Automated tunnel scanning and measurement equipment

Abstract

This invention provides an automated tunnel scanning and measurement device, including a self-moving carrier and a housing. The carrier, carrying the housing and a gripping mechanism, moves autonomously forward along the tunnel. During this movement, the gripping mechanism automatically retrieves and places different types of tunnel scanning and measurement instruments from different housing compartments according to measurement commands, thereby completing automated tunnel monitoring. Compared to existing manual measurement methods, the entire scanning and measurement process requires no human intervention, fundamentally freeing up the labor of measurement technicians, reducing labor costs, and the gripping mechanism offers higher stability and accuracy than manual operation, helping to ensure the accuracy of measurement results and improving measurement efficiency.

Description

Technical Field

[0001] This invention relates to the field of construction surveying technology, and in particular to an automated scanning and surveying device for tunnels. Background Technology

[0002] A tunnel is an engineering structure buried underground or penetrating a mountain, representing a form of human utilization of underground space. Classified by type, tunnels can be categorized into traffic tunnels, hydraulic tunnels, municipal tunnels, mining tunnels, and military tunnels. The structure of a tunnel consists of two parts: the main structure and auxiliary equipment. The main structure comprises the tunnel body and portals, while auxiliary equipment includes passing bays, fire-fighting facilities, emergency communication systems, and drainage systems. Longer tunnels also have specialized ventilation and lighting equipment.

[0003] Currently, after tunnel construction is completed, it is necessary to scan and measure various dimensions and parameters of the tunnel to verify whether the tunnel construction quality meets the standards. However, the scanning and measurement method currently used in most cases still involves a team of surveyors carrying various measuring instruments and moving along the tunnel, constantly rotating different scanning and measuring instruments to manually measure various sections of the tunnel. This method of operation not only leads to high labor intensity for surveyors, resulting in increased labor costs, but also the measurement accuracy is limited by the technical level and proficiency of the surveyors, resulting in significant deviations in the measurement results. In addition, surveyors are prone to fatigue after long periods of measurement work, leading to low measurement efficiency. Summary of the Invention

[0004] Therefore, it is necessary to provide an automated tunnel scanning and measurement device to solve the problems of high labor intensity, large deviation in measurement results, and low measurement efficiency in existing technologies.

[0005] An automated tunnel scanning and measurement device, comprising:

[0006] A self-moving carrier and a housing, wherein the housing is disposed on the self-moving carrier and the housing is divided into at least two housing compartments, each housing a different type of tunnel scanning and measuring instrument; and

[0007] A gripping mechanism is disposed on the self-moving carrier, and the gripping mechanism is capable of selectively and alternately picking up and placing different types of tunnel scanning and measuring instruments located in each of the accommodating compartments.

[0008] In one embodiment, the gripping mechanism includes a lifting drive assembly, a lateral drive assembly, and a gripper assembly. The lateral drive assembly is driven to the lifting drive assembly, and the gripper assembly is driven to the lateral drive assembly. The gripper assembly is flexibly movable in the vertical and / or horizontal directions to align with any of the receiving compartments.

[0009] In one embodiment, the lifting drive assembly includes a lifting drive motor, a lifting lead screw, a lifting nut, a lifting guide rod, and a lifting slider. The lifting drive motor is connected to the lifting lead screw via a coupling. The lifting nut is screwed onto the outside of the lifting lead screw. The lifting guide rods are arranged side by side at intervals on one side of the lifting lead screw. The lifting slider is slidably disposed outside the lifting guide rod.

[0010] In one embodiment, the lateral movement drive assembly includes a lateral movement bracket, a lateral movement drive motor, a lateral movement lead screw, a lateral movement nut, and a lateral movement guide rod. The lateral movement bracket is connected to the lifting nut. The lateral movement drive motor is disposed on the lateral movement bracket and connected to the lateral movement lead screw. One end of the lateral movement lead screw away from the lateral movement drive motor is disposed on the lifting slider. The lateral movement nut is screwed to the outside of the lateral movement lead screw. The lateral movement guide rod passes through the lateral movement nut, and both ends of the lateral movement guide rod are respectively connected to the lateral movement bracket and the lifting slider.

[0011] In one embodiment, the gripper assembly includes at least two gripping arms, at least two linkage rods, a push-pull plate, a gripper bracket, and a telescopic drive for outputting telescopic power. The gripper bracket is cantilevered on the transverse nut, and the telescopic drive is vertically mounted on the gripper bracket and drivenly connected to the push-pull plate. One end of each of the at least two gripping arms is rotatably connected to the push-pull plate, and one end of each of the at least two linkage rods is rotatably connected to the gripper bracket. The other ends of the at least two linkage rods are rotatably mounted on the gripping arms, one-to-one.

[0012] In one embodiment, the end of the clamping arm away from the push-pull plate is provided with a hook.

[0013] In one embodiment, the accommodating compartment has an inlet and an outlet, and the opening edges of the inlet and outlet are recessed inward to form at least two clearance notches. The at least two clearance notches are arranged at intervals along the horizontal circumferential direction of the accommodating compartment, and each clearance notch is used to avoid a corresponding clamping arm.

[0014] In one embodiment, the self-moving carrier includes a support body, a shock-absorbing component, a drive component, and a set of moving wheels. The drive component is disposed on the support body, the moving wheels are connected to the drive component and rotatably disposed outside the support body, and the shock-absorbing component is connected between the moving wheels and the support body.

[0015] In one embodiment, the self-moving carrier further includes a navigator and an obstacle avoider, the navigator and the obstacle avoider being respectively disposed on the carrier body.

[0016] This automated tunnel scanning and measurement equipment is used for monitoring tunnels after construction. During operation, a self-propelled carrier carrying a housing and a gripping mechanism moves forward along the tunnel. During this movement, the gripping mechanism automatically retrieves and places different types of tunnel scanning and measurement instruments from different housings according to measurement commands, thus completing the automated monitoring of the tunnel. Compared to existing manual measurement methods, the entire scanning and measurement process requires no human intervention, fundamentally freeing up the labor of surveying technicians, reducing labor costs, and the gripping mechanism offers higher stability and accuracy than manual operation, helping to ensure the accuracy of measurement results and improving measurement efficiency. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of an automated tunnel scanning and measurement device according to an embodiment of the present invention.

[0020] Explanation of reference numerals in the attached figures:

[0021] 10. Self-moving carrier; 20. Storage box; 21. Storage compartment; 30. Gripping mechanism; 31. Lifting drive assembly; 311. Lifting drive motor; 312. Lifting screw; 313. Lifting nut; 314. Lifting guide rod; 315. Lifting slider; 32. Lateral drive assembly; 321. Lateral support; 322. Lateral drive motor; 323. Lateral screw; 324. Lateral nut; 325. Lateral guide rod; 33. Gripper assembly; 331. Gripper arm; 332. Linkage rod; 333. Push-pull plate; 334. Gripper support; 335. Telescopic drive component. Detailed Implementation

[0022] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0023] like Figure 1 As shown, an automated tunnel scanning and measuring device according to an embodiment of this application includes: a self-moving carrier 10, a housing 20, and a gripping mechanism 30. The housing 20 is disposed on the self-moving carrier 10 and has at least two housing compartments 21 divided within it. Different types of tunnel scanning and measuring instruments are placed in each housing compartment 21. The gripping mechanism 30 is disposed on the self-moving carrier 10 and is capable of selectively and alternately picking up and placing different types of tunnel scanning and measuring instruments located in each housing compartment 21.

[0024] The automated tunnel scanning and measurement equipment in this solution is used for monitoring tunnels after construction. During operation, the self-propelled carrier 10, carrying the housing 20 and the gripping mechanism 30, moves forward along the tunnel. During this movement, the gripping mechanism 30 automatically retrieves and places different types of tunnel scanning and measurement instruments from different housing compartments 21 according to measurement commands, thus completing the automated monitoring of the tunnel. Compared to existing manual measurement methods, the entire scanning and measurement process requires no human intervention, fundamentally freeing up the labor of surveying technicians, reducing labor costs, and the gripping mechanism 30 offers higher stability and accuracy than manual operation, helping to ensure the accuracy of measurement results and improving measurement efficiency.

[0025] Please continue reading Figure 1Specifically, the gripping mechanism 30 includes a lifting drive assembly 31, a lateral drive assembly 32, and a gripper assembly 33. The lateral drive assembly 32 is driven to the lifting drive assembly 31, and the gripper assembly 33 is driven to the lateral drive assembly 32. The gripper assembly 33 can move flexibly in the vertical and / or horizontal directions to align with any of the receiving compartments 21.

[0026] That is, with the coordinated movement of the lifting drive assembly 31 and the lateral drive assembly 32, the gripper assembly 33 can grab any tunnel scanning and measuring instrument in any of the accommodating compartments 21 to complete different scanning or measuring operations.

[0027] It is understandable that the scanning and measuring instruments can be, but are not limited to, laser rangefinders, 3D scanning imagers, etc.

[0028] Please continue reading Figure 1 In some embodiments, the lifting drive assembly 31 includes a lifting drive motor 311, a lifting lead screw 312, a lifting nut 313, a lifting guide rod 314, and a lifting slider 315. The lifting drive motor 311 is connected to the lifting lead screw 312 via a coupling. The lifting nut 313 is screwed onto the outside of the lifting lead screw 312. The lifting guide rods 314 are arranged side by side at intervals on one side of the lifting lead screw 312. The lifting slider 315 is slidably disposed on the outside of the lifting guide rods 314.

[0029] When the lifting drive motor 311 drives the lifting screw 312 to rotate, the lifting screw 312 synchronously drives the lifting nut 313 to rise or fall, thereby achieving the purpose of driving the lateral movement drive assembly 32 and the gripper assembly 33 to move up and down. This drive structure and principle are simple and highly feasible. In addition, by using the lifting slider 315 to slide up and down on the lifting rod 314, the lateral movement drive assembly 32 can be further supported and guided, ensuring that the gripper assembly 33 moves up and down smoothly.

[0030] Furthermore, the transverse drive assembly 32 includes a transverse support 321, a transverse drive motor 322, a transverse lead screw 323, a transverse nut 324, and a transverse guide rod 325. The transverse support 321 is connected to the lifting nut 313. The transverse drive motor 322 is disposed on the transverse support 321 and connected to the transverse lead screw 323. One end of the transverse lead screw 323 away from the transverse drive motor 322 is disposed on the lifting slider 315. The transverse nut 324 is screwed to the outside of the transverse lead screw 323. The transverse guide rod 325 passes through the transverse nut 324, and both ends of the transverse guide rod 325 are respectively connected to the transverse support 321 and the lifting slider 315.

[0031] When the transverse drive motor 322 outputs rotational power, the transverse lead screw 323 can drive the gripper assembly 33 to reciprocate in the horizontal direction (e.g., the Y-axis direction), so that the gripper assembly 33 is positioned directly above the designated receiving compartment 21, so as to directly descend to grasp the scanning measuring instrument or return the scanning measuring instrument to its original position. The transverse guide rod 325 serves to strengthen the connection strength of each related component and improve the overall structural performance of the gripping mechanism 30.

[0032] Furthermore, the gripper assembly 33 includes at least two gripping arms 331, at least two linkage rods 332, a push-pull plate 333, a gripper bracket 334, and a telescopic drive component 335 for outputting telescopic power. The gripper bracket 334 is cantilevered on the transverse nut 324, and the telescopic drive component 335 is vertically mounted on the gripper bracket 334 and drivenly connected to the push-pull plate 333. One end of each of the at least two gripping arms 331 is rotatably connected to the push-pull plate 333, and one end of each of the at least two linkage rods 332 is rotatably connected to the gripper bracket 334. The other ends of the at least two linkage rods 332 are rotatably mounted on the gripping arms 331 respectively.

[0033] The telescopic drive component 335 can be, for example, a cylinder or an electric actuator. When the telescopic drive component 335 drives the push-pull plate 333 to extend or retract, the push-pull plate 333 simultaneously pushes each clamping arm 331 to unfold, thereby releasing the scanning measuring instrument; or it drives each clamping arm 331 to converge synchronously, thereby gripping the scanning measuring instrument. The linkage rod 332 provides a fulcrum for the corresponding clamping arm 331 to rotate open or close, while also increasing the rigidity of the clamping arm 331 to ensure reliable clamping of the scanning measuring instrument.

[0034] In another embodiment, the receiving compartment 21 has an inlet and an outlet, the opening edges of which are recessed inward to form at least two clearance notches. These clearance notches are spaced apart along the horizontal circumferential direction of the receiving compartment 21, each clearance notch serving to avoid a corresponding gripping arm 331. When the gripping component descends, the gripping arm 331 can be inserted into the clearance notch to descend below the scanning measuring instrument within the receiving compartment 21, allowing the gripping arm 331 to better hold and support the scanning measuring instrument.

[0035] Preferably, the end of the clamping arm 331 away from the push-pull plate 333 is provided with a hook. The hook can be engaged with the bottom of the scanning measuring instrument to provide better support and limiting, or the hook can be engaged with the slot on the side wall of the scanning measuring instrument to ensure a more stable grip on the scanning measuring instrument and prevent the scanning measuring instrument from becoming loose and falling off due to vibration or other reasons during travel.

[0036] The self-moving carrier 10 includes a supporting body, a shock-absorbing component, a drive component, and a set of moving wheels. The drive component is mounted on the supporting body, and the moving wheels are connected to the drive component and rotatably mounted on the outside of the supporting body. The shock-absorbing component is connected between the moving wheels and the supporting body. The self-moving carrier 10 also includes a navigator and an obstacle avoider, which are respectively mounted on the supporting body. Therefore, the self-moving carrier 10 has the ability to move independently with precise movement paths, and also has obstacle avoidance and self-protection capabilities, resulting in high operational reliability.

[0037] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this specification.

[0038] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An automated tunnel scanning and measuring device, characterized in that, include: The self-moving carrier and the housing box are disposed on the self-moving carrier. The housing box is divided into at least two housing compartments. Each housing compartment contains different types of tunnel scanning and measuring instruments, as well as a gripping mechanism. The gripping mechanism is disposed on the self-moving carrier and is capable of selectively and alternately picking up and placing different types of tunnel scanning and measuring instruments located in each housing compartment. The gripping mechanism includes a lifting drive assembly, a lateral drive assembly, and a gripper assembly. The lateral drive assembly is driven to the lifting drive assembly, and the gripper assembly is driven to the lateral drive assembly. The gripper assembly is flexibly movable in the vertical and / or horizontal directions to align with any of the receiving compartments.

2. The automated tunnel scanning and measuring equipment according to claim 1, characterized in that, The lifting drive assembly includes a lifting drive motor, a lifting lead screw, a lifting nut, a lifting guide rod, and a lifting slider. The lifting drive motor is connected to the lifting lead screw via a coupling. The lifting nut is screwed onto the outside of the lifting lead screw. The lifting guide rods are arranged side by side at intervals on one side of the lifting lead screw. The lifting slider is slidably disposed outside the lifting guide rods.

3. The automated tunnel scanning and measuring equipment according to claim 2, characterized in that, The lateral movement drive assembly includes a lateral movement bracket, a lateral movement drive motor, a lateral movement lead screw, a lateral movement nut, and a lateral movement guide rod. The lateral movement bracket is connected to the lifting nut. The lateral movement drive motor is mounted on the lateral movement bracket and connected to the lateral movement lead screw. One end of the lateral movement lead screw away from the lateral movement drive motor is mounted on the lifting slider. The lateral movement nut is screwed onto the outside of the lateral movement lead screw. The lateral movement guide rod passes through the lateral movement nut, and its two ends are respectively connected to the lateral movement bracket and the lifting slider.

4. The automated tunnel scanning and measuring equipment according to claim 3, characterized in that, The gripper assembly includes at least two gripping arms, at least two linkage rods, a push-pull plate, a gripper bracket, and a telescopic drive for outputting telescopic power. The gripper bracket is cantilevered on the transverse nut. The telescopic drive is vertically mounted on the gripper bracket and drivenly connected to the push-pull plate. One end of each of the at least two gripping arms is rotatably connected to the push-pull plate. One end of each of the at least two linkage rods is rotatably connected to the gripper bracket. The other ends of the at least two linkage rods are rotatably mounted on the gripping arms, one by one.

5. The automated tunnel scanning and measuring equipment according to claim 4, characterized in that, The end of the clamping arm away from the push-pull plate is provided with a hook.

6. The automated tunnel scanning and measuring equipment according to claim 4, characterized in that, The accommodating compartment has an inlet and an outlet, and the opening edges of the inlet and outlet are recessed inward to form at least two clearance notches. The at least two clearance notches are arranged at intervals along the horizontal circumferential direction of the accommodating compartment, and each clearance notch is used to avoid a corresponding clamping arm.

7. The automated tunnel scanning and measuring equipment according to claim 1, characterized in that, The self-moving carrier includes a supporting body, a shock-absorbing component, a driving component, and a set of moving wheels. The driving component is disposed on the supporting body, the moving wheels are connected to the driving component and rotatably disposed outside the supporting body, and the shock-absorbing component is connected between the moving wheels and the supporting body.

8. The automated tunnel scanning and measuring equipment according to claim 7, characterized in that, The self-moving carrier also includes a navigator and an obstacle avoider, which are respectively disposed on the carrier body.

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