two connecting rods 16211 are bent at both ends of the operating rod to form a structure similar to a concave shape, which is convenient for the connecting rod 16211 to correspond to the clamping rod 1611 of the clamping assembly 161. Optionally, the operating rod and the two connecting rods 16211 are of an integral structure.

[0093] See Figure 3 , in an embodiment, the linkage assembly 163 includes a first connecting portion 1631, a second connecting portion 1632, and a linkage rod 1633. The first connecting portion 1631 and the second connecting portion 1632 are rotatably disposed at both ends of the linkage rod 1633. And the first connecting portion 1631 is slidably disposed on the clamping rod 1611 of the clamping assembly 161, and the second connecting portion 1632 is slidably disposed on the sliding member 1621 of the sliding assembly 162. Optionally, the first connecting portion 1631 and the second connecting portion 1632 are connecting blocks.

[0094] One end of the linkage rod 1633 is rotatably connected to the first connecting portion 1631, and the first connecting portion 1631 is slidably disposed on the clamping rod 1611. The other end of the linkage rod 1633 is rotatably connected to the second connecting portion 1632, and the second connecting portion 1632 is slidably disposed on the connecting rod 16211 of the sliding member 1621. When the sliding member 1621 moves, the linkage rod 1633 can move along the clamping rod 1611 through the first connecting portion 1631, and can also move along the connecting rod 16211 through the second connecting portion 1632. Further, the linkage rod 1633 drives the clamping rod 1611 to move synchronously to clamp or release the fixed protrusion 1211.

[0095] When replacing the scanner body 130, press the sliding member 1621. The sliding member 1621 compresses the second elastic member 1622 through the connecting rod 16211, so that the second connecting portion 1632 moves along the length direction of the connecting rod 16211 (i.e., Figure 3 the front-back direction shown), and the second connecting portion 1632 drives the linkage rod 1633 to move left and right ( Figure 3 direction), while moving back and forth ( Figure 3 direction), so as to drive the first connecting portion 1631 to move along the length direction of the clamping rod 1611 (i.e., Figure 3 the left-right direction shown), and then the first connecting portion 1631 drives the clamping rod 1611 to move radially to abut against or disengage from the fixing protrusion 1211, realizing the quick fixing and disassembly of the mounting seat 121 and facilitating the replacement of the scanner body 130.

[0096] Of course, in other embodiments of the present application, the fixing protrusion 1211 and the fixing groove 111 can also be reliably fixed by an interference fit; the fixing protrusion 1211 and the fixing groove 111 can also be reliably fixed by a threaded connection; the fixing protrusion 1211 and the fixing groove 111 can also be reliably fixed by a clamping edge and a clamping groove. Exemplarily, the clamping edge is provided on the outer wall of the fixing protrusion 1211, the clamping groove is provided on the inner wall of the fixing groove 111, and the clamping groove can be clamped in the clamping groove; or, the fixing protrusion 1211 and the fixing groove 111 can also adopt other structural forms, as long as the mounting seat 121 can be reliably fixed to the base 110.

[0097] See Figure 1 and Figure 2 , in an embodiment, the three-dimensional monitoring laser scanner 100 further includes three feet 170. The three feet 170 are provided at one end of the base 110 away from the mounting seat 121, and the three feet 170 are symmetrically distributed. The three feet 170 form a triangular bracket structure to support the three-dimensional monitoring laser scanner 100 to a reference plane such as the ground, the tabletop, etc., so that there is a certain distance between the scanner body 130 and the reference plane, facilitating the scanning operation of the scanner body 130.

[0098] See Figure 1 and Figure 2, in one embodiment, each leg 170 includes a first arm 171 and a second arm 172. The top of the first arm 171 is connected to the base 110, and the bottom of the first arm 171 is vertically movably disposed in the second arm 172. The three first arms 171 are fixedly disposed at the bottom of the base 110, and each first arm 171 corresponds to a second arm 172. Moreover, the first arm 171 is movably disposed in the second arm 172 to adjust the height position of the base 110 to meet the height requirements of the scanner body 130. Furthermore, the moving distances of the first arms 171 and the second arms 172 among the three legs 170 can be equal or different to adapt to reference planes with different levels.

[0099] See Figure 1 and Figure 2 , in one embodiment, each leg 170 further includes a limiting member 173. The first arm 171 is movably disposed in the second arm 172. The limiting member 173 is telescopically disposed on the outer wall of the first arm 171. The second arm 172 has a plurality of limiting holes 1721 along the axial direction. The limiting holes 1721 penetrate through the second arm 172 along the radial direction. When the first arm 171 is located in the second arm 172, the limiting member 173 can be clamped in the corresponding limiting hole 1721.

[0100] The limiting member 173 is telescopically disposed on the outer wall of the first arm 171. When the first arm 171 moves along the second arm 172, the limiting member 173 can pop out from one of the limiting holes 1721. When adjusting the height of the first arm 171 and the second arm 172, press the limiting member 173, and the limiting member 173 retracts from the limiting hole 1721. At this time, the first arm 171 and the second arm 172 can be moved to the required height, and then the limiting member 173 can pop out from another limiting hole 1721. By clamping the limiting member 173 in the limiting hole 1721, it is ensured that the first arm 171 and the second arm 172 maintain a predetermined height.

[0101] In other embodiments of the present application, the inner wall of the second arm 172 has an internal thread, and the outer wall of the first arm 171 has an external thread. The second arm 172 and the first arm 171 are threadedly connected. The adjustment of the height of the first arm 171 and the second arm 172 can also be achieved through the cooperation of the internal thread and the external thread. Of course, the first arm 171 and the second arm 172 can also be connected by a damping method or other liftable methods.

[0102] When the three-dimensional monitoring laser scanner 100 of the present application is in use, the first driving member 141 can drive the first gear 1421 to rotate. When the first gear 1421 rotates, it can drive the second gear 1422 meshing with it to rotate. Further, the second gear 1422 drives the first output member 143 to rotate. When the first output member 143 rotates, it can drive the housing 122 and the scanner body 130 thereon to rotate synchronously. Subsequently, the second driving member 151 can drive the first transmission part 1521 to drive the second transmission part 1522 to rotate through the connecting belt 1523. Further, the second transmission part 1522 drives the second output member 153 to rotate. When the second output member 153 rotates, it can drive the scanner body 130 to rotate synchronously. Through the cooperation of the first rotation structure 140 and the second rotation structure 150, the scanner body 130 can be rotated to any required position, so that the scanner body 130 can accurately perform automatic scanning, that is, it can be arbitrarily positioned and can also perform full-range automatic scanning, realizing true blind-spot-free scanning.

[0103] Moreover, when replacing the scanner body 130, press the sliding member 1621. The sliding member 1621 compresses the second elastic member 1622 through the connecting rod 16211, so that the second connecting portion 1632 moves along the length direction of the connecting rod 16211 (that is, Figure 3 the front-back direction shown), and the second connecting portion 1632 drives the linkage rod 1633 to move left and right ( Figure 3 direction) while moving back and forth ( Figure 3 direction), thereby driving the first connecting portion 1631 to move along the length direction of the clamping rod 1611 (that is, Figure 3 the left-right direction shown). Further, the first connecting portion 1631 drives the clamping rod 1611 to move radially to abut against or disengage from the fixing protrusion 1211, realizing the quick fixing and disassembly of the mounting seat 121 and facilitating the replacement of the scanner body 130.

[0104] For the three-dimensional monitoring laser scanner 100 of the present application, the first rotation structure 140 is adopted to drive the housing 122 to drive the scanner body 130 to rotate around the first axis L1, and the second rotation structure 150 is adopted to drive the scanner body 130 to rotate around the second axis L2, so that the scanner body 130 can rotate in all directions, thereby enabling better scanning, increasing the scanning range of the scanner body 130, and improving the working efficiency and working quality of scanning. Moreover, the scanner body 130 can automatically adjust the rotation angle through the first rotation structure 140 and the second rotation structure 150 without manual adjustment, thereby avoiding the situation that the scanner body 130 drops due to manual adjustment and ensuring the accuracy of the measurement results.

[0105] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0106] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A three-dimensional monitoring laser scanner, characterized in that: include: Pedestal; The mounting assembly comprises a mounting seat and a housing, wherein the mounting seat is arranged on the base, and the housing is rotatably arranged on the mounting seat and encloses a receiving chamber; The scanner body is rotatably disposed on the housing and exposed to the outside of the housing; A first rotating structure is disposed in the accommodating chamber, and an output end of the first rotating structure is connected to the housing to drive the housing to drive the scanner body to rotate around a first axis relative to the base; as well as A second rotating structure is disposed in the accommodating chamber, and an output end of the second rotating structure is connected to the scanner body to drive the scanner body to rotate around a second axis relative to the housing; Wherein, the first axis is perpendicular to the second axis.

2. The three-dimensional monitoring laser scanner according to claim 1, characterized in that: The first rotating structure includes a first driving member, a first transmission assembly and a first output member, the first output member is connected to the housing and extends along the first axis, and the first transmission assembly is transmission-connected between the first driving member and the first output member; The first driving member drives the first transmission assembly to drive the first output member to move, so that the first output member drives the housing and the scanner body to rotate around the first axis.

3. The three-dimensional monitoring laser scanner according to claim 2, characterized in that: The first transmission assembly includes a first gear and a second gear, the first gear is arranged on the first driving member, the second gear is connected to the first output member, and the first gear is meshed with the second gear; The second gear includes an annular gear and an adapter plate, the adapter plate is arranged at the first end of the annular gear, the first gear is located on the inner side of the annular gear and meshes with the annular gear, the adapter plate is connected to the first output member, or the first gear and the second gear are both external gears.

4. The three-dimensional monitoring laser scanner according to claim 1, characterized in that: The second rotating structure comprises a second driving member, a second transmission assembly and a second output member, wherein the second driving member is disposed on the housing, the second output member is rotatably disposed on the housing and extends along the second axis, and the second transmission assembly is transmission-connected between the second driving member and the second output member; The second driving member drives the second transmission assembly to drive the second output member to rotate, so that the second output member drives the scanner body to rotate around the second axis.

5. The three-dimensional monitoring laser scanner according to claim 4, characterized in that: The second transmission assembly includes a first transmission part and a second transmission part, the first transmission part is arranged on the second driving member, the second transmission part is arranged on the second output member, and the first transmission part and the second transmission part are in transmission cooperation; The first transmission part and the second transmission part are gears, or the first transmission part and the second transmission part are connected by a connecting belt transmission.

6. The three-dimensional monitoring laser scanner according to any one of claims 1 to 5, characterized in that: The three-dimensional monitoring laser scanner further comprises a clamping structure, which is arranged in the base and is used to clamp the fixing protrusion of the mounting seat; The clamping structure comprises two clamping assemblies, which are symmetrically arranged on both sides of the fixing protrusion and movably arranged in the base, and the ends of the clamping assemblies can abut against the fixing protrusion; The clamping assembly includes a clamping rod and a first elastic member. The clamping rod is movably arranged on the base, and one end of the clamping rod extends toward the fixed protrusion. One end of the first elastic member is fixed to the base, and the other end is connected to the clamping rod. The elastic force of the first elastic member keeps the clamping rod against the fixed protrusion.

7. The three-dimensional monitoring laser scanner according to claim 6, characterized in that: The clamping structure further comprises a sliding assembly and two linkage assemblies, the base has a sliding groove, the sliding assembly can be slidably arranged in the sliding groove, and the two linkage assemblies are respectively arranged at both ends of the sliding assembly and can be movably connected to the corresponding clamping assembly; When the sliding component moves, it can drive the linkage component to drive the corresponding clamping component to move, so that the two clamping components move closer to each other or farther away from each other.

8. The three-dimensional monitoring laser scanner according to claim 7, characterized in that: The sliding assembly includes a sliding member and two second elastic members, the sliding member has two connecting rods, the two connecting rods correspond to the two clamping assemblies respectively, one end of the second elastic member is fixed to the base, and the other end is connected to the connecting rod, the elastic force of the second elastic member makes the connecting rod stay away from the clamping assembly, and the linkage assembly connects the sliding member and the clamping rod of the clamping assembly; And / or, the linkage assembly includes a first connecting part, a second connecting part and a connecting rod, the first connecting part and the second connecting part are rotatably arranged at both ends of the connecting rod, and the first connecting part is arranged on the clamping rod of the clamping assembly, and the second connecting part is slidably arranged on the sliding part of the sliding assembly.

9. The three-dimensional monitoring laser scanner according to any one of claims 1 to 5, characterized in that: The three-dimensional monitoring laser scanner further includes three legs, the three legs are arranged at one end of the base away from the mounting seat, and the three legs are symmetrically distributed; Each of the supporting legs comprises a first supporting arm and a second supporting arm, the top of the first supporting arm is connected to the base, and the bottom of the first supporting arm can be lifted and lowered in the second supporting arm.

10. The three-dimensional monitoring laser scanner according to claim 9, characterized in that: Each of the legs further comprises a limiting component, the first arm is movably disposed in the second arm, the limiting component is telescopically disposed on the outer wall of the first arm, the second arm has a plurality of limiting holes along the axial direction, the limiting holes are arranged through the radial direction of the second arm, the first arm is located in the second arm, and the limiting component can be clamped in the corresponding limiting hole; Alternatively, the inner wall of the second arm has an internal thread, the outer wall of the first arm has an external thread, and the second arm is threadedly connected to the first arm.

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