Narrow or concealed space three-dimensional data acquisition device and acquisition method

The invention discloses a narrow or concealed space three-dimensional data acquisition device and acquisition method, wherein the acquisition device comprises a laser probe assembly, a fixed support and a connecting support rod; the laser probe assembly is connected with the fixed support through the connecting support rod to cooperate with the laser probe assembly to move and rotate; the laser probe assembly comprises a shell, a detection assembly, a control assembly and a data acquisition assembly; the control assembly is mounted in the shell, the upper end and the lower end of the control assembly are connected with the detection assembly and the data acquisition assembly respectively, and the upper end and the lower end of the shell are provided with movable telescopic protective covers to achieve exposure and hiding of the control assembly and the data acquisition assembly. According to the narrow or concealed space three-dimensional data acquisition device, hardware and software are integrated, the work