Full-automatic three-dimensional road surveying and mapping device

Abstract

The invention relates to a full-automatic three-dimensional road surveying and mapping device which comprises two walking steering vehicles walking front and back, a scale plate, an identification camera facing the scale plate and an observation camera facing the front of a road are installed on the front walking steering vehicle, and a closed sensor installation box is installed on the rear walking steering vehicle. The sensor mounting box is filled with liquid, a vertical supporting rod is hinged to the upper end of the sensor mounting box, a laser distance measuring sensor facing the scale plate is fixedly connected to the upper end of the supporting rod, and a balance weight located in the liquid is fixedly connected to the lower end of the supporting rod. The road surveying and mapping device can stably work under different topographic conditions, automatically measure the distance, the rotating angle and the slope synchronously, remarkably improves surveying and mapping efficiency and data reliability, is reasonable in structure, high in automation degree and wide in application range, remarkably improves the precision and integrity of road surveying and mapping, and also reduces manual operation intensity.

Description

Technical Field

[0001] This invention relates to the field of surveying and mapping technology, specifically to a fully automatic three-dimensional road surveying and mapping device. Background Technology

[0002] With the rapid development of transportation infrastructure construction in my country, the requirements for the accuracy and comprehensiveness of road surveying are increasing. Traditional road surveying methods typically rely on surveying wheels moving on the ground, calculating distances by recording the number of revolutions. However, this method has significant limitations: it requires a high degree of ground flatness; when the ground is uneven or undulating, the surveying wheel is prone to slipping or becoming suspended in the air, leading to significant errors in the measurement data. Furthermore, traditional methods cannot effectively obtain steering angle information at road bends and are difficult to measure longitudinal slope, thus failing to meet the high-precision requirements of modern road engineering for three-dimensional spatial data. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by providing a fully automatic three-dimensional road mapping device that is fast to start, highly efficient, safe, reliable, and easy to operate.

[0004] This invention is achieved through the following technical solution: a fully automatic three-dimensional road mapping device is provided, comprising two traveling and steering vehicles that move forward and backward. The forward traveling and steering vehicle is equipped with a scale plate, a recognition camera facing the scale plate, and an observation camera facing the road ahead. The rear traveling and steering vehicle is equipped with a sealed sensor mounting box, which is filled with liquid. A vertical support rod is hinged to the upper end of the sensor mounting box. A laser rangefinder sensor facing the scale plate is fixed to the upper end of the support rod, and a counterweight located in the liquid is fixed to the lower end of the support rod.

[0005] As an optimization, the upper end of the support rod is fixed to the laser rangefinder sensor via a mounting bracket.

[0006] As an optimization, the traveling and steering vehicle includes a vehicle body plate, a support shaft axled to the center of the vehicle body plate, and a shaft drive box that drives the support shaft to rotate. The sensor mounting box is fixed to the support shaft of the traveling and steering vehicle at the rear. The scale plate, the recognition camera, and the observation camera are fixed to the support shaft of the traveling and steering vehicle at the front. The traveling and steering vehicle also includes multiple steering sleeves evenly distributed along the circumference of the support shaft. The steering sleeves pass vertically through the vehicle body plate and are axled to the vehicle body plate. The lower end of the steering sleeve is fixed to a traveling wheel frame, and a traveling wheel is axled to the traveling wheel frame. The multiple traveling wheels rotate synchronously to realize the traveling and steering vehicle's movement. The support shaft and the multiple steering sleeves rotate synchronously to realize the traveling and steering vehicle's steering.

[0007] As an optimization, a steering center gear is fixedly connected to the supporting shaft, a steering gear is fixedly connected to the steering sleeve, a transition shaft is fixedly connected to the vehicle body flat plate, and a steering transition gear is axially connected to the transition shaft. The steering center gear and the steering gear have the same diameter and are connected by a steering transition gear.

[0008] As an optimization, a drive shaft is connected to the inner shaft of the steering sleeve. The lower end of the drive shaft is connected to the driving wheel, and a drive gear is fixedly connected to the upper end of the drive shaft. A drive center gear is connected to the upper shaft of the support shaft, and a drive transition gear is connected to the upper shaft of the transition shaft. The drive center gear and the drive gear are connected through the drive transition gear. A driving motor that drives the drive center gear to rotate is fixedly connected to the support shaft.

[0009] As an optimization, a driven gear is fixedly connected to the drive center gear, and a driving gear that meshes with the driven gear is fixedly connected to the shaft of the walking motor.

[0010] As an optimization, a driving bevel gear is fixedly connected to the lower end of the drive shaft, and a passive bevel gear that meshes with the driving bevel gear is fixedly connected to the traveling wheel.

[0011] As an optimization, an annular groove is formed in the middle of the walking wheel, and the active bevel gear and the passive bevel gear are located in the annular groove.

[0012] As an optimization, the walking wheels are provided with four.

[0013] As an optimization, when traveling in a straight line, the two walking and steering vehicles alternately move back and forth. The laser range sensor illuminates the scale plate with a laser and detects the distance. The length of the road is measured by alternating multiple times. When turning, the vehicle in front reaches the turning point and turns in place, recording the turning angle to measure the road turning angle; When going up or down a slope, the support rod remains vertical under the action of gravity, keeping the laser rangefinder sensor horizontal. The laser shines on the scale plate, and the recognition camera identifies the position of the laser illumination point on the scale plate to obtain the height difference between the two traveling and steering vehicles, thus realizing the measurement of the road slope.

[0014] The beneficial effects of this invention are as follows: This invention provides a fully automatic three-dimensional road mapping device that effectively overcomes the shortcomings of traditional methods through structural innovation and multi-sensor fusion. In the background art, existing mapping methods are greatly constrained by the environment, have limited data dimensions, and low automation levels. However, the measurement mechanism proposed in this patent, which combines alternating dual-vehicle movement with photoelectric detection, can work stably under different terrain conditions and simultaneously achieve automated measurement of distance, turning angle, and slope, significantly improving mapping efficiency and data reliability.

[0015] The beneficial effects of this invention are mainly reflected in the following aspects: First, by having two traveling and steering vehicles move alternately and combining this with a laser rangefinder to monitor the distance to the scale plate, high-precision length measurement can be achieved even on uneven road surfaces, avoiding errors caused by uneven ground on the surveying wheels. Second, by controlling the traveling and steering vehicles to turn in place at turns and recording the turning angle, accurate acquisition of road turning angles is successfully achieved. Furthermore, by using a support rod that remains vertical under gravity to keep the laser rangefinder horizontal, and by analyzing the positional changes of the laser spot on the scale plate through a recognition camera, the height difference between the front and rear vehicles can be calculated, thus accurately obtaining road slope information. This device has a reasonable structure, a high degree of automation, and a wide range of applications. It not only significantly improves the accuracy and completeness of road surveying but also reduces the intensity of manual operation, providing comprehensive and reliable three-dimensional data support for road design, construction, and maintenance. Attached Figure Description

[0016] Figure 1 This is a schematic diagram illustrating the horizontal movement of the present invention; Figure 2 This is a schematic diagram of the invention when going uphill; Figure 3 This is a schematic diagram of the invention when going downhill; Figure 4 This is a schematic diagram of the front walking and steering vehicle structure of the present invention; Figure 5 This is a schematic diagram of the walking and steering vehicle at the front of the present invention from another angle. Figure 6 This is a front view of the vehicle that is traveling and turning in front of the present invention; Figure 7 This is a side view of the vehicle for driving and steering in front of the present invention; Figure 8 For the present invention Figure 6 Sectional view of plane AA; Figure 9 This is a top view of the vehicle that is traveling and turning in front of the present invention; Figure 10 This is a top view of the vehicle with steering at the front of the present invention; Figure 11 This is a schematic diagram of the walking and steering vehicle structure at the rear of the present invention; Figure 12 This is a front view of the vehicle with steering from the rear of the present invention; Figure 13 This is a side view of the vehicle with steering from the rear of the present invention; Figure 14 For the present invention Figure 13 Sectional view of the middle BB surface; Figure 15 This is a top view of the straight-line movement of the present invention; Figure 16This is a top view of the vehicle in front of the present invention when it is turning; Figure 17 This is a top view of the vehicle behind the invention when it is turning. As shown in the figure: 1. Walking and steering vehicle; 2. Scale plate; 3. Recognition camera; 4. Laser rangefinder sensor; 5. Sensor mounting box; 6. Support rod; 7. Mounting bracket; 8. Counterweight; 11. Vehicle body flatbed; 12. Support shaft; 13. Shaft drive box; 14. Walking wheel; 15. Walking wheel frame; 16. Steering sleeve; 17. Drive shaft; 18. Driving bevel gear; 19. Driven bevel gear; 20. Steering gear; 21. Drive gear; 22. Steering transition gear; 23. Drive transition gear; 24. Steering center gear; 25. Drive center gear; 26. Driven gear; 27. Driving gear; 28. Walking motor; 29. ​​Transition shaft. Detailed Implementation

[0017] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0018] like Figures 1-17 As shown, the present invention provides a fully automatic three-dimensional road mapping device, which includes two traveling and steering vehicles 1 that move forward and backward. The two traveling and steering vehicles 1 have the same structure and move forward and backward along the same path on the road.

[0019] like Figure 4-8 As shown, the walking and steering vehicle 1 includes a vehicle body plate 11, a support shaft 12 axled to the center of the vehicle body plate 11, and a shaft drive box 13 that drives the support shaft 12 to rotate. The vehicle body plate 11 is a horizontal circular plate, and the support shaft 12 is vertically arranged and axled to the center of the vehicle body plate 11. The shaft drive motor in the shaft drive box 13 drives the support shaft 12 to rotate. An angle sensor is installed on the vehicle body plate 11 to detect the rotation angle of the support shaft 12, which can record the rotation angle of the support shaft 12 and thus obtain the steering angle.

[0020] The traveling and steering vehicle 1 of this application is required to be able to turn in place, and the position of the support shaft 12 does not move when turning, and the rotation angle of the support shaft 12 is consistent with the turning angle, so that a specific position of the support shaft 12 always faces the direction of travel.

[0021] like Figure 8As shown, the traveling and steering vehicle 1 also includes a plurality of steering sleeves 16 evenly distributed around the circumference of the supporting pivot 12. The steering sleeves 16 pass vertically through the vehicle body plate 11 and are axially connected to the vehicle body plate 11. The lower end of the steering sleeve 16 is fixedly connected to the traveling wheel frame 15, and the traveling wheel 14 is axially connected to the traveling wheel frame 15. The center point of the traveling wheel in contact with the ground is located on the vertical rotation axis of the steering sleeve 16. Therefore, the traveling wheel 14 can be steered by rotating the steering sleeve 16.

[0022] In this embodiment, four steering sleeves 16 are provided and are evenly distributed around the support shaft 12, so a total of four traveling wheels 14 are provided.

[0023] To achieve synchronous rotation of the support shaft 12 and multiple steering sleeves 16 to enable steering of the traveling steering vehicle 1, a steering center gear 24 is fixedly connected to the support shaft 12, and the steering center gear 24 is coaxial with the support shaft 12.

[0024] A steering gear 20 is fixedly connected to the upper end of the steering sleeve 16. The steering gear 20 is coaxial with the steering sleeve 16. A transition shaft 29 is fixedly connected to the vehicle body plate 11. In this embodiment, the transition shaft 29 is vertically arranged and its lower end is fixedly connected to the upper end face of the vehicle body plate 11. There are four transition shafts 29, which are respectively located between the four steering sleeves 16 and the support shaft 12.

[0025] A steering transition gear 22 is connected to the transition shaft 29. The steering center gear 24 and the steering gear 20 have the same diameter and are connected by the steering transition gear 22. Specifically, the steering center gear 24 and the steering gear 20 are both meshed with the steering transition gear 22. Therefore, when the support shaft 12 rotates, it drives the four steering gears 20 to rotate synchronously, so that the rotation angle of the support shaft 12 is consistent with the steering angle.

[0026] Then, the problem of synchronously rotating multiple walking wheels 14 to enable the walking and steering vehicle 1 to move is to be solved. If a walking motor is installed on each walking wheel frame 15 to drive the walking wheel 14 to rotate, the cost will be high, and the rotation of the four walking wheels 14 cannot be absolutely synchronized, which will easily cause deviation.

[0027] This application includes a drive shaft 17 axially connected inside the steering sleeve 16. The drive shaft 17 is coaxially arranged with the steering sleeve 16. The lower end of the drive shaft 17 is connected to the traveling wheel 14 for transmission. Specifically, a driving bevel gear 18 is fixedly connected to the lower end of the drive shaft 17, and a driven bevel gear 19 that meshes with the driving bevel gear 18 is fixedly connected to the traveling wheel 14. The transmission between the drive shaft 17 and the traveling wheel 14 is achieved through the driving bevel gear 18 and the driven bevel gear 19.

[0028] Since the center point of the contact point between the traveling wheel and the ground is located on the vertical rotation axis of the steering sleeve 16, and the drive shaft 17 is coaxially arranged with the steering sleeve 16, an annular groove is formed in the middle of the traveling wheel 14 in this embodiment to accommodate the driving bevel gear 18 and the driven bevel gear 19. The driving bevel gear 18 and the driven bevel gear 19 are located within the annular groove. Alternatively, the two wheels can be fixed on the same axle, forming an annular groove between them. The two wheels together constitute the traveling wheel 14, thus ensuring that the center of the traveling wheel 14 is located on the vertical rotation axis of the steering sleeve 16, and also on the vertical rotation axis of the drive shaft 17.

[0029] A drive gear 21 is fixedly connected to the upper end of the drive shaft 17. A drive center gear 25 is connected to the upper shaft of the support shaft 12. A drive transition gear 23 is connected to the upper shaft of the transition shaft 29. The drive center gear 25 and the drive gear 21 are connected by the drive transition gear 23. Specifically, both the drive gear 21 and the drive center gear 25 mesh with the drive transition gear 23, and the diameters of the drive gear 21, the drive center gear 25, the steering center gear 24, and the steering gear 20 are all equal.

[0030] A travel motor 28, which drives the drive center gear 25 to rotate, is fixedly connected to the support shaft 12. Specifically, a driven gear 26 is fixedly connected to the drive center gear 25, and a drive gear 27 that meshes with the driven gear 26 is fixedly connected to the shaft of the travel motor 28.

[0031] The front walking and steering vehicle 1 has a scale plate 2, an identification camera 3 facing the scale plate 2, and an observation camera facing the road ahead on its support shaft 12. The scale plate 2 is set vertically with its front facing the direction of travel and its back having scales. The identification camera 3 is installed at the rear end of the support shaft 12 of the front walking and steering vehicle 1, so that it faces the scales.

[0032] A sealed sensor mounting box 5 is installed on the support shaft 12 of the rear-mounted steering vehicle 1. The sensor mounting box 5 is filled with liquid. A vertical support rod 6 is hinged to the upper end of the sensor mounting box 5. The upper middle part of the support rod 6 is hinged to the middle of the top plate of the sensor mounting box 5, and the hinge shaft extends to the left and right, allowing the support rod 6 to swing back and forth. A laser rangefinder sensor 4 facing the scale plate 2 is fixed to the upper end of the support rod 6. The upper end of the support rod 6 is fixed to the laser rangefinder sensor 4 through a mounting bracket 7. A counterweight located in the liquid is fixed to the lower end of the support rod 6 to keep the support rod 6 vertical and ensure that the laser emitted by the laser rangefinder sensor 4 remains horizontal. By placing the counterweight in the liquid, the swaying of the support rod is reduced, preventing severe swaying of the support rod on uneven surfaces that could lead to inaccurate measurements. A forward-facing observation camera is also installed on the support shaft 12 of the rear-mounted steering vehicle 1.

[0033] How to use this invention: Two traveling and steering vehicles 1 are arranged one behind the other and move along the same path. The linear movement of the traveling and steering vehicle 1 is as follows: Figure 8 As shown, during straight-line movement, the support shaft 12 does not rotate. The driven gear 26 rotates via the walking motor 28, which in turn drives the central drive gear 25 to rotate around the support shaft 12. The central drive gear 25 drives the four intermediate drive gears 23 to rotate, which in turn drives the four drive gears 21 to rotate. The drive shaft 17, which is fixed to the drive gears 21, drives the walking wheels 14 to rotate via the active bevel gear 18 and the passive bevel gear 19, thus achieving movement. Therefore, the speed and direction of rotation of the four walking wheels 14 are consistent, enabling straight-line movement. Furthermore, during straight-line movement, the components mounted on the support shaft 12 always face forward in the direction of movement. Specifically, the laser rangefinder 4 on the rear support shaft 12 always faces forward, while the front of the scale plate 2, the recognition camera 3, and the observation camera on the front support shaft 12 always face forward, and the scale on the back of the scale plate 2 faces backward.

[0034] The turning action of the traveling and steering vehicle 1 is as follows: During the turning action, the traveling and steering vehicle 1 stops moving. The shaft drive motor in the shaft drive box 13 drives the support shaft 12 to rotate. The observation camera observes the path after the turn, ensuring that the vehicle faces the road ahead after the turn. An angle sensor mounted on the vehicle body flat plate 11 detects the rotation angle of the support shaft 12 and records the rotation angle of the support shaft 12, thereby determining the turning angle. When the support shaft 12 rotates, it drives the four steering transition gears 22 to rotate, which in turn drives the steering gear 20 to rotate, thus driving the steering sleeve 16 to rotate and achieve steering. Since the travel motor 28 is in a stopped braking state, the drive gear 27 cannot rotate, and the travel motor 28 rotates along with the support shaft 12, causing the drive center gear 25 to rotate along with the support shaft 12. This, in turn, drives the four drive gears 21 to rotate through the four drive transition gears 23, so that the rotation angle of the drive gears 21 is the same as the rotation angle of the steering gear 20. Ultimately, the drive shaft 17 and the steering sleeve 16 rotate together without relative rotation, which means that the travel wheel 14 will not rotate during the turning process. Since the contact center of the travel wheel 14 with the ground is located on the axis of the steering sleeve 16, the travel wheel 14 can turn in place. The four travel wheels 14 rotate together, and the turning angle is the same as the turning angle of the support shaft 12, ensuring that the components installed on the support shaft 12 always face forward in the direction of travel when turning.

[0035] The specific surveying methods are as follows: When walking in a straight line, such as Figure 1As shown, two traveling steering vehicles 1 move back and forth alternately. The laser rangefinder 4 illuminates the scale plate 2 with a laser and detects the distance. The length of the road is measured by multiple alternating movements. For example, in the initial state, the distance detected by the laser rangefinder 4 is S1. After the first traveling steering vehicle 1 moves a certain distance, the distance detected by the laser rangefinder 4 is S2. The second traveling steering vehicle 1 then moves to the position where the distance detected by the laser rangefinder 4 is S1. At this time, the two traveling steering vehicles 1 have moved together a distance of S2-S1. This process is repeated to measure the length of the road by multiple movements.

[0036] When turning, such Figure 15-17 As shown, the traveling and turning vehicle 1 in front reaches the turning point and then turns in place. Figure 16 It records the turning angle and, after turning, measures the road turning angle. The following walking and turning vehicle 1 also turns when it reaches the turning point.

[0037] When going up or down a slope, the support rod 6 remains vertical under the action of gravity, keeping the laser rangefinder 4 horizontal. The laser beam illuminates the scale plate 2, and the recognition camera 3 identifies the position of the laser beam on the scale plate 2, thus determining the height difference between the two steering vehicles 1 and measuring the road slope. Figure 2 In an uphill situation, the laser beam illuminates a position slightly below the scale plate 2, thus allowing the elevation difference to be determined via markings on the scale plate 2. For example... Figure 3 In the downhill state, the laser beam illuminates the upper part of scale plate 2.

[0038] Of course, the above description is not limited to the examples above. Technical features not described in this invention can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solutions of this invention and are not intended to limit this invention. This invention has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this invention do not depart from the spirit of this invention and should also fall within the scope of protection of the claims of this invention.

Claims

1. A fully automatic three-dimensional road mapping device, characterized in that: The device includes two traveling steering vehicles (1) that move forward and backward. The forward traveling steering vehicle (1) is equipped with a scale plate (2), an identification camera (3) facing the scale plate (2), and an observation camera facing the road ahead. The rear traveling steering vehicle (1) is equipped with a sealed sensor mounting box (5). The sensor mounting box (5) is filled with liquid. A vertical support rod (6) is hinged to the upper end of the sensor mounting box (5). A laser rangefinder sensor (4) facing the scale plate (2) is fixed to the upper end of the support rod (6). A counterweight located in the liquid is fixed to the lower end of the support rod (6).

2. The fully automatic three-dimensional road mapping device according to claim 1, characterized in that: The upper end of the support rod (6) is fixed to the laser rangefinder (4) via a mounting bracket (7).

3. The fully automatic three-dimensional road mapping device according to claim 1, characterized in that: The traveling steering vehicle (1) includes a vehicle body plate (11), a support shaft (12) axled to the center of the vehicle body plate (11), and a shaft drive box (13) for driving the support shaft (12) to rotate. A sensor mounting box (5) is fixed to the support shaft (12) of the traveling steering vehicle (1) at the rear. A scale plate (2), a recognition camera (3), and an observation camera are fixed to the support shaft (12) of the traveling steering vehicle (1) at the front. The traveling steering vehicle (1) also includes a support shaft drive box (13) for driving the support shaft (12) to rotate. Multiple steering sleeves (16) are evenly distributed around the shaft (12). The steering sleeves (16) pass vertically through the vehicle body plate (11) and are axially connected to the vehicle body plate (11). The lower end of the steering sleeve (16) is fixedly connected to the walking wheel frame (15). The walking wheel frame (15) is axially connected to the walking wheel (14). The multiple walking wheels (14) rotate synchronously to realize the walking and steering vehicle (1). The supporting shaft (12) and the multiple steering sleeves (16) rotate synchronously to realize the steering of the walking and steering vehicle (1).

4. The fully automatic three-dimensional road mapping device according to claim 3, characterized in that: A steering center gear (24) is fixedly connected to the support shaft (12), a steering gear (20) is fixedly connected to the steering sleeve (16), a transition shaft (29) is fixedly connected to the vehicle body flat plate (11), and a steering transition gear (22) is axially connected to the transition shaft (29). The steering center gear (24) and the steering gear (20) have the same diameter and are connected by the steering transition gear (22).

5. The fully automatic three-dimensional road mapping device according to claim 4, characterized in that: The steering sleeve (16) is connected to a drive shaft (17). The lower end of the drive shaft (17) is connected to the walking wheel (14) for transmission. The upper end of the drive shaft (17) is fixedly connected to a drive gear (21). The support shaft (12) is connected to a drive center gear (25). The transition shaft (29) is connected to a drive transition gear (23). The drive center gear (25) and the drive gear (21) are connected for transmission through the drive transition gear (23). The support shaft (12) is fixedly connected to a walking motor (28) that drives the drive center gear (25) to rotate.

6. The fully automatic three-dimensional road mapping device according to claim 5, characterized in that: A driven gear (26) is fixedly connected to the drive center gear (25), and a driving gear (27) that meshes with the driven gear (26) is fixedly connected to the shaft of the walking motor (28).

7. The fully automatic three-dimensional road mapping device according to claim 5, characterized in that: The lower end of the drive shaft (17) is fixedly connected to an active bevel gear (18), and a passive bevel gear (19) that meshes with the active bevel gear (18) is fixedly connected to the walking wheel (14).

8. The fully automatic three-dimensional road mapping device according to claim 7, characterized in that: The walking wheel (14) has an annular groove in the middle, and the active bevel gear (18) and the passive bevel gear (19) are located in the annular groove.

9. The fully automatic three-dimensional road mapping device according to claim 1, characterized in that: The walking wheels (14) are provided in four parts.

10. A fully automatic three-dimensional road mapping device according to any one of claims 1-9, characterized in that: When walking in a straight line, the two walking and steering vehicles (1) walk back and forth alternately. The laser range sensor (4) illuminates the scale plate (2) with laser and detects the distance. The length of the road is measured by walking alternately multiple times. When turning, the traveling steering vehicle (1) in front reaches the turning point and turns in place, and records the turning angle to realize the measurement of the road turning angle; When going up or down a slope, the support rod (6) remains vertical under the action of gravity, which keeps the laser range sensor (4) horizontal. The laser shines on the scale plate (2), and the recognition camera (3) identifies the position of the laser irradiation point on the scale plate (2) to obtain the height difference between the two walking steering vehicles (1) and realize the measurement of the road slope.

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