Vision-based mobile measurement robot

Abstract

This invention relates to the field of robotics, providing a vision-based mobile measurement robot, comprising a track, a movement mechanism, and a camera assembly. The track includes a mounting portion, a connecting portion, and a limiting portion, with the mounting portion and the limiting portion connected and fixed together. The movement mechanism includes a moving frame and traveling wheels and side wheels mounted on the moving frame. A drive component for controlling the rolling of the traveling wheels is provided within the moving frame. The side wheels are arranged perpendicularly to the traveling wheels. The track has straight segments and curved segments. Multiple side wheels are provided. When the moving frame is located on a straight segment of the track, at least three side wheels abut against the straight segment of the track; when the moving frame is located on a curved segment of the track, at least three side wheels abut against the curved segment of the track. This invention allows for arbitrary movement on the track to acquire images, improving measurement accuracy. Furthermore, the track can be arranged according to actual usage, expanding the applicability of the measurement robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a vision-based mobile measurement robot. Background Technology

[0002] A surveying robot is a measurement platform that integrates automatic target recognition, automatic aiming, automatic angle and distance measurement, automatic target tracking, and automatic recording. It is also known as an automatic total station or a geodetic robot. Surveying robots are characterized by high sensitivity, high precision, and high efficiency, and are suitable for various processes with high precision requirements, including manufacturing, medical, and scientific research fields. For example, they play an important role in applications such as laser welding guidance, assembly guidance, geometric measurement, and parts precision inspection.

[0003] CN110057272B discloses a railway platform measuring robot, including a detection mechanism for detecting the platform height and the distance between the guide rail and the platform; a walking drive mechanism, mounted on the guide rail and connected to the detection mechanism via a linkage assembly, driving the detection mechanism to move along the guide rail; the detection mechanism includes 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 to 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. The robot has walking tracks or wheels on both sides of its body. The tracks or wheels on both sides are connected to a walking drive motor through a walking drive gear pair. The robot has a scraper movement mechanism inside its body. The scraper is connected to a 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 robot through an upper and lower lifting screw and an upper and lower lifting screw seat. The robot also has a 3D camera inside its body, a set of cameras and headlights at the front and rear of the robot, and a set of infrared sensors on the left, right and top of the robot.

[0005] Existing measurement robots typically collect images while moving to perform measurements. Currently, there are robots that mount cameras on the vehicle body and control the vehicle's movement to collect images for measurement. However, controlling the vehicle requires planning different paths for different measurement scenarios, which is quite troublesome. Furthermore, current measurement robots that move along with the robotic arm can only collect images along the robotic arm's movement trajectory during measurement. When measuring large objects, it is difficult to perform comprehensive measurements, resulting in poor measurement accuracy. Summary of the Invention

[0006] Existing measurement robots typically collect images while moving to perform measurements. Currently, there are robots that mount cameras on the vehicle body and control the vehicle's movement to collect images for measurement. However, controlling the vehicle requires planning different paths for different measurement scenarios, which is quite troublesome. Furthermore, current measurement robots that move along with the robotic arm can only collect images along the robotic arm's movement trajectory during measurement. When measuring large objects, it is difficult to perform comprehensive measurements, resulting in poor measurement accuracy.

[0007] In view of this, the present invention aims to provide a vision-based mobile measurement robot, in which the robot includes a track, a moving mechanism that moves on the track, and a camera assembly mounted on the moving mechanism;

[0008] The track includes at least an installation part, a connecting part, and a limiting part. The installation part can be connected and fixed to an external frame, which can be an external gantry frame, a ground-laid frame, or other structures. The installation part and the limiting part are connected and fixed together by the connecting part.

[0009] The moving mechanism includes a moving frame, a traveling wheel, and a side wheel. The traveling wheel and the side wheel are both mounted on the moving frame. A drive component for controlling the rolling of the traveling wheel is provided inside the moving frame. The traveling wheel abuts against the limiting part, and the side wheel is arranged perpendicular to the traveling wheel. The side wheel abuts against the side of the connecting part.

[0010] The track has straight sections and curved sections, and multiple side wheels are provided. When the moving frame is located on the straight section of the track, at least three side wheels abut against the straight section of the track; when the moving frame is located on the curved section of the track, at least three side wheels abut against the curved section of the track.

[0011] Furthermore, the side wheel includes 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 on the straight section of the track, the first wheel, the second wheel, the third wheel, and the fourth wheel abut against the straight section of the track; when the mobile frame is located on the curved section of the track, the second wheel, the fourth wheel, the fifth wheel, and the sixth wheel abut against the curved section of the track.

[0013] Furthermore, the mobile frame is also provided with a limiting wheel, which is located between the traveling wheel and the side wheel. The limiting wheel is located on the side of the limiting part away from the traveling wheel, and the limiting wheel abuts against the limiting part.

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

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

[0016] Furthermore, the side wheel is mounted on the movable frame via a wheel frame, the movable frame is provided with an adjustment mechanism for controlling the movement of the fifth wheel, the movable frame is provided with a mounting groove, and the adjustment mechanism is disposed in the mounting groove;

[0017] The adjustment mechanism is used to adjust the distance between the fifth wheel and the second wheel.

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

[0019] The fixed box is disposed in the mounting slot, the movable frame is located between the fixed box and the wheel frame, the movable frame is connected to the wheel frame, and both ends of the movable frame are slidably connected to the side wall of the mounting slot;

[0020] Both the threaded sleeve and the driving component are installed inside the fixed box. The threaded sleeve is rotated under the control of the driving component. One end of the screw passes into the inside of the threaded sleeve and is threadedly connected to the threaded sleeve. The other end passes out of the fixed box and is connected to the movable frame.

[0021] The fixed box is equipped with a position sensing mechanism, which is used to detect the distance between the fixed box and the movable frame.

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

[0023] The drive motor is installed inside the fixed box. A drive gear is connected to the output shaft of the drive motor. The driven gear is sleeved outside the screw sleeve and fixedly connected to the screw sleeve. The drive gear and the driven gear mesh and transmit power.

[0024] Furthermore, the fixing box is inserted into the mounting slot from the outside of the movable frame. The fixing box is provided with a connecting ear, which abuts against the outer wall of the movable frame. The connecting ear is connected to the movable frame by screws.

[0025] Furthermore, a clamping block is provided on both sides of the fixing box, and at least one of the clamping blocks is provided with a clamping mechanism, the clamping mechanism including a first worm, a second worm and a rotating block;

[0026] The clamping blocks are configured in multiple ways, and each clamping block is connected to a 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 arranged perpendicular to the first worm gear and meshes with the first worm gear for transmission. 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 measurement robot disclosed in this invention, through the setting of a track and a moving mechanism, enables the camera component to move along a preset track, moving around the object to be measured to capture images and form continuous images, facilitating simulated imaging and improving measurement accuracy. Moreover, the track arrangement is not limited by the scene and can meet the measurement work of objects of different sizes. Different measurement scenarios can be met by setting different track placements, thus increasing the applicability of the measurement robot. By setting multiple side wheels, the camera component can achieve turning and shooting, forming omnidirectional image acquisition, improving 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 section. Attached Figure Description

[0029] The accompanying drawings, which form part of this invention, 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 undue limitation of the invention. In the drawings:

[0030] Figure 1 This is a schematic diagram of the structure of a measuring robot according to one embodiment of the present invention;

[0031] Figure 2 This is a cross-sectional schematic diagram of the track in one embodiment of the present invention;

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

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

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

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

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

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

[0038] Figure 9 for Figure 8 Installation diagram of the measurement robot;

[0039] Figure 10 This is a schematic diagram of the installation of the adjusting mechanism in one embodiment of the present invention;

[0040] Figure 11 This is a schematic diagram of the adjusting mechanism in one embodiment of the present invention.

[0041] Explanation of reference numerals in the attached figures:

[0042] 100. Track; 101. Mounting part; 102. Connecting part; 103. Limiting part; 200. Moving mechanism; 201. Moving frame; 202. Traveling 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 wheel 300, Camera assembly; 400, Adjustment mechanism; 401, Mounting slot; 402, Fixing box; 403, Movable frame; 404, Screw; 405, Screw sleeve; 406, Drive motor; 407, Drive gear; 408, Driven gear; 409, Position sensing mechanism; 500, Tightening mechanism; 501, Tightening block; 502, First worm gear; 503, Second worm gear; 504, Rotary block. Detailed Implementation

[0043] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0044] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of the invention described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices. "Fixed" or "fixed connection" generally refers to common mechanical connection methods, such as threaded connections, welding, or bonding.

[0046] Existing measurement robots typically collect images while moving to perform measurements. Currently, there are robots that mount cameras on the vehicle body and control the vehicle's movement to collect images for measurement. However, controlling the vehicle requires planning different paths for different measurement scenarios, which is quite troublesome. Furthermore, current measurement robots that move along with the robotic arm can only collect images along the robotic arm's movement trajectory during measurement. When measuring large objects, it is difficult to perform comprehensive measurements, resulting in poor measurement accuracy.

[0047] This invention provides a vision-based mobile measurement robot, such as... Figure 1 As shown, in this embodiment, the robot includes a track 100, a moving mechanism 200 moving on the track 100, and a camera assembly 300 mounted on the moving mechanism 200. The camera assembly 300 is configured with multiple cameras, with cameras located on the side of the moving mechanism 200 and on the side away from the track 100, for capturing images and remotely transmitting them to the central control system for calculation and measurement. Figure 2 As shown, the track 100 is configured with a mounting part 101, a connecting part 102, and a limiting part 103. The mounting part 101 can be connected and fixed to an external frame, which can be an external gantry frame, a ground-laying frame, or other structures. The mounting part 101 and the limiting part 103 are connected and fixed through the connecting part 102. In this embodiment, in order to improve the strength of the track 100, the mounting part 101, the connecting part 102, and the limiting part 103 are configured as an integrally formed structure.

[0048] like Figure 3As shown, in order to ensure that the moving mechanism 200 moves stably and smoothly on the track 100, and to satisfy the stable movement in both straight and turning sections, the moving mechanism 200 is configured as a moving frame 201, a traveling wheel 202, and a side wheel 203. The traveling wheel 202 and the side wheel 203 are both mounted on the moving frame 201 via a rotating shaft so that they can roll on the moving frame 201. A driving component is installed inside the moving frame 201. The driving component can be configured as a power drive structure of a motor and a reduction gearbox, which drives the traveling wheel 202 to roll, thereby driving the moving frame 201 to move on the track 100. The traveling wheel 202 abuts against the limiting part 103 on the track 100, and the traveling wheel 202 is configured as a gear. A rack is configured on the limiting part 103 of the track 100. The rack and gear mesh and drive each other to drive the moving frame 201 to move more stably. The side wheel 203 is arranged perpendicular to the traveling wheel 202 and abuts against the side of the connecting part 102.

[0049] To achieve more comprehensive measurements and enable the measuring robot to move stably on both straight and curved sections, the track 100 is configured with both straight and curved sections. In this embodiment, six side wheels 203 are used. When the moving frame 201 is located on the straight section of the track 100, three side wheels 203 are in contact with the track 100. In this invention, the three side wheels 203 are arranged on the same straight line, so four side wheels 203 are in contact with the track 100, maintaining the stability of the moving frame 201. When the moving frame 201 is located on the curved section of the track 100, three side wheels 203 are in contact with the curved section of the track 100, maintaining the stability of the moving frame 201 on the curved surface.

[0050] Specifically, such as 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 arranged on both sides, with three side wheels 203 on each side 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. The fourth wheel body 2034 and the sixth wheel body 2036 are on the same straight line, the fifth wheel body 2035 is located between the fourth wheel body 2034 and the sixth wheel body 2036, and the second wheel body 2032 is located between the first wheel body 2031 and the third wheel body 2033. The first wheel body 2031 and the fourth wheel body 2036 are... 4. The second wheel 2032 and the fifth wheel 2035 are arranged opposite each other, and the third wheel 2033 and the sixth wheel 2036 are arranged opposite each other; and the distance between the second wheel 2032 and the fifth wheel 2035 is less than the distance between the first wheel 2031 and the fourth wheel 2034, and the distance between the first wheel 2031 and the fourth wheel 2034 is the same as the distance between the third wheel 2033 and the sixth wheel 2036; so that: when the moving frame 201 is located on the straight section of the track 100, the first wheel 2031, the second wheel 2032, the third wheel 2033 and the fourth wheel 2034 abut against the straight section of the track 100, and when the moving frame 201 is located on the arc section of the track 100, the second wheel 2032, the fourth wheel 2034, the fifth wheel 2035 and the sixth wheel 2036 abut against the arc section of the track 100.

[0051] By setting up the track 100 and the moving mechanism 200, the camera component 300 can move along the preset track 100 to capture images around the object to be measured, forming continuous images, which facilitates analog imaging and improves measurement accuracy. Moreover, the arrangement of the track 100 is not limited by the scene and can meet the measurement work of objects of different sizes. Different measurement scenarios can be met by setting different placements of the track 100, thus improving the applicability of the measurement robot. By setting up multiple side wheels 203, the camera component 300 can achieve turning and shooting, forming all-round image acquisition, improving the comprehensiveness and accuracy of the measurement.

[0052] like Figure 5 and Figure 6 As shown, this is the installation configuration of the measuring robot of the present invention mounted 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 and moved to the bottom of the gantry, enabling stable movement along the straight and arc-shaped turning sections of the gantry for measurement work; as shown Figure 7As shown, this is the installation configuration of the measuring robot of the present invention mounted on a linear gantry frame only. It can meet the installation requirements of various frame configurations according to the actual measurement and usage scenarios.

[0053] It should be noted that, when the present invention is used in reverse installation, the traveling wheel 202 is configured as a gear, and a rack is provided on the limiting part 103 of the track 100 to ensure the stable movement of the moving frame 201 and avoid the gap between the traveling wheel 202 and the limiting part 103 affecting the movement; at the same time, in order to ensure smoother operation during reverse installation and reduce the deviation and shaking of the measuring robot, a limiting wheel 204 is also provided on the moving frame 201. The limiting wheel 204 is mounted on the moving frame 201 through a rotating shaft. The limiting wheel 204 is located between the traveling wheel 202 and the side wheel 203. The limiting wheel 204 is located on the side of the limiting part 103 away from the traveling wheel 202, and the limiting wheel 204 abuts against the limiting part 103. During reverse installation, the limiting wheels 204 on both sides provide support and roll to ensure the stability of the moving frame 201 during reverse installation.

[0054] like Figure 8 and Figure 9 As shown, the measuring robot of the present invention is installed on a ground-laid frame. In this state, the measuring robot performs measurement work by circling the entire equipment or workpiece. The setting of the limiting wheel 204 can be eliminated. At the same time, since the walking wheel 202 is used as a weighing part in this installation state, the walking wheel 202 is always in contact with the limiting part 103 of the track 100. Stable operation and movement can be guaranteed without setting the walking wheel 202 as a gear.

[0055] To further improve the stability of the moving frame 201 and prevent deviation and misalignment of the side wheels 203, a limiting groove 205 is opened on the connecting part 102 of the track 100. One side of the side wheel 203 is inserted into the limiting groove 205 and abuts against the bottom of the groove. The opening of the limiting groove 205 corresponds to the track 100 to form a channel for the side wheel 203 to move only, thereby limiting the side wheel 203 during movement, preventing misalignment and improving stability.

[0056] To enable the moving mechanism 200 to match the arc track 100 with different gears and to achieve rotation in multiple directions, thereby improving the overall adaptability of the measuring robot, an adjustment mechanism 400 is provided on the moving frame 201 to control the movement of the fifth wheel 2035. The adjustment mechanism 400 adjusts the movement of the fifth wheel 2035 to adjust the distance between the fifth wheel 2035 and the second wheel. In this embodiment, all six side wheels 203 are mounted on the moving frame 201 via wheel frames. The adjustment mechanism 400 is connected to the wheel frames to adjust the movement of the fifth wheel 2035. Figure 10As shown, a mounting slot 401 is provided on the movable frame 201, and an adjustment mechanism 400 is disposed in the mounting slot 401.

[0057] Specifically: such as Figure 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 component. 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 is fixedly connected to the wheel frame. The movement of the movable frame 403 drives the fifth wheel 2035. The two ends of the movable frame 403 are slidably connected to the side wall of the mounting groove 401. A slide rail can be provided on the side wall of the mounting groove 401 to limit the movement trajectory of the movable frame 403 and improve the stability of the movement of the movable frame 403 and the fifth wheel 2035. The screw sleeve 405 and the driving component are both installed inside the fixed box 402. The screw sleeve 405 is mounted on the fixed box 402 through a bearing seat. The screw 404 is located inside the fixed box 402 and rotates under the control of the drive component. One end of the screw 404 is threaded into the screw sleeve 405 and connected to the screw sleeve 405, while the other end is fixedly connected to the movable frame 403 after passing through the fixed box 402. The drive component drives the screw sleeve 405 to rotate, thereby driving the screw 404 to move. The movement of the screw 404 drives the movable frame 403 and the fifth wheel 2035 to move. A position sensing mechanism 409 is provided inside the fixed box 402. The position sensing mechanism 409 is a position sensor used to detect the distance between the fixed box 402 and the movable frame 403 and transmit it to the main controller. The main controller calculates the distance between the fifth wheel 2035 and the second wheel 2032 and calculates the number of rotations of the drive component.

[0058] The driving components are configured as a drive motor 406, a drive gear 407, and a driven gear 408. To ensure accuracy, the drive motor 406 is configured as a stepper motor and is installed inside the fixed box 402. The drive gear 407 is connected to the output shaft of the drive motor 406. The driven gear 408 is sleeved on the outside of the threaded sleeve 405 and is fixedly connected to the threaded sleeve 405. In this embodiment, the driven gear 408 and the threaded sleeve 405 are connected by a spline. The drive gear 407 meshes with the driven gear 408 for transmission. The stepper motor drives the drive gear 407 to rotate, which in turn drives the driven gear 408 and the threaded sleeve 405 to rotate, thereby pushing the movable frame 403 and the fifth wheel 2035 to move.

[0059] To improve the ease of installation and maintenance of the fixing box 402, the mounting slot 401 is configured to communicate with the external atmosphere, allowing the fixing box 402 to be inserted into the mounting slot 401 from the outside of the movable frame 201. A connecting ear is provided on the fixing box 402. During installation, the fixing box 402 is inserted into the mounting slot 401, and the connecting ear abuts against the outer wall of the movable frame 201. Screw holes are provided on the connecting ear and the movable frame 201, and the connecting ear and the movable frame 201 are connected by screws to fix the fixing box 402.

[0060] To improve the stability of the fixed box 402 within the mounting slot 401 and prevent the fifth wheel 2035 from wobbling during the movement of the moving frame 201, thereby enhancing the stability of the measuring robot during movement, clamping blocks 501 are provided on both sides of the fixed box 402. The clamping blocks 501 clamp the fixed box 402 tightly within the mounting slot 401 from both sides. One clamping block 501 is fixed to the fixed box 402, while the other clamping block 501 is equipped with a clamping mechanism 500, which includes a first worm 502, a second worm 503, and a rotating block 504. Multiple clamping blocks 501 are provided, each connected to a first worm 503. 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 perpendicular to 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 to the rotating block 504. By manually turning the rotating block 504, the second worm 503 is driven to rotate, thereby driving each first worm 502 to rotate, and driving each clamping block 501 to move outward until the clamping block 501 clamps the inner side wall of the mounting groove 401, so that the fixed box 402 is in a clamped state during the operation of the measuring robot and will not shake.

[0061] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A vision-based mobile measurement robot, characterized in that, It includes a track (100), a moving mechanism (200) that moves on the track (100), and a camera assembly (300) mounted on the moving mechanism (200). The track (100) includes at least a mounting part (101), a connecting part (102), and a limiting part (103). The mounting part (101) can be connected and fixed to an external frame. The mounting part (101) and the limiting part (103) are connected and fixed to each other through the connecting part (102). The moving mechanism (200) includes a moving frame (201), a traveling wheel (202), and a side wheel (203). The traveling wheel (202) and the side wheel (203) are both mounted on the moving frame (201). The moving frame (201) is provided with a driving member for controlling the rolling of the traveling wheel (202). The traveling wheel (202) abuts against the limiting part (103). The side wheel (203) is arranged perpendicular to the traveling wheel (202) and abuts against the side of the connecting part (102). The track (100) has a straight section and an arc section. The side wheels (203) are arranged in multiple ways. When the moving frame (201) is located on the straight section of the track (100), at least three of the side wheels (203) abut against the straight section of the track (100); when the moving frame (201) is located on the arc section of the track (100), at least three of the side wheels (203) abut against the arc section of the track (100). The side wheel (203) includes 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 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 mobile frame (201) is located on the straight section of the track (100), the first wheel (2031), the second wheel (2032), the third wheel (2033), and the fifth wheel (2035) abut against the straight section of the track (100); when the mobile frame (201) is located on the arc section of the track (100), the second wheel (2032), the fourth wheel (2034), the fifth wheel (2035), and the sixth wheel (2036) abut against the arc section of the track (100). The side wheel (203) is mounted on the movable frame (201) via a wheel frame. The movable frame (201) is provided with an adjustment mechanism (400) for controlling the movement of the fifth wheel body (2035). The movable frame (201) is provided with a mounting groove (401), and the adjustment mechanism (400) is located in the mounting groove (401). The adjustment mechanism (400) is used to adjust the distance between the fifth wheel (2035) and the second wheel (2032). The adjustment mechanism (400) includes a fixed box (402), a movable frame (403), a screw (404), a screw sleeve (405), and a driving component. The fixed box (402) is disposed in the mounting 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 the two ends of the movable frame (403) are slidably connected to the side wall of the mounting groove (401); The threaded sleeve (405) and the driving component are both installed inside the fixed box (402). The threaded sleeve (405) is rotated by the driving component. One end of the screw (404) is inserted into the threaded sleeve (405) and threadedly connected to the threaded sleeve (405), and the other end is inserted out of the fixed box (402) and connected to the movable frame (403). The fixed box (402) is provided with a position sensing mechanism (409), which is used to detect the distance between the fixed box (402) and the movable frame (403).

2. The vision-based mobile measurement robot according to claim 1, characterized in that, The mobile frame (201) is also provided with a limiting wheel (204), which is located between the traveling wheel (202) and the side wheel (203). The limiting wheel (204) is located on the side of the limiting part (103) away from the traveling wheel (202), and the limiting wheel (204) abuts against the limiting part (103).

3. The vision-based mobile measurement robot according to claim 1, characterized in that, A limiting groove (205) is provided 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 connecting part (102).

4. The vision-based mobile measurement robot according to claim 1, characterized in that, The walking wheel (202) is configured as a gear, and a rack is provided on the limiting part (103) of the track (100), and the rack meshes with the gear for transmission.

5. The vision-based mobile measurement robot according to claim 1, characterized in that, The driving component includes a drive motor (406), a driving gear (407), and a driven gear (408). The drive motor (406) is installed inside the fixed box (402). The output shaft of the drive motor (406) is connected to the drive gear (407). The driven gear (408) is sleeved on the outside of the screw sleeve (405) and fixedly connected to the screw sleeve (405). The drive gear (407) and the driven gear (408) mesh and drive each other.

6. The vision-based mobile measurement robot according to claim 1, characterized in that, The fixing box (402) is inserted into the mounting slot (401) from the outside of the movable frame (201). The fixing box (402) is provided with a connecting ear, which abuts against the outer wall of the movable frame (201). The connecting ear is connected to the movable frame (201) by screws.

7. The vision-based mobile measurement robot according to claim 1, characterized in that, Both sides of the fixed box (402) are provided with a clamping block (501), and at least one of the clamping blocks (501) is provided with a clamping mechanism (500). The clamping mechanism (500) includes a first worm (502), a second worm (503) and a rotating block (504). Multiple clamping blocks (501) are provided, and each clamping block (501) is connected to a first worm gear (502). The first worm gear (502) is slidably connected to the side wall of the fixed box (402). The second worm gear (503) is rotatably installed inside the fixed box (402). The second worm gear (503) is perpendicular to the first worm gear (502) and meshes with the first worm gear (502) for transmission. One end of the second worm gear (503) passes through the fixed box (402) and is fixedly connected to the rotating block (504).

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