Three-dimensional space data acquisition and detection system

Abstract

The utility model discloses a three-dimensional space data acquisition and detection system, which comprises a chassis erected on the ground, a sampling module used for forming an automatic sampling structure, a detection module used for detecting geological data, and an advancing module used for providing advancing support for the detection system, the sampling module is arranged above the chassis, the detection module is arranged at the bottom of the chassis corresponding to the sampling module, and the advancing module is assembled at the side part of the chassis. The geological data can be preserved, manual operation of operators is not needed, the advancing module is arranged, the detection system can be driven to advance automatically, the supporting structure is arranged, stable supporting can be provided for the detection system during detection so that the detection accuracy can be guaranteed, all the parts are independently arranged, and the situation that the whole equipment is scrapped due to damage of a certain part is avoided; the detection progress is ensured.

Description

Technical Field

[0001] This utility model relates to the field of data acquisition and detection technology, and in particular to a three-dimensional spatial data acquisition and detection system. Background Technology

[0002] In the current technology, with rapid economic development, urban roads are becoming increasingly complex, leading to rapidly changing underground conditions. When conditions such as underground roadbed voids, broken lines, or pipe leaks are not detected in time, emergencies such as ground collapses, water and power outages can easily occur. Therefore, there is a need for a detection device or equipment to regularly detect the structure and properties of underground media, to discover hidden dangers in advance, and to prevent problems before they occur. Currently, most detection devices, such as underground pipeline survey equipment, are handheld or push-type, and are used for static detection, resulting in low detection efficiency and a high risk of inaccurate detection. Moreover, push-type detection devices are usually large in size due to the integration of many functional modules, making them difficult for users to push and extremely inconvenient to carry, thus making it impossible to conduct underground detection over long periods and large areas. On the other hand, large detection equipment integrates many functional modules, requiring a high level of professional skills from the user, and can only view the results on-site, making it difficult to retain data. Furthermore, since its various parts are integrated, damage to one part can render the entire equipment unusable, affecting the detection progress.

[0003] Chinese utility model patent application number 202021937408.9 discloses an underground pipeline gas data acquisition and analysis device, including an inspection robot and a gas detector, as well as a retractable protective cover. The inspection robot also includes a control system. The inspection robot and the gas detector are housed inside the retractable protective cover. The gas detector is connected to the inspection robot via a telescopic device. The control system is connected to both the telescopic device and the retractable protective cover. However, this underground pipeline gas data acquisition and analysis device requires manual operation by personnel to acquire and detect data. It cannot automatically acquire and detect geological data of the target area. Furthermore, it can only view the results on-site, making data retention difficult. Since its components are integrated, damage to any part will render the entire device unusable, affecting the detection progress. Utility Model Content

[0004] The purpose of this invention is to provide a three-dimensional spatial data acquisition and detection system.

[0005] To achieve the above objectives, the technical solution proposed by this utility model is as follows:

[0006] A three-dimensional spatial data acquisition and detection system includes a chassis mounted on the ground, a sampling module for forming an automatic sampling structure, a detection module for detecting geological data, and a travel module for providing travel support for the detection system. The sampling module is arranged above the chassis, the detection module is configured at the bottom of the chassis corresponding to the sampling module, and the travel module is mounted on the side of the chassis.

[0007] The sampling module includes a sampling frame, a sampling top frame, a sampling box, and a gripping mechanism. The sampling frame is located on the upper end of the chassis and is fixedly connected to the chassis. The sampling top frame is located on one side of the upper end of the sampling frame and is fixedly connected to the sampling frame. The upper end of the sampling top frame has an opening structure. The sampling box is placed inside the sampling top frame and has a handle structure on its upper part. The gripping mechanism is arranged on the upper end of the sampling frame away from the sampling top frame.

[0008] The gripping mechanism includes a mounting servo, a mounting base plate, a support arm assembly, a connecting assembly, and a clamping assembly. The mounting servo is located on the upper end of the sampling frame away from the sampling top frame and is fixedly connected to the sampling frame. The output end of the mounting servo faces upward. The mounting base plate is located on the output end of the mounting servo and is fixedly connected to the output end of the mounting servo. The support arm assembly is arranged on the upper end of the mounting base plate. The connecting assembly is assembled on the end of the support arm assembly away from the mounting base plate. The clamping assembly is assembled on the end of the connecting assembly away from the support arm assembly.

[0009] The support arm assembly includes a support arm servo and a mounting arm. The support arm servo is provided in two sets, which are arranged side by side at intervals on the upper end of the mounting base and fixedly connected to the mounting base. The output end of the support arm servo is arranged horizontally. The mounting arm is provided in two sets, which are respectively located at the output end of the two sets of support arm servos and one end of each set is fixedly connected to the output end of the corresponding support arm servo.

[0010] The connecting assembly includes a connecting servo and a connecting arm. The connecting servo is located at the end of one of the two sets of mounting arms away from the mounting arm servo, and its output end is fixedly connected to the mounting arm. There are two sets of connecting arms, which are arranged side by side at intervals on the side of the connecting servo, and one end of each set is fixedly connected to the connecting servo.

[0011] The gripping assembly includes a rotating servo motor, gripping arms, a gripping end plate, a gripping servo motor, and sampling grippers. The rotating servo motor is located at the end of the two sets of connecting arms away from the connecting servo motor and is fixedly connected to the connecting arms. The output end of the rotating servo motor passes through the connecting arms. There are two sets of gripping arms, which are arranged side by side at intervals at the output end of the rotating servo motor, with one end of each set fixedly connected to the output end of the rotating servo motor. The gripping end plate is located at the end of the two sets of gripping arms away from the rotating servo motor and is fixedly connected to the gripping arms. The gripping servo motor is located on one side of the gripping end plate and is fixedly connected to the gripping end plate. There are two sets of sampling grippers, which are symmetrically arranged at the end of the gripping end plate away from the gripping arms, corresponding to the gripping servo motor, and are rotatably connected to the gripping end plate via a connecting rod. The output end of the rotating servo motor is connected to the sampling grippers via a transmission gear and a swing arm.

[0012] The detection module includes a detection base, a signal transmitter, and a signal receiver. The detection base is located at the bottom of the chassis and is fixedly connected to the chassis. The signal transmitter and the signal receiver are arranged side by side at intervals at the bottom of the detection base and are fixedly connected to the detection base.

[0013] The travel module includes a travel motor, a travel gearbox, travel rollers, and support components. The travel motor is located on the upper inner side of the chassis and is fixedly connected to the chassis. The travel gearbox is located at one end of the chassis, and its input end is connected to the output end of the travel motor via a drive shaft. There are two sets of travel rollers, each set consisting of two rollers arranged side by side at intervals. The two sets of travel rollers are symmetrically arranged at both ends of the chassis and are rotatably connected to the chassis via a rotating shaft. The output end of the travel gearbox is connected to the travel rollers via a transmission gear and a rotating shaft. There are two sets of support components, symmetrically arranged on both sides of the chassis.

[0014] The support assembly includes a support cylinder and a support base plate. There are two sets of support cylinders, which are arranged side by side at intervals on one side of the chassis and are fixedly connected to the chassis. The output end of the support cylinder is oriented downwards. There are two sets of support base plates, which are respectively located at the output ends of the two sets of support cylinders and are fixedly connected to the output ends of the corresponding support cylinders.

[0015] It also includes a high-definition camera and an electronic control unit. The high-definition camera is mounted on the upper part of one end of the sampling frame via a bracket and is fixedly connected to the sampling frame. The electronic control unit is located on the upper inner side of the chassis and is fixedly connected to the chassis. The electronic control unit is electrically connected to the mounting servo, the support arm servo, the connecting servo, the rotating servo, the clamping servo, the signal transmitter, the signal receiver, the travel motor, the support cylinder, and the high-definition camera.

[0016] The beneficial effects of this utility model are:

[0017] Equipped with a sampling module and a detection module, it can automatically collect and detect geological data of the target area and retain the geological data without manual operation. It is equipped with a travel module to drive the detection system to move automatically and has a support structure to provide stable support for the detection system during detection to ensure detection accuracy. Each part is set independently to avoid the failure of the whole equipment due to the damage of a part and to ensure the progress of detection. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the sampling module and chassis of this utility model.

[0020] Figure 3 This is a schematic diagram of the gripping mechanism of this utility model;

[0021] Figure 4 This is a cross-sectional view of the detection module and chassis of this utility model in conjunction;

[0022] Figure 5 This is the electrical connection diagram of this utility model.

[0023] In the diagram: 1. Chassis; 2. Sampling frame; 3. Sampling top frame; 4. Sampling box; 5. Mounting servo; 6. Mounting base plate; 7. Support arm servo; 8. Mounting support arm; 9. Connecting servo; 10. Connecting support arm; 11. Rotating servo; 12. Clamping support arm; 13. Clamping end plate; 14. Clamping servo; 15. Sampling gripper; 16. Detector base; 17. Signal transmitter; 18. Signal receiver; 19. Travel motor; 20. Travel gearbox; 21. Travel roller; 22. Support cylinder; 23. Support base plate; 24. High-definition camera; 25. Electronic control unit. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings.

[0025] A three-dimensional spatial data acquisition and detection system includes a chassis 1, which is mounted on the ground. It also includes a sampling module for forming an automatic sampling structure, a detection module for detecting geological data, and a travel module for providing support for the system's movement. The sampling module is positioned above the chassis 1, the detection module is positioned at the bottom of the chassis 1 corresponding to the sampling module, and the travel module is mounted on the side of the chassis 1. A schematic diagram of the overall structure of this invention is shown below. Figure 1 As shown.

[0026] The sampling module includes a sampling frame 2, a sampling top frame 3, a sampling box 4, and a gripping mechanism. The sampling frame 2 is located on the upper end of the chassis 1 and is fixedly connected to the chassis 1. The sampling top frame 3 is located on one side of the upper end of the sampling frame 2 and is fixedly connected to the sampling frame 2. The upper end of the sampling top frame 3 has an opening structure. The sampling box 4 is placed inside the sampling top frame 3 and has a handle structure on its upper part. The gripping mechanism is arranged on the upper end of the sampling frame 2 away from the sampling top frame 3. The sampling module, through the cooperation of the sampling frame 2, the sampling top frame 3, the sampling box 4, and the gripping mechanism, constitutes an automatic sampling structure to realize the detection of samples. The measurement system automatically samples the target area. The sampling frame 2 provides mounting support for the sampling top frame 3 and the grasping mechanism. The sampling top frame 3 serves as the upper mounting structure of the sampling frame 2, thus providing mounting support for the sampling box 4. The sampling box 4 serves as a detachable storage structure inside the sampling top frame 3 for storing samples. The grasping mechanism automatically collects samples from the target area and places them in the sampling box 4 to meet the needs of researchers for analyzing geological data of the target area through samples. A schematic diagram of the sampling module and chassis 1 in this invention is shown below. Figure 2 As shown.

[0027] The gripping mechanism includes a mounting servo motor 5, a mounting base plate 6, a support arm assembly, a connecting assembly, and a clamping assembly. The mounting servo motor 5 is located on the upper end of the sampling frame 2, away from the sampling top frame 3, and is fixedly connected to the sampling frame 2. The output end of the mounting servo motor 5 faces upward. The mounting base plate 6 is located on the output end of the mounting servo motor 5 and is fixedly connected to it. The support arm assembly is arranged on the upper end of the mounting base plate 6. The connecting assembly is assembled on the end of the support arm assembly away from the mounting base plate 6. The clamping assembly is assembled on the end of the connecting assembly away from the support arm assembly. The gripping mechanism utilizes the mounting servo motor 5, the mounting base plate 6, the support arm assembly, the connecting assembly, and the clamping assembly. The system uses a combination of components to automatically collect samples from the target area and place them in the sampling box 4. The mounting servo motor 5 provides mounting support for the mounting base 6 and rotates it by a certain angle. The mounting base 6 provides mounting support for the support arm assembly and, under the action of the mounting servo motor 5, rotates the support arm assembly by a certain angle. The support arm assembly provides mounting support for the connecting assembly. The connecting assembly provides mounting support for the gripping assembly and rotates the gripping assembly by a certain angle. The gripping assembly, together with the connecting assembly and the support arm assembly, forms a gripping structure to grip the sample. A schematic diagram of the gripping mechanism of this invention is shown below. Figure 3 As shown.

[0028] The support arm assembly includes a support arm servo 7 and a mounting arm 8. Two sets of support arm servos 7 are arranged side-by-side at intervals on the upper end of the mounting base 6 and are fixedly connected to the mounting base 6. The output ends of the support arm servos 7 are horizontally arranged. Two sets of mounting arms 8 are respectively located at the output ends of the two sets of support arm servos 7, with one end fixedly connected to the output end of the corresponding support arm servo 7. The support arm assembly, through the cooperation of the support arm servos 7 and the mounting arms 8, forms a primary support arm structure, thereby providing mounting support for the connecting assembly. The support arm servos 7 provide mounting support for the mounting arms 8 and drive the mounting arms 8 to rotate at a certain angle. The mounting arms 8 provide mounting support for the connecting assembly and, under the action of the support arm servos 7, drive the connecting assembly to rotate at a certain angle.

[0029] The connecting assembly includes a connecting servo motor 9 and a connecting arm 10. The connecting servo motor 9 is located at the end of the two sets of mounting arms 8 away from the arm servo motor 7, and its output end is fixedly connected to the mounting arm 8. There are two sets of connecting arms 10, which are arranged side by side at intervals on the side of the connecting servo motor 9, and one end of each set is fixedly connected to the connecting servo motor 9. The connecting assembly, through the cooperation of the connecting servo motor 9 and the connecting arm 10, forms a two-stage support structure, thereby providing mounting support for the clamping assembly and driving the clamping assembly to rotate at a certain angle. Specifically, the connecting servo motor 9 is used to provide mounting support for the connecting arm 10 and drive the connecting arm 10 to rotate at a certain angle relative to the mounting arm 8. The connecting arm 10 is used to provide mounting support for the clamping assembly and, under the action of the connecting servo motor 9, drives the clamping assembly to rotate at a certain angle.

[0030] The gripping assembly includes a rotating servo motor 11, gripping arms 12, gripping end plates 13, gripping servo motors 14, and sampling grippers 15. The rotating servo motor 11 is located at the end of the two sets of connecting arms 10 away from the connecting servo motor 9 and is fixedly connected to the connecting arms 10. The output end of the rotating servo motor 11 passes through the connecting arms 10. There are two sets of gripping arms 12, which are arranged side by side at intervals at the output end of the rotating servo motor 11, with one end connected to the output end of the rotating servo motor 11. The output end is fixedly connected. The clamping end plate 13 is located at the end of the two sets of clamping arms 12 away from the rotating servo motor 11 and is fixedly connected to the clamping arms 12. The clamping servo motor 14 is located on one side of the clamping end plate 13 and is fixedly connected to the clamping end plate 13. There are two sets of sampling claws 15. The two sets of sampling claws 15 are symmetrically located at the end of the clamping end plate 13 away from the clamping arms 12, corresponding to the clamping servo motor 14, and are rotatably connected to the clamping end plate 13 through a connecting rod. The rotating servo motor... The output end of 11 is connected to the sampling gripper 15 via a transmission gear and a swing arm. The gripping assembly, through the cooperation of the rotation servo motor 11, the gripping support arm 12, the gripping end plate 13, the gripping servo motor 14, and the sampling gripper 15, forms the gripping structure at the end of the gripping mechanism. Together with the connecting assembly and the support arm assembly, it forms the gripping structure to grip the sample. The rotation servo motor 11 provides mounting support for the gripping support arm 12 and drives the gripping support arm 12 to rotate a certain angle relative to the connecting support arm 10. The gripping support arm 12 provides mounting support for the gripping end plate 13 and drives the gripping end plate 13 to rotate a certain angle under the action of the rotation servo motor 11. The gripping end plate 13 provides mounting support for the gripping servo motor 14 and the sampling gripper 15. The gripping servo motor 14 drives the sampling gripper 15 to move through the connecting rod, the transmission gear, and the swing arm. The sampling gripper 15 grips the sample under the action of the gripping servo motor 14.

[0031] The detection module includes a detection base 16, a signal transmitter 17, and a signal receiver 18. The detection base 16 is located at the bottom of the chassis 1 and is fixedly connected to the chassis 1. The signal transmitter 17 and the signal receiver 18 are arranged side-by-side at intervals at the bottom of the detection base 16 and are fixedly connected to the detection base 16. The detection module, through the cooperation of the detection base 16, the signal transmitter 17, and the signal receiver 18, constitutes a geological detection structure to detect the base of the target area. The detection base 16 provides mounting support for the signal transmitter 17 and the signal receiver 18. The signal transmitter 17 transmits signals to the target area, and the signal receiver 18 receives signals reflected from the target area. A cross-sectional view of the detection module and chassis 1 is shown below. Figure 4 As shown.

[0032] The travel module includes a travel motor 19, a travel gearbox 20, travel rollers 21, and a support assembly. The travel motor 19 is located on the upper inner side of the chassis 1 and is fixedly connected to the chassis 1. The travel gearbox 20 is located at one end of the chassis 1, and its input end is connected to the output end of the travel motor 19 via a drive shaft. There are two sets of travel rollers 21, each set consisting of two rollers arranged side by side with spacing. The two sets of travel rollers 21 are symmetrically arranged at both ends of the chassis 1 and are rotatably connected to the chassis 1 via a rotating shaft. The output end of the travel gearbox 20 is connected to the travel rollers 21 via a transmission gear and a rotating shaft. There are two sets of support assemblies. The support components are symmetrically arranged on both sides of the chassis 1. The travel module, through the cooperation of the travel motor 19, the travel gearbox 20, the travel rollers 21, and the support components, forms a travel structure to drive the detection system to move automatically. The travel motor 19 is used to output power, the travel gearbox 20 is used to adjust the output speed of the travel motor 19 and drive the travel rollers 21 to rotate under the action of the travel motor 19. The travel rollers 21 are used to rotate under the drive of the travel gearbox 20 to drive the detection system to move automatically. The support components serve as a support structure on the side of the detection system to provide stable support for the detection system during detection, thereby ensuring the accuracy of the detection.

[0033] The support assembly includes support cylinders 22 and support base plates 23. Two sets of support cylinders 22 are arranged side-by-side at intervals on one side of the chassis 1 and fixedly connected to the chassis 1. The output ends of the support cylinders 22 face downwards. Two sets of support base plates 23 are also provided, each set positioned at the output end of one of the corresponding support cylinders 22 and fixedly connected to it. The support assembly, through the cooperation of the support cylinders 22 and support base plates 23, serves as a support structure for the side of the detection system. The support cylinders 22 provide support to the support base plates 23. The support is installed and its output end extends and retracts to drive the support base plate 23 to rise and fall. The support base plate 23 is used to lift and lower under the action of the support cylinder 22, thereby providing stable support for the detection system during detection. When the target area needs to be detected, the output end of the support cylinder 22 extends to drive the support base plate 23 to fall, thereby stabilizing the detection system to ensure its stability. After the detection is completed, when it is necessary to move, the output end of the support cylinder 22 retracts to drive the support base plate 23 to rise, thereby allowing the moving roller 21 to land to meet the movement requirements of the detection system.

[0034] It also includes a high-definition camera 24 and an electronic control unit 25. The high-definition camera 24 is mounted on the upper part of one end of the sampling frame 2 via a bracket and is fixedly connected to the sampling frame 2. The electronic control unit 25 is mounted on the upper inner side of the chassis 1 and is fixedly connected to the chassis 1. The electronic control unit 25 is electrically connected to the mounting servo motor 5, the support arm servo motor 7, the connecting servo motor 9, the rotation servo motor 11, the clamping servo motor 14, the signal transmitter 17, the signal receiver 18, the travel motor 19, the support cylinder 22, and the high-definition camera 24. The electrical connection diagram of this utility model is shown below. Figure 5 As shown.

[0035] The electronic control unit 25 has a built-in data retention module that can retain the detection data to meet the recording requirements. It can also use the sampling module to pick up the sample from the detection area and put it into the sampling box 4 for automatic sampling. The detection principle of the detection module is the same as that of ultrasonic detection. The electronic control unit 25 in the detection system can be wirelessly connected to the cloud server to meet the data upload requirements of the detection system. All of the above are common knowledge known to those skilled in the art, so they will not be described in detail here.

[0036] Working principle:

[0037] When data collection and exploration of the target area are required, the exploration system is activated. The moving module drives the exploration system to move. During the movement, when it reaches the collection position, the sampling module grabs the sample and places it in the sampling box 4. Then, the support component works to stably set up the exploration system. The exploration module works to explore the geological information at the location and retain the detected information. After the exploration is completed, the support component resets, and the moving module drives the exploration system back. The experimenter can take the sampling box 4 out of the sampling top frame 3 through the handle structure. During the exploration, the high-definition camera 24 records the travel route and image information of the target area, thereby collecting image information of the target area.

[0038] The beneficial effects of this utility model are that it is equipped with a sampling module and a detection module to automatically collect and detect geological data of the target area, and can store the geological data without the need for manual operation. It is also equipped with a travel module to drive the detection system to move automatically, and is equipped with a support structure to provide stable support for the detection system during detection to ensure detection accuracy. Each part is set independently to avoid the failure of the entire equipment due to the damage of a part, and to ensure the progress of the detection.

[0039] The above description details one embodiment of the present utility model, but it is merely a preferred embodiment and should not be construed as limiting the scope of the present utility model. All equivalent variations and improvements made within the scope of the present utility model application should still fall within the patent coverage of the present utility model.

Claims

1. A three-dimensional spatial data acquisition and detection system, comprising a chassis (1) mounted on the ground, characterized in that, It also includes a sampling module for forming an automatic sampling structure, a detection module for detecting geological data, and a travel module for providing travel support for the detection system. The sampling module is arranged above the chassis (1), the detection module is arranged at the bottom of the chassis (1) corresponding to the sampling module, and the travel module is mounted on the side of the chassis (1).

2. The three-dimensional spatial data acquisition and detection system as described in claim 1, characterized in that, The sampling module includes a sampling frame (2), a sampling top frame (3), a sampling box (4), and a gripping mechanism. The sampling frame (2) is located on the upper end of the chassis (1) and is fixedly connected to the chassis (1). The sampling top frame (3) is located on one side of the upper end of the sampling frame (2) and is fixedly connected to the sampling frame (2). The upper end of the sampling top frame (3) has an opening structure. The sampling box (4) is placed inside the sampling top frame (3) and has a handle structure on its upper part. The gripping mechanism is arranged on the side of the upper end of the sampling frame (2) away from the sampling top frame (3).

3. The three-dimensional spatial data acquisition and detection system as described in claim 2, characterized in that, The gripping mechanism includes a mounting servo (5), a mounting base plate (6), a support arm assembly, a connecting assembly, and a clamping assembly. The mounting servo (5) is located on the upper end of the sampling frame (2) away from the sampling top frame (3) and is fixedly connected to the sampling frame (2). The output end of the mounting servo (5) is oriented upwards. The mounting base plate (6) is located on the output end of the mounting servo (5) and is fixedly connected to the output end of the mounting servo (5). The support arm assembly is arranged on the upper end of the mounting base plate (6). The connecting assembly is assembled on the end of the support arm assembly away from the mounting base plate (6). The clamping assembly is assembled on the end of the connecting assembly away from the support arm assembly.

4. The three-dimensional spatial data acquisition and detection system as described in claim 3, characterized in that, The support arm assembly includes a support arm servo (7) and a mounting arm (8). The support arm servo (7) is provided in two sets. The two sets of support arm servos (7) are arranged side by side at intervals on the upper end of the mounting base plate (6) and are fixedly connected to the mounting base plate (6). The output end of the support arm servo (7) is arranged horizontally. The mounting arm (8) is provided in two sets. The two sets of mounting arms (8) are respectively located at the output ends of the two sets of support arm servos (7) and one end of each set is fixedly connected to the output end of the corresponding support arm servo (7).

5. A three-dimensional spatial data acquisition and detection system as described in claim 4, characterized in that, The connecting assembly includes a connecting servo (9) and a connecting arm (10). The connecting servo (9) is located at one end of the two sets of mounting arms (8) away from the arm servo (7), and its output end is fixedly connected to the mounting arm (8). There are two sets of connecting arms (10). The two sets of connecting arms (10) are arranged side by side at intervals on the side of the connecting servo (9), and one end of each set is fixedly connected to the connecting servo (9).

6. The three-dimensional spatial data acquisition and detection system as described in claim 5, characterized in that, The clamping assembly includes a rotating servo motor (11), a clamping arm (12), a clamping end plate (13), a clamping servo motor (14), and a sampling gripper (15). The rotating servo motor (11) is located at one end of the two sets of connecting arms (10) away from the connecting servo motor (9) and is fixedly connected to the connecting arms (10). The output end of the rotating servo motor (11) passes through the connecting arms (10). There are two sets of clamping arms (12), which are arranged side by side at intervals at the output end of the rotating servo motor (11), and one end of each set is fixedly connected to the output end of the rotating servo motor (11). The clamping end plate (13) is provided with... Two sets of gripping arms (12) are fixedly connected to the gripping arms (12) at one end away from the rotating servo motor (11). The gripping servo motor (14) is fixedly connected to the gripping end plate (13) on one side of the gripping end plate (13). Two sets of sampling claws (15) are provided. The two sets of sampling claws (15) are symmetrically arranged at one end of the gripping end plate (13) away from the gripping arms (12) corresponding to the gripping servo motor (14) and are rotatably connected to the gripping end plate (13) through a connecting rod. The output end of the rotating servo motor (11) is connected to the sampling claws (15) through a transmission gear and a swing arm.

7. A three-dimensional spatial data acquisition and detection system as described in claim 6, characterized in that, The detection module includes a detection base (16), a signal transmitter (17), and a signal receiver (18). The detection base (16) is located at the bottom of the chassis (1) and is fixedly connected to the chassis (1). The signal transmitter (17) and the signal receiver (18) are arranged side by side at intervals at the bottom of the detection base (16) and are fixedly connected to the detection base (16).

8. A three-dimensional spatial data acquisition and detection system as described in claim 7, characterized in that, The travel module includes a travel motor (19), a travel gearbox (20), travel rollers (21), and a support assembly. The travel motor (19) is located on the upper inner side of the chassis (1) and is fixedly connected to the chassis (1). The travel gearbox (20) is located at one end of the chassis (1), and its input end is connected to the output end of the travel motor (19) via a drive shaft. There are two sets of travel rollers (21), each set consisting of two rollers arranged side by side at intervals. The two sets of travel rollers (21) are symmetrically arranged at both ends of the chassis (1) and are rotatably connected to the chassis (1) via a rotating shaft. The output end of the travel gearbox (20) is connected to the travel rollers (21) via a transmission gear and a rotating shaft. There are two sets of support assemblies, which are symmetrically arranged on both sides of the chassis (1).

9. A three-dimensional spatial data acquisition and detection system as described in claim 8, characterized in that, The support assembly includes a support cylinder (22) and a support base plate (23). There are two sets of support cylinders (22). The two sets of support cylinders (22) are arranged side by side at intervals on one side of the chassis (1) and are fixedly connected to the chassis (1). The output end of the support cylinder (22) is set downward. There are two sets of support base plates (23). The two sets of support base plates (23) are respectively set at the output end of the two sets of support cylinders (22) and are fixedly connected to the output end of the corresponding support cylinder (22).

10. A three-dimensional spatial data acquisition and detection system as described in claim 9, characterized in that, It also includes a high-definition camera (24) and an electronic control unit (25). The high-definition camera (24) is mounted on the upper part of one end of the sampling frame (2) via a bracket and is fixedly connected to the sampling frame (2). The electronic control unit (25) is located on the upper inner side of the chassis (1) and is fixedly connected to the chassis (1). The electronic control unit (25) is electrically connected to the mounting servo (5), the support arm servo (7), the connecting servo (9), the rotating servo (11), the clamping servo (14), the signal transmitter (17), the signal receiver (18), the travel motor (19), the support cylinder (22), and the high-definition camera (24).

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