Vision-based mobile measuring robot

Abstract

The invention relates to the technical field of robots, and provides a vision-based mobile measuring robot which comprises a track, a moving mechanism and a camera shooting assembly, the track comprises a mounting part, a connecting part and a limiting part, and the mounting part and the limiting part are connected and fixed through the connecting part; the moving mechanism comprises a moving frame, walking wheels and side wheels, wherein the walking wheels and the side wheels are installed on the moving frame. A driving piece for controlling the walking wheels to roll is arranged in the moving frame. The side wheels are perpendicular to the walking wheels, the track is provided with a straight line section and an arc line section, and when the movable frame is located on the straight line section of the track, at least three side wheels abut against the straight line section of the track; when the movable frame is located on the arc section of the track, at least three side wheels abut against the arc section of the track. The measuring robot can freely move on the track to collect images, the measuring precision is improved, the track can be arranged according to the actual use condition, and the application range of the measuring robot is widened.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a vision-based mobile measuring robot. Background Art

[0002] A measuring robot is a measuring platform that integrates automatic target recognition, automatic aiming, automatic angle and distance measurement, automatic target tracking, and automatic recording. It is also called an automatic total station or a geodetic robot. A measuring robot has the characteristics of high sensitivity, high precision, and high efficiency. It is suitable for various processes with high precision requirements, including manufacturing, medical, scientific research and other fields. For example, it plays an important role in application scenarios such as laser welding guidance, assembly guidance, geometric measurement, and part precision detection.

[0003] CN110057272B discloses a railway platform measuring robot, comprising a detection mechanism for detecting the platform height and the distance between the guide rail and the platform; a walking drive mechanism, which is arranged on the guide rail and connected to the detection mechanism through a connecting rod assembly, driving the detection mechanism to move along the guide rail; the detection mechanism comprises a base frame, slave caster assemblies respectively mounted at both ends of the base frame for rolling contact with the guide rail, a vertical pole fixed vertically on the base frame, a vertical linear drive module mounted on the vertical pole, a horizontal linear drive module mounted on the vertical linear drive module, a platform height detection mechanism mounted on the horizontal linear drive module, and a distance detection mechanism for detecting the distance between the guide rail and the platform.

[0004] CN102661740A discloses an intelligent measuring robot, wherein walking tracks or wheels are arranged on both sides of the body, and the track wheels or wheels on both sides are connected to the walking drive motor through a walking drive gear pair, a scraper movement mechanism is arranged inside the body, the scraper is connected to the scraper horizontal movement motor through a scraper screw and a scraper horizontal movement gear pair, the lifting plate is connected to the top of the body through an upper and lower lifting screw and an upper and lower lifting screw seat sleeve, a 3D camera is also arranged inside the body, a group of cameras and lights are arranged at the front and rear of the body, and a group of infrared sensors are arranged at the left, right and top of the body.

[0005] Existing measuring robots usually collect images for measurement while moving. Currently, there are robots that install cameras on the body and control the movement of the car to collect images for measurement. However, controlling the car requires planning different movement paths according to different measurement scenarios, which is more troublesome. Moreover, the current measuring robot moves along with the robotic arm, and can only collect images on the movement trajectory of the robotic arm during measurement. When measuring large objects to be measured, it is difficult to perform comprehensive measurements and the measurement accuracy is poor. Summary of the invention

[0006] Existing measuring robots usually collect images for measurement while moving. Currently, there are robots that install cameras on the body and control the movement of the car to collect images for measurement. However, controlling the car requires planning different movement paths according to different measurement scenarios, which is more troublesome. Moreover, the current measuring robot moves along with the robotic arm, and can only collect images on the movement trajectory of the robotic arm during measurement. When measuring large objects to be measured, it is difficult to perform comprehensive measurements and the measurement accuracy is poor.

[0007] In view of this, the present invention aims to provide a vision-based mobile measurement robot. In the present invention, the robot comprises a track, a moving mechanism moving on the track, and a camera assembly installed on the moving mechanism;

[0008] The track at least includes a mounting portion, a connecting portion and a limiting portion, wherein the mounting portion can be connected and fixed to an external frame, and the external frame can be set as an external gantry frame, a ground-laid frame or other structures; the mounting portion and the limiting portion are connected and fixed by the connecting portion;

[0009] The mobile mechanism comprises a mobile frame, a walking wheel and a side wheel, wherein the walking wheel and the side wheel are both mounted on the mobile frame, and a driving member for controlling the rolling of the walking wheel is arranged in the mobile frame; the walking wheel abuts against the limiting portion, the side wheel is arranged perpendicular to the walking wheel, and the side wheel abuts against the side of the connecting portion;

[0010] The track has a straight segment and an arc segment, and the side wheels are arranged in plurality. When the moving frame is located in the straight segment of the track, at least three of the side wheels are in contact with the straight segment of the track; when the moving frame is located in the arc segment of the track, at least three of the side wheels are in contact with the arc segment of the track.

[0011] Further, the side wheel comprises a first wheel body, a second wheel body, a third wheel body, a fourth wheel body, a fifth wheel body and a sixth wheel body; the first wheel body, the second wheel body and the third wheel body are located on the same straight line, the fourth wheel body, the fifth wheel body and the sixth wheel body are located on one side of the first wheel body, the second wheel body and the third wheel body, and the fourth wheel body and the sixth wheel body are located on the same straight line, and the fifth wheel body is located between the fourth wheel body and the sixth wheel body;

[0012] When the mobile frame is located in the straight section of the track, the first wheel body, the second wheel body, the third wheel body and the fourth wheel body are in contact with the straight section of the track; when the mobile frame is located in the arc section of the track, the second wheel body, the fourth wheel body, the fifth wheel body and the sixth wheel body are in contact with the arc section of the track.

[0013] Furthermore, a limiting wheel is also provided on the movable frame, the limiting wheel is located between the walking wheel and the side wheel, the limiting wheel is arranged on a side of the limiting portion away from the walking wheel, and the limiting wheel abuts against the limiting portion.

[0014] Furthermore, a limiting groove is provided on the connecting portion of the track, and one side of the side wheel is inserted into the limiting groove and abuts against the connecting portion.

[0015] Furthermore, the traveling wheel is configured as a gear, a rack is provided on the limiting portion of the track, and the rack is meshed with the gear for transmission.

[0016] Further, the side wheels are mounted on the mobile frame through a wheel frame, the mobile frame is provided with an adjustment mechanism for controlling the movement of the fifth wheel body, the mobile frame is provided with a mounting groove, and the adjustment mechanism is arranged in the mounting groove;

[0017] The adjusting mechanism is used for adjusting the distance between the fifth wheel body and the second wheel body.

[0018] Furthermore, the adjustment mechanism includes a fixed box, a movable frame, a screw rod, a screw sleeve and a driving member;

[0019] The fixed box is arranged in the installation groove, the movable frame is located between the fixed box and the wheel frame, the movable frame is connected to the wheel frame, and two ends of the movable frame are slidably connected to the side walls of the installation groove;

[0020] The screw sleeve and the driving member are both installed inside the fixed box, and the screw sleeve is controlled to rotate by the driving member; one end of the screw rod penetrates into the screw sleeve and is threadedly connected to the screw sleeve, and the other end penetrates out of the fixed box and is connected to the movable frame;

[0021] A position sensing mechanism is arranged in the fixed box, and the position sensing mechanism is used to detect the distance between the fixed box and the movable frame.

[0022] Furthermore, the driving member includes a driving motor, a driving gear and a driven gear;

[0023] The driving motor is installed inside the fixed box, the output shaft of the driving motor is connected with a driving gear, the driven gear is sleeved outside the screw sleeve and fixedly connected to the screw sleeve, and the driving gear is meshed with the driven gear for transmission.

[0024] Furthermore, the fixing box is inserted into the installation groove from the outside of the mobile frame, and a connecting ear is provided on the fixing box, the connecting ear abuts against the outer wall of the mobile frame, and the connecting ear is connected to the mobile frame by screws.

[0025] Further, both sides of the fixing box are provided with a tightening block, at least one of the tightening blocks is provided with a tightening mechanism, and the tightening mechanism includes a first worm, a second worm and a rotary block;

[0026] There are multiple tightening blocks, each of which is connected to the first worm gear, the first worm gear is slidably connected to the side wall of the fixed box, the second worm gear is rotatably installed inside the fixed box, the second worm gear is vertically arranged with the first worm gear and meshes with the first worm gear for transmission, and one end of the second worm gear passes through the fixed box and is fixedly connected to the rotating block.

[0027] The vision-based mobile measuring robot disclosed in the present invention, through the setting of tracks and moving mechanisms, enables the camera component to move according to a preset track, shoot and move around the object to be measured, form continuous images, facilitate simulation imaging, and improve the accuracy of measurement; and the arrangement of the track is not limited by the scene, and can meet the measurement work of objects to be measured of different sizes. Different measurement scenes can be met according to the setting of different placed tracks, thereby improving the application scope of the measuring robot; and by setting a plurality of side wheels, the camera component can realize turning shooting, form all-round image acquisition, and improve the comprehensiveness and accuracy of the measurement.

[0028] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0030] Figure 1 A schematic diagram of the structure of a measuring robot in one embodiment of the present invention;

[0031] Figure 2 A schematic cross-sectional view of a track in one embodiment of the present invention;

[0032] Figure 3 A schematic diagram of the structure of a moving mechanism in one embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the installation of side wheels in one embodiment of the present invention;

[0034] Figure 5 A schematic diagram of a structure installed on a gantry in one embodiment of the present invention;

[0035] Figure 6 for Figure 5 Installation diagram of the middle track;

[0036] Figure 7 A schematic diagram of a structure installed on another gantry in one embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the installation of a track on the ground in one embodiment of the present invention;

[0038] Fig. 9 for Figure 8 Installation diagram of the measuring robot;

[0039] Fig.10 This is a schematic diagram of the installation of the adjustment mechanism in one embodiment of the present invention;

[0040] Fig.11 It is a schematic structural diagram of the adjustment mechanism in one embodiment of the present invention.

[0041] Description of reference numerals:

[0042] 100, track; 101, mounting portion; 102, connecting portion; 103, limiting portion; 200, moving mechanism; 201, moving frame; 202, walking wheel; 203, side wheel; 2031, first wheel body; 2032, second wheel body; 2033, third wheel body; 2034, fourth wheel body; 2035, fifth wheel body; 2036, sixth wheel body; 204, limiting wheel; 205, limiting Slot; 300, camera assembly; 400, adjustment mechanism; 401, mounting slot; 402, fixing box; 403, movable frame; 404, screw; 405, screw sleeve; 406, driving motor; 407, driving gear; 408, driven gear; 409, position sensing mechanism; 500, tightening mechanism; 501, tightening block; 502, first worm; 503, second worm; 504, rotating block. DETAILED DESCRIPTION

[0043] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0044] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices; "fixed" or "fixed connection" generally refers to common mechanical connection methods, such as threaded connection, welding or bonding, etc.

[0046] Existing measuring robots usually collect images for measurement while moving. Currently, there are robots that install cameras on the body and control the movement of the car to collect images for measurement. However, controlling the car requires planning different movement paths according to different measurement scenarios, which is more troublesome. Moreover, the current measuring robot moves along with the robotic arm, and can only collect images on the movement trajectory of the robotic arm during measurement. When measuring large objects to be measured, it is difficult to perform comprehensive measurements and the measurement accuracy is poor.

[0047] The present invention provides a vision-based mobile measurement robot, such as Figure 1 As shown, in this embodiment, the robot includes a track 100, a mobile mechanism 200 moving on the track 100, and a camera assembly 300 installed on the mobile mechanism 200; the camera assembly 300 is configured as a plurality of cameras, and cameras are provided on the side of the mobile mechanism 200 and on the side away from the track 100, for taking images and transmitting them remotely to the overall control system for calculation and measurement; Figure 2 As shown, the track 100 is provided with a mounting portion 101, a connecting portion 102 and a limiting portion 103, the mounting portion 101 can be connected and fixed with an external frame, the external frame can be provided with an external gantry frame, a ground-laid frame and other structures, the mounting portion 101 and the limiting portion 103 are connected and fixed through the connecting portion 102, in this embodiment, in order to improve the strength of the track 100, the mounting portion 101, the connecting portion 102 and the limiting portion 103 are provided with an integrally formed overall structure.

[0048] like Figure 3As shown, in order to make the mobile mechanism 200 move stably and smoothly on the track 100 and meet the stable movement of straight lines and turning parts, the mobile mechanism 200 is set to a mobile frame 201, a walking wheel 202 and a side wheel 203. The walking wheel 202 and the side wheel 203 are both installed on the mobile frame 201 through a rotating shaft so that they can roll on the mobile frame 201. A driving member is installed in the mobile frame 201. The driving member can be set to a power drive structure of a motor and a reduction box to drive the walking wheel 202 to roll, so as to drive the mobile frame 201 to move on the track 100, and the walking wheel 202 is abutted against the limiting part 103 on the track 100, and the walking wheel 202 is set as a gear, and a rack is set on the limiting part 103 of the track 100. The rack and the gear are meshed for transmission, so as to drive the movement of the mobile frame 201 more stably; the side wheel 203 is arranged perpendicular to the walking wheel 202, and the side wheel 203 is abutted against the side of the connecting part 102.

[0049] In order to make the measurement more comprehensive, the measuring robot can simultaneously meet the requirements of stable movement in straight segments and curved segments; the track 100 is set as a straight segment and an arc segment. In the present embodiment, six side wheels 203 are set. When the moving frame 201 is located in the straight segment of the track 100, three side wheels 203 are in contact with the track 100. In the present invention, the three side wheels 203 are set on the same straight line, so four side wheels 203 are in contact with the track 100, so as to keep the moving frame 201 stable; when the moving frame 201 is located in the arc segment of the track 100, three side wheels 203 are in contact with the arc segment of the track 100, so as to keep the moving frame 201 stable on the curved surface.

[0050] Specifically, Figure 4As shown, the six side wheels 203 include a first wheel body 2031, a second wheel body 2032, a third wheel body 2033, a fourth wheel body 2034, a fifth wheel body 2035 and a sixth wheel body 2036; the six side wheels 203 are divided into two sides, and three side wheels 203 are respectively arranged on both sides of the connecting portion 102, the first wheel body 2031, the second wheel body 2032 and the third wheel body 2033 are located on the same straight line on one side of the connecting portion 102, the fourth wheel body 2034, the fifth wheel body 2035 and the sixth wheel body 2036 are located on the other side of the connecting portion 102, and the fourth wheel body 2034 and the sixth wheel body 2036 are located on the same straight line, the fifth wheel body 2035 is located between the fourth wheel body 2034 and the sixth wheel body 2036, the second wheel body 2032 is located between the first wheel body 2031 and the third wheel body 2033, and the first wheel body 2031 and the fourth wheel body 203 4 are arranged opposite to each other, the second wheel body 2032 and the fifth wheel body 2035 are arranged opposite to each other, and the third wheel body 2033 and the sixth wheel body 2036 are arranged opposite to each other; and the distance between the second wheel body 2032 and the fifth wheel body 2035 is smaller than the distance between the first wheel body 2031 and the fourth wheel body 2034, and the distance between the first wheel body 2031 and the fourth wheel body 2034 is the same as the distance between the third wheel body 2033 and the sixth wheel body 2036; so that: when the moving frame 201 is located in the straight section of the track 100, the first wheel body 2031, the second wheel body 2032, the third wheel body 2033 and the fourth wheel body 2034 are in contact with the straight section of the track 100, and when the moving frame 201 is located in the arc section of the track 100, the second wheel body 2032, the fourth wheel body 2034, the fifth wheel body 2035 and the sixth wheel body 2036 are in contact with the arc section of the track 100.

[0051] By setting the track 100 and the moving mechanism 200, the camera assembly 300 can move according to the preset track 100, shoot and move around the object to be measured, form continuous images, facilitate simulation imaging, and improve the accuracy of measurement; and the arrangement of the track 100 is not limited by the scene, and can meet the measurement work of objects to be measured of different sizes. Different measurement scenes can be met according to the setting of the track 100, thereby improving the application scope of the measuring robot. By setting multiple side wheels 203, the camera assembly 300 can realize turning shooting, form all-round image acquisition, and improve the comprehensiveness and accuracy of the measurement.

[0052] like Figure 5 and Figure 6 As shown in FIG. 1 , the measuring robot of the present invention is installed on a gantry with an arc-shaped turning surface. The track 100 is installed at the bottom of the gantry, and the moving frame 201 is inverted to the bottom of the gantry for movement. The measuring robot can stably move along the straight line and arc turning section of the gantry to perform measurement work. Figure 7As shown, this is the installation form of the measuring robot of the present invention installed on a linear gantry only, which can meet the installation requirements of various forms of frames according to actual measurement scenarios and usage scenarios.

[0053] It should be noted that when the present invention is used for inverted installation, the walking wheel 202 is set as a gear, and a rack is set on the limiting part 103 of the track 100 to ensure the stable movement of the mobile frame 201 and avoid the gap between the walking wheel 202 and the limiting part 103 affecting the movement; at the same time, in order to ensure smoother operation during inversion and reduce the deviation and shaking of the measuring robot, a limiting wheel 204 is also set on the mobile frame 201, and the limiting wheel 204 is installed on the mobile frame 201 through a rotating shaft. The limiting wheel 204 is located between the walking wheel 202 and the side wheel 203, and the limiting wheel 204 is located on the side of the limiting part 103 away from the walking wheel 202, and the limiting wheel 204 is in contact with the limiting part 103. When inverted, the limiting wheels 204 on both sides support and roll to ensure the movement stability of the mobile frame 201 when it is inverted.

[0054] like Figure 8 and Fig. 9 As shown, the measuring robot of the present invention is installed on a ground-laid frame. At this time, the measuring robot circles the equipment or workpiece as a whole to perform measurement work; and the setting of the limiting wheel 204 can be subtracted. At the same time, since the running wheel 202 installed in this state is used as a weighing part, the running wheel 202 is always in contact with the limiting part 103 of the track 100, and stable operation and movement can be guaranteed without setting the running wheel 202 as a gear.

[0055] In order to further improve the stability of the movement of the mobile frame 201, avoid offset, and avoid the side wheels 203 on both sides from moving out of position; a limiting groove 205 is opened on the connecting part 102 of the track 100, and one side of the side wheel 203 is inserted into the limiting groove 205 and abuts against the bottom of the limiting groove 205. The opening of the limiting groove 205 corresponds to the track 100 to form a channel for only the side wheel 203 to move, so as to limit the moving side wheel 203, avoid the side wheel 203 from being dislocated during movement, and improve stability.

[0056] In order to enable the mobile mechanism 200 to match the arc track 100 of different gears and realize rotation in multiple directions, thereby improving the overall adaptability of the measuring robot; an adjusting mechanism 400 for controlling the movement of the fifth wheel body 2035 is provided on the mobile frame 201, and the adjusting mechanism 400 adjusts the movement of the fifth wheel body 2035 to adjust the distance between the fifth wheel body 2035 and the second wheel body. In this embodiment, the six side wheels 203 are all installed on the mobile frame 201 through the wheel frame, and the adjusting mechanism 400 is connected to the wheel frame to adjust the movement of the fifth wheel body 2035; Fig.10As shown, a mounting groove 401 is provided on the movable frame 201 , and the adjustment mechanism 400 is disposed in the mounting groove 401 .

[0057] Specifically: Fig.11 As shown, the adjustment mechanism 400 includes a fixed box 402, a movable frame 403, a screw 404, a screw sleeve 405 and a driving member; the fixed box 402 is installed inside the mounting groove 401, the movable frame 403 is located between the fixed box 402 and the wheel frame, and the movable frame 403 is fixedly connected to the wheel frame, and the fifth wheel body 2035 is driven to move by driving the movement of the movable frame 403, and the two ends of the movable frame 403 are set to be in sliding connection with the side walls of the mounting groove 401, and a slide rail can be set on the side walls of the mounting groove 401 to limit the moving trajectory of the movable frame 403 and improve the stability of the movement of the movable frame 403 and the fifth wheel body 2035; the screw sleeve 405 and the driving member are both installed in the fixed box 402, and the screw sleeve 405 is installed on the fixed box 402 through a bearing seat. The screw 404 is fixed in the box 402 and is controlled to rotate by the driving member; one end of the screw rod 404 passes through the screw sleeve 405 and is threadedly connected with the screw sleeve 405, and the other end passes through the fixed box 402 and is fixedly connected with the movable frame 403; the screw sleeve 405 is driven to rotate by the driving member to drive the screw rod 404 to move, and the movement of the screw rod 404 drives the movable frame 403 and the fifth wheel body 2035 to move; a position sensing mechanism 409 is arranged in the fixed box 402, and the position sensing mechanism 409 is arranged as a position sensor, and the position sensing mechanism 409 is used to detect the distance between the fixed box 402 and the movable frame 403 and transmit it to the main controller, and the main controller calculates the distance between the fifth wheel body 2035 and the second wheel body 2032, and reversely infers the number of rotations of the driving member.

[0058] The driving member is configured as a driving motor 406, a driving gear 407 and a driven gear 408; in order to ensure accuracy, the driving motor 406 is configured as a stepping motor, the driving motor 406 is installed inside the fixed box 402, the output shaft of the driving motor 406 is connected with the driving gear 407, the driven gear 408 is sleeved on the outside of the screw sleeve 405 and fixedly connected to the screw sleeve 405, in this embodiment, the driven gear 408 and the screw sleeve 405 are connected by a spline, the driving gear 407 and the driven gear 408 are meshed for transmission, the driving gear 407 is driven to rotate by the stepping motor, the driving gear 407 drives the driven gear 408 and the screw sleeve 405 to rotate, and then the movable frame 403 and the fifth wheel body 2035 are pushed to move.

[0059] In order to improve the convenience of installation of the fixed box 402, maintenance is performed; the installation slot 401 is set to be connected to the external atmosphere, so that the fixed box 402 can be inserted into the installation slot 401 from the outside of the mobile frame 201, and a connecting ear is provided on the fixed box 402; when the fixed box 402 is installed, the fixed box 402 is inserted into the installation slot 401, and the connecting ear abuts against the outer wall of the mobile frame 201 on the outside, screw holes are opened on the connecting ear and the mobile frame 201, and the connecting ear is connected to the mobile frame 201 by screws to fix the fixed box 402.

[0060] In order to improve the stability of the fixed box 402 when it is installed in the installation groove 401, avoid the fifth wheel body 2035 from shaking when the mobile frame 201 moves, and improve the stability of the measuring robot when it moves; tightening blocks 501 are provided on both sides of the fixed box 402, and the tightening blocks 501 tighten the fixed box 402 inside the installation groove 401 from both sides. The tightening block 501 on one side is fixed to the fixed box 402, and the tightening block 501 on the other side is provided with a tightening mechanism 500, which includes a first worm 502, a second worm 503 and a rotating block 504; the tightening blocks 501 are provided in plurality, and each of the tightening blocks 501 is connected to a first worm 502, a second worm 503 and a rotating block 504; 02, the first worm 502 is slidably connected to the side wall of the fixed box 402, the second worm 503 is rotatably installed inside the fixed box 402, the second worm 503 is vertically arranged with the first worm 502 and meshes with the first worm 502 for transmission, one end of the second worm 503 passes through the fixed box 402 and is fixedly connected with the rotary block 504; the second worm 503 is driven to rotate by manually twisting the rotary block 504, thereby driving each first worm 502 to rotate, and driving each tightening block 501 to move outward until the tightening block 501 presses against the inner wall of the mounting groove 401, so that during the working process of the measuring robot, the fixed box 402 is in a tightened state and will not shake.

[0061] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vision-based mobile measurement robot, characterized in that: It comprises a track (100), a moving mechanism (200) moving on the track (100), and a camera assembly (300) mounted on the moving mechanism (200); The track (100) comprises at least a mounting portion (101), a connecting portion (102) and a limiting portion (103); the mounting portion (101) can be connected and fixed to an external frame; the mounting portion (101) and the limiting portion (103) are connected and fixed via the connecting portion (102); The moving mechanism (200) comprises a moving frame (201), a walking wheel (202) and a side wheel (203); the walking wheel (202) and the side wheel (203) are both mounted on the moving frame (201); a driving member for controlling the rolling of the walking wheel (202) is arranged in the moving frame (201); the walking wheel (202) abuts against the limiting portion (103); the side wheel (203) is arranged perpendicular to the walking wheel (202); and the side wheel (203) abuts against the side of the connecting portion (102); The track (100) has a straight line segment and an arc segment, and the side wheels (203) are arranged in a plurality. When the moving frame (201) is located in the straight line segment of the track (100), at least three of the side wheels (203) abut against the straight line segment of the track (100); when the moving frame (201) is located in the arc segment of the track (100), at least three of the side wheels (203) abut against the arc segment of the track (100).

2. The vision-based mobile measurement robot according to claim 1, characterized in that: The side wheel (203) comprises a first wheel body (2031), a second wheel body (2032), a third wheel body (2033), a fourth wheel body (2034), a fifth wheel body (2035) and a sixth wheel body (2036); the first wheel body (2031), the second wheel body (2032) and the third wheel body (2033) are located on the same straight line, the fourth wheel body (2034), the fifth wheel body (2035) and the sixth wheel body (2036) are located on one side of the first wheel body (2031), the second wheel body (2032) and the third wheel body (2033), and the fourth wheel body (2034) and the sixth wheel body (2036) are located on the same straight line, and the fifth wheel body (2035) is located between the fourth wheel body (2034) and the sixth wheel body (2036); When the moving frame (201) is located in a straight line segment of the track (100), the first wheel body (2031), the second wheel body (2032), the third wheel body (2033) and the fourth wheel body (2034) are in contact with the straight line segment of the track (100); when the moving frame (201) is located in an arc segment of the track (100), the second wheel body (2032), the fourth wheel body (2034), the fifth wheel body (2035) and the sixth wheel body (2036) are in contact with the arc segment of the track (100).

3. The vision-based mobile measurement robot according to claim 2, characterized in that: The movable frame (201) is also provided with a limiting wheel (204), the limiting wheel (204) being located between the walking wheel (202) and the side wheel (203), the limiting wheel (204) being arranged on a side of the limiting portion (103) away from the walking wheel (202), and the limiting wheel (204) being in contact with the limiting portion (103).

4. The vision-based mobile measurement robot according to claim 2, characterized in that: A limiting groove (205) is provided on the connecting portion (102) of the track (100), and one side of the side wheel (203) is inserted into the limiting groove (205) to abut against the connecting portion (102).

5. The vision-based mobile measurement robot according to claim 2, characterized in that: The running wheel (202) is configured as a gear, and a rack is provided on the limiting portion (103) of the track (100), and the rack is meshed with the gear for transmission.

6. The vision-based mobile measurement robot according to any one of claims 2 to 5, characterized in that: The side wheel (203) is mounted on the mobile frame (201) via a wheel frame, the mobile frame (201) is provided with an adjustment mechanism (400) for controlling the movement of the fifth wheel body (2035), the mobile frame (201) is provided with a mounting groove (401), and the adjustment mechanism (400) is arranged in the mounting groove (401); The adjustment mechanism (400) is used to adjust the distance between the fifth wheel body (2035) and the second wheel body (2032).

7. The vision-based mobile measurement robot according to claim 6, characterized in that: The adjusting mechanism (400) comprises a fixed box (402), a movable frame (403), a screw rod (404), a screw sleeve (405) and a driving member; The fixed box (402) is arranged in the installation groove (401), the movable frame (403) is located between the fixed box (402) and the wheel frame, the movable frame (403) is connected to the wheel frame, and both ends of the movable frame (403) are slidably connected to the side walls of the installation groove (401); The screw sleeve (405) and the driving member are both installed inside the fixed box (402), and the screw sleeve (405) is controlled to rotate by the driving member; one end of the screw rod (404) penetrates into the screw sleeve (405) and is threadedly connected to the screw sleeve (405), and the other end penetrates out of the fixed box (402) and is connected to the movable frame (403); A position sensing mechanism (409) is arranged inside the fixed box (402), and the position sensing mechanism (409) is used to detect the distance between the fixed box (402) and the movable frame (403).

8. The vision-based mobile measurement robot according to claim 7, characterized in that: The driving member comprises a driving motor (406), a driving gear (407) and a driven gear (408); The driving motor (406) is installed inside the fixed box (402), and a driving gear (407) is connected to the output shaft of the driving motor (406). The driven gear (408) is sleeved on the outside of the screw sleeve (405) and fixedly connected to the screw sleeve (405), and the driving gear (407) and the driven gear (408) are meshed and transmitted.

9. The vision-based mobile measurement robot according to claim 7, characterized in that: The fixing box (402) is inserted into the installation groove (401) from the outside of the movable frame (201), and a connecting ear is provided on the fixing box (402), and the connecting ear abuts against the outer wall of the movable frame (201), and the connecting ear is connected to the movable frame (201) by means of screws.

10. The vision-based mobile measurement robot according to claim 7, characterized in that: Both sides of the fixing box (402) are provided with tightening blocks (501), at least one of the tightening blocks (501) is provided with a tightening mechanism (500), and the tightening mechanism (500) comprises a first worm (502), a second worm (503) and a rotary block (504); The tightening blocks (501) are arranged in plurality, each of the tightening blocks (501) is connected to a first worm gear (502), the first worm gear (502) is slidably connected to the side wall of the fixing box (402), the second worm gear (503) is rotatably installed inside the fixing box (402), the second worm gear (503) is arranged vertically to the first worm gear (502) and meshes with the first worm gear (502) for transmission, and one end of the second worm gear (503) passes through the fixing box (402) and is fixedly connected to the rotating block (504).

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