Ground robot construction monitoring device

Abstract

The invention discloses a ground robot construction monitoring device, which relates to the technical field of ground construction and comprises a storage bin arranged in a ground robot body, a waterproof sealing cover fixedly connected to the outer wall of the top of the ground robot body, an omnibearing construction monitoring mechanism, a storage protection mechanism and a signal self-adaptive adjusting mechanism, the omnibearing construction monitoring mechanism comprises a fixed cylinder, a bottom rotating shaft, an orientation adjusting driving assembly, a rotating disc, a U-shaped support, an adjusting shaft, an angle adjusting driving assembly, an angle adjusting base, a laser scanner, a high-definition camera and an ultrasonic detector, wherein the laser scanner, the high-definition camera and the ultrasonic detector are sequentially and fixedly installed on the side wall of the angle adjusting base. According to the invention, a comprehensive dead-corner-free construction monitoring effect can be realized, and the construction monitoring efficiency is improved; according to the invention, the operation of active rain sheltering is realized, the adverse effect of rainwater on a high-precision sensor instrument in the mechanism is avoided, the construction monitoring quality is further ensured, and the maintenance cost is greatly reduced at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of ground construction, and in particular to a ground robot construction monitoring device. Background Art

[0002] With the development of society and the advancement of science and technology, the requirements for ground construction quality are getting higher and higher. The traditional construction monitoring method relies on manual inspection, which is inefficient and prone to omissions, and therefore can no longer meet the needs of today's society. At present, advanced ground robots are mainly used to automatically monitor the quality of ground construction, but the following problems still exist in actual use:

[0003] First, the high-precision sensor instruments equipped on the ground machines cannot adjust the angle and direction according to the different conditions of the construction site during operation, and thus cannot achieve a comprehensive construction monitoring effect without blind spots, reducing the efficiency of construction monitoring;

[0004] Secondly, the high-precision sensor instruments equipped on ground machines cannot take active shelter from the rain when it rains, and the rain will have an adverse effect on these high-precision sensor instruments, affecting their normal use, and thus affecting the quality of construction monitoring. At the same time, these high-precision sensor instruments are expensive, which will greatly increase the cost of inspection and maintenance. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a ground robot construction monitoring device.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A ground robot construction monitoring device, comprising a storage bin provided in a ground robot body, a waterproof sealing cover fixedly connected to the top outer wall of the ground robot body, an all-round construction monitoring mechanism, a storage protection mechanism and a signal adaptive adjustment mechanism;

[0008] The all-round construction monitoring mechanism includes a fixed cylinder, a rotating shaft connected to the central inner wall of the bottom of the fixed cylinder through a bearing at the bottom end, an azimuth adjustment drive assembly, a turntable coaxially fixedly connected to the outer wall of the top end of the rotating shaft, a U-shaped bracket fixedly connected to the outer wall of the top of the turntable, an adjustment shaft rotatably mounted on the U-shaped bracket, an angle adjustment drive assembly, an angle adjustment seat fixedly connected to the adjustment shaft, and a laser scanner, a high-definition camera and an ultrasonic detector fixedly mounted on the side walls of the angle adjustment seat in turn.

[0009] As an optimal technical solution of the present invention, the azimuth adjustment drive assembly includes a No. 1 stepper motor fixedly mounted on the inner wall of the bottom of the fixed cylinder, a driving bevel gear fixedly mounted on the output shaft of the No. 1 stepper motor, and a driven bevel gear fixedly mounted on the lower part of the rotating shaft and meshing with the driving bevel gear.

[0010] As a preferred technical solution of the present invention, the angle adjustment drive assembly includes a motor support seat welded to the side wall of the U-shaped bracket, a No. 2 stepper motor fixedly installed on the side wall of the motor support seat, a worm fixedly mounted on the output shaft of the No. 2 stepper motor, and a worm wheel fixedly mounted on the adjustment shaft and meshing with the worm.

[0011] As a preferred technical solution of the present invention, four annularly distributed guide columns are welded to the outer wall of the bottom of the turntable, an annular guide groove is opened on the top of the fixed cylinder, and the outer walls of the four guide columns are slidably connected to the inner wall of the annular guide groove.

[0012] As an optimal technical solution of the present invention, the storage protection mechanism includes an electric telescopic rod fixedly installed on the inner wall of the bottom of the storage bin, a slideway opened on the top of the ground robot body, a lead screw rotatably installed in the slideway, a No. 1 waterproof servo motor fixedly installed on the side wall of the ground robot body, a movable block threadedly connected to the lead screw, and a sealed bin door sealingly and slidably connected to the ground robot body and adapted to the storage bin.

[0013] As an optimal technical solution of the present invention, the outer wall of the movable block is slidably connected to the inner wall of the slide, the bottom outer wall of the movable block is fixedly connected to the top outer wall of the sealed compartment door, and one end of the lead screw is coaxially fixedly connected to the output shaft of the No. 1 waterproof servo motor.

[0014] As a preferred technical solution of the present invention, four telescopic guide rods are fixedly connected to the bottom inner wall of the storage bin, the four telescopic guide rods are arranged in a ring-shaped distribution with the electric telescopic rod as the center, and the four telescopic guide rods and the telescopic ends of the electric telescopic rod are fixedly connected to the bottom outer wall of the fixed cylinder.

[0015] As a preferred technical solution of the present invention, the signal adaptive adjustment mechanism includes a guide rail and a mounting seat fixedly connected to the top outer wall of the ground robot body in sequence, two antennas symmetrically hinged to the top of the mounting seat, two bearing seats symmetrically fixedly connected to the top outer wall of the guide rail, a bidirectional screw rotatably installed between the two bearing seats, two sliding blocks symmetrically threaded on two opposite threaded ends of the bidirectional screw, a control assembly and two linkage rods symmetrically hinged to the top of the two sliding blocks.

[0016] As an optimal technical solution of the present invention, the top ends of the two linkage rods are respectively hinged on the two antennas, and the lower parts of the two sliding blocks are slidably connected to the guide rails. The control assembly includes a No. 2 waterproof servo motor fixedly mounted on the side wall of the ground robot body, a driving pulley fixedly mounted on the output shaft of the No. 2 waterproof servo motor, and a driven pulley fixedly mounted on one end of the bidirectional screw, and the driving pulley and the driven pulley are connected by the same transmission belt.

[0017] As a preferred technical solution of the present invention, a rain sensor is fixedly installed on the top outer wall of the waterproof sealing cover, and a controller and a signal sensor are fixedly installed on the top outer wall of the ground robot body in turn, and the controller and the signal sensor are both located inside the waterproof sealing cover.

[0018] The beneficial effects of the present invention are:

[0019] 1. The present invention realizes multi-faceted automatic monitoring of ground construction quality through the coordinated cooperation of laser scanners, high-definition cameras and ultrasonic detectors, improves the efficiency and accuracy of construction quality control, reduces the cost and risk of manual inspections, and is suitable for quality monitoring of various ground construction projects;

[0020] 2. The present invention drives the turntable at the top of the rotating shaft to rotate through the azimuth adjustment drive assembly, so that the laser scanner, high-definition camera and ultrasonic detector arranged on the U-shaped bracket can rotate, thereby achieving an all-round adjustment effect, and the angle adjustment drive assembly drives the angle adjustment seat fixed on the adjustment shaft to swing up and down, thereby enabling the laser scanner, high-definition camera and ultrasonic detector installed on the angle adjustment seat to swing up and down, thereby achieving a multi-angle adjustment effect, so that a comprehensive construction monitoring effect without blind spots can be achieved, thereby improving the construction monitoring efficiency;

[0021] 3. When the rain sensor senses that it is raining, the controller controls the electric telescopic rod to retract the entire omnidirectional construction monitoring mechanism into the storage bin, and then the No. 1 waterproof servo motor drives the lead screw to rotate. The rotation of the lead screw drives the movable block to move and drives the sealed bin door forward to close the storage bin, thus realizing the active shelter from rain, avoiding the adverse effects of rain on the high-precision sensor instruments in the mechanism, ensuring the normal use of the high-precision sensor instruments, and then ensuring the quality of construction monitoring, and at the same time greatly reducing the cost of inspection and maintenance;

[0022] 4. The present invention is provided with a signal adaptive adjustment mechanism, which can automatically change the opening angle of the two antennas to the optimal angle in different regional environments, thereby achieving the best signal strength and quality, and improving the signal adaptive level of the entire construction monitoring device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention in working state;

[0025] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention in a rain shelter state;

[0026] Figure 3 It is a three-dimensional enlarged structural schematic diagram of the omnidirectional construction monitoring mechanism in the present invention;

[0027] Figure 4 It is a three-dimensional enlarged structural schematic diagram of the bottom area of ​​the turntable in the present invention;

[0028] Figure 5 For the present invention Figure 4 A schematic diagram of the three-dimensional enlarged structure of part A;

[0029] Figure 6 It is a schematic diagram of the three-dimensional structure inside the storage bin of the present invention;

[0030] Figure 7 It is a schematic diagram of a partial three-dimensional structure of the present invention;

[0031] Figure 8 It is a schematic diagram of the three-dimensional amplification structure of the signal adaptive adjustment mechanism in the present invention.

[0032] In the figure: 1. Ground robot body; 2. Storage compartment; 3. Waterproof sealing cover; 4. Fixed cylinder; 5. Rotating shaft; 6. Turntable; 7. U-shaped bracket; 8. Adjusting shaft; 9. Angle adjustment seat; 10. Laser scanner; 11. High-definition camera; 12. Ultrasonic detector; 13. No. 1 stepper motor; 14. Active bevel gear; 15. Driven bevel gear; 16. Motor support seat; 17. No. 2 stepper motor; 18. Worm; 19. Worm wheel; 20. Guide column; 21. Ring guide 1. Slot; 22. Electric telescopic rod; 23. Telescopic guide rod; 24. Lead screw; 25. No. 1 waterproof servo motor; 26. Movable block; 27. Sealed compartment door; 28. Guide rail; 29. ​​Mounting seat; 30. Antenna; 31. Bearing seat; 32. Bidirectional screw; 33. Sliding block; 34. Linkage rod; 35. No. 2 waterproof servo motor; 36. Driving pulley; 37. Driven pulley; 38. Transmission belt; 39. Rain sensor; 40. Controller; 41. Signal sensor. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention will be described clearly and completely 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, rather than all the embodiments.

[0034] Example 1, reference Figure 1 and Figure 3-5 , a ground robot construction monitoring device, comprising a storage bin 2 opened in a ground robot body 1, a waterproof sealing cover 3 fixedly connected to the top outer wall of the ground robot body 1, and an all-round construction monitoring mechanism;

[0035] In this embodiment, the omnidirectional construction monitoring mechanism includes a fixed cylinder 4, a rotating shaft 5 whose bottom end is connected to the central inner wall of the bottom of the fixed cylinder 4 through a bearing, an azimuth adjustment drive assembly, a turntable 6 coaxially fixedly connected to the outer wall of the top end of the rotating shaft 5, a U-shaped bracket 7 fixedly connected to the outer wall of the top of the turntable 6, an adjustment shaft 8 rotatably mounted on the U-shaped bracket 7, an angle adjustment drive assembly, an angle adjustment seat 9 fixedly connected to the adjustment shaft 8, and a laser scanner 10, a high-definition camera 11 and an ultrasonic detector 12 fixedly mounted on the side wall of the angle adjustment seat 9 in sequence;

[0036] Furthermore, the laser scanner 10 can obtain ground height data, thereby realizing ground flatness monitoring. The image recognition technology of the high-definition camera 11 can automatically identify and record ground cracks, thereby realizing ground crack condition monitoring. The ultrasonic detector 12 can monitor the slight settlement changes of the ground in real time, thereby realizing ground settlement monitoring. In this way, through automated monitoring, the efficiency and accuracy of construction quality control are improved, the cost and risk of manual inspection are reduced, and it is suitable for quality monitoring of various ground construction projects.

[0037] Furthermore, the azimuth adjustment drive assembly includes a stepper motor 13 fixedly mounted on the inner wall of the bottom of the fixed cylinder 4, a driving bevel gear 14 fixedly sleeved on the output shaft of the stepper motor 13, and a driven bevel gear 15 fixedly sleeved on the lower part of the rotating shaft 5 and meshing with the driving bevel gear 14;

[0038] Furthermore, the angle adjustment drive assembly includes a motor support seat 16 welded to the side wall of the U-shaped bracket 7, a second stepper motor 17 fixedly mounted on the side wall of the motor support seat 16, a worm 18 fixedly sleeved on the output shaft of the second stepper motor 17, and a worm wheel 19 fixedly sleeved on the adjustment shaft 8 and meshing with the worm 18;

[0039] Furthermore, four annularly distributed guide posts 20 are welded to the outer wall of the bottom of the turntable 6, and an annular guide groove 21 is provided on the top of the fixed cylinder 4. The outer walls of the four guide posts 20 are slidably connected to the inner wall of the annular guide groove 21, which can ensure the stability of the turntable 6 during rotation;

[0040] In the specific implementation of this embodiment: first, the active bevel gear 14 is driven to rotate by the No. 1 stepping motor 13, and then the driven bevel gear 15 meshing with the active bevel gear 14 drives the turntable 6 at the top of the rotating shaft 5 to rotate, and then the turntable 6 drives the laser scanner 10, the high-definition camera 11 and the ultrasonic detector 12 arranged on the U-shaped bracket 7 to rotate, thereby achieving the effect of all-round adjustment;

[0041] Secondly, the worm 18 is driven to rotate by the No. 2 stepper motor 17, and then the worm wheel 19 meshing with the worm 18 drives the angle adjustment seat 9 fixed on the adjustment shaft 8 to swing up and down, so that the laser scanner 10, high-definition camera 11 and ultrasonic detector 12 installed on the angle adjustment seat 9 can swing up and down, thereby achieving a multi-angle adjustment effect.

[0042] Example 2, reference Figure 1-2 and Figure 6-7 , This embodiment is optimized on the basis of embodiment 1, specifically: a ground robot construction monitoring device, further comprising a storage protection mechanism;

[0043] In this embodiment, the storage protection mechanism includes an electric telescopic rod 22 fixedly mounted on the inner wall of the bottom of the storage bin 2, a slideway opened on the top of the ground robot body 1, a lead screw 24 rotatably mounted in the slideway, a No. 1 waterproof servo motor 25 fixedly mounted on the side wall of the ground robot body 1, a movable block 26 threadedly connected to the lead screw 24, and a sealed bin door 27 sealed and slidably connected to the ground robot body 1 and adapted to the storage bin 2;

[0044] Furthermore, the outer wall of the movable block 26 is slidably connected to the inner wall of the slideway, the bottom outer wall of the movable block 26 is fixedly connected to the top outer wall of the sealed compartment door 27, and one end of the lead screw 24 is coaxially fixedly connected to the output shaft of the No. 1 waterproof servo motor 25;

[0045] Furthermore, four telescopic guide rods 23 are fixedly connected to the bottom inner wall of the storage bin 2. The four telescopic guide rods 23 are arranged in a ring-shaped distribution with the electric telescopic rod 22 as the center. The telescopic ends of the four telescopic guide rods 23 and the electric telescopic rod 22 are fixedly connected to the bottom outer wall of the fixed tube 4.

[0046] Furthermore, a rain sensor 39 is fixedly installed on the top outer wall of the waterproof sealing cover 3, and a controller 40 and a signal sensor 41 are fixedly installed on the top outer wall of the ground robot body 1 in sequence, and the controller 40 and the signal sensor 41 are both located in the waterproof sealing cover 3;

[0047] During the specific implementation of this embodiment: when the rain sensor 39 senses that it is raining, the controller 40 controls the electric telescopic rod 22 to retract the entire all-round construction monitoring mechanism into the storage bin 2, and then the No. 1 waterproof servo motor 25 drives the lead screw 24 to rotate. The rotation of the lead screw 24 will drive the movable block 26 to move and drive the sealed bin door 27 forward to close the storage bin 2, thereby realizing the active rain shelter operation, avoiding the adverse effects of rain on the high-precision sensor instruments in the mechanism, ensuring the normal use of the high-precision sensor instruments, and then ensuring the quality of construction monitoring, while greatly reducing the cost of inspection and maintenance.

[0048] Example 3, reference Figure 1 and Figure 8 , This embodiment is optimized on the basis of embodiment 1, specifically: a ground robot construction monitoring device, further comprising a signal adaptive adjustment mechanism;

[0049] In this embodiment, the signal adaptive adjustment mechanism includes a guide rail 28 and a mounting seat 29 which are fixedly connected to the top outer wall of the ground robot body 1 in sequence, two antennas 30 symmetrically hinged on the top of the mounting seat 29, two bearing seats 31 symmetrically fixedly connected to the top outer wall of the guide rail 28, a bidirectional screw 32 rotatably mounted between the two bearing seats 31, two sliding blocks 33 symmetrically screwed on two opposite threaded ends of the bidirectional screw 32, a control component, and two linkage rods 34 symmetrically hinged on the top of the two sliding blocks 33;

[0050] Furthermore, the top ends of the two linkage rods 34 are respectively hinged to the two antennas 30, and the lower parts of the two sliding blocks 33 are slidably connected to the guide rails 28;

[0051] Furthermore, the control assembly includes a second waterproof servo motor 35 fixedly mounted on the side wall of the ground robot body 1, a driving pulley 36 fixedly mounted on the output shaft of the second waterproof servo motor 35, and a driven pulley 37 fixedly mounted on one end of the bidirectional screw 32, and the driving pulley 36 and the driven pulley 37 are connected by the same transmission belt 38;

[0052] During the specific implementation of this embodiment: when the ground robot body 1 is working, the signal sensor 41 will sense the signal strength of each area in real time. When the signal sensor 41 senses that the signal strength is poor, the controller 40 controls the movement of the No. 2 waterproof servo motor 35, and the No. 2 waterproof servo motor 35 controls the driving pulley 36 to rotate. Under the transmission effect of the transmission belt 38, the driven pulley 37 will drive the bidirectional screw 32 to rotate. Then, under the guidance of the guide rail 28, the two sliding blocks 33 threadedly connected to the bidirectional screw 32 will be aligned and close to each other or move away from each other. Then, under the linkage of the two linkage rods 34, it is convenient to flexibly adjust the opening angle of the two hinged antennas 30, so that the opening angle of the two antennas 30 can automatically change to the optimal angle in different regional environments, so as to achieve the best signal strength and quality, and improve the signal adaptability level of the entire construction monitoring device.

[0053] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A ground robot construction monitoring device, comprising a storage bin (2) provided in a ground robot body (1) and a waterproof sealing cover (3) fixedly connected to the top outer wall of the ground robot body (1), characterized in that: It also includes an all-round construction monitoring mechanism, a storage protection mechanism and a signal adaptive adjustment mechanism; The all-round construction monitoring mechanism comprises a fixed cylinder (4), a rotating shaft (5) whose bottom end is connected to the central inner wall of the bottom of the fixed cylinder (4) through a bearing, an azimuth adjustment drive assembly, a turntable (6) coaxially fixedly connected to the outer wall of the top end of the rotating shaft (5), a U-shaped bracket (7) fixedly connected to the outer wall of the top of the turntable (6), an adjustment shaft (8) rotatably mounted on the U-shaped bracket (7), an angle adjustment drive assembly, an angle adjustment seat (9) fixedly connected to the adjustment shaft (8), and a laser scanner (10), a high-definition camera (11) and an ultrasonic detector (12) fixedly mounted on the side wall of the angle adjustment seat (9) in sequence.

2. A ground robot construction monitoring device according to claim 1, characterized in that: The azimuth adjustment drive assembly comprises a first stepping motor (13) fixedly mounted on the inner wall of the bottom of the fixed cylinder (4), a driving bevel gear (14) fixedly sleeved on the output shaft of the first stepping motor (13), and a driven bevel gear (15) fixedly sleeved on the lower part of the rotating shaft (5) and meshing with the driving bevel gear (14).

3. A ground robot construction monitoring device according to claim 1, characterized in that: The angle adjustment drive assembly comprises a motor support seat (16) welded to the side wall of the U-shaped bracket (7), a second stepping motor (17) fixedly mounted on the side wall of the motor support seat (16), a worm (18) fixedly sleeved on the output shaft of the second stepping motor (17), and a worm wheel (19) fixedly sleeved on the adjustment shaft (8) and meshing with the worm (18).

4. A ground robot construction monitoring device according to claim 1, characterized in that: Four annularly distributed guide columns (20) are welded to the outer wall of the bottom of the rotating disk (6), an annular guide groove (21) is provided on the top of the fixed cylinder (4), and the outer walls of the four guide columns (20) are slidably connected to the inner wall of the annular guide groove (21).

5. A ground robot construction monitoring device according to claim 1, characterized in that: The storage protection mechanism comprises an electric telescopic rod (22) fixedly mounted on the inner wall of the bottom of the storage bin (2), a slideway opened on the top of the ground robot body (1), a lead screw (24) rotatably mounted in the slideway, a No. 1 waterproof servo motor (25) fixedly mounted on the side wall of the ground robot body (1), a movable block (26) threadedly connected to the lead screw (24), and a sealed bin door (27) sealingly slidably connected to the ground robot body (1) and adapted to the storage bin (2).

6. A ground robot construction monitoring device according to claim 5, characterized in that: The outer wall of the movable block (26) is slidably connected to the inner wall of the slideway, the bottom outer wall of the movable block (26) is fixedly connected to the top outer wall of the sealed compartment door (27), and one end of the lead screw (24) is coaxially fixedly connected to the output shaft of the No. 1 waterproof servo motor (25).

7. A ground robot construction monitoring device according to claim 1, characterized in that: Four telescopic guide rods (23) are fixedly connected to the bottom inner wall of the storage bin (2); the four telescopic guide rods (23) are arranged in a circular distribution with the electric telescopic rod (22) as the center; and the telescopic ends of the four telescopic guide rods (23) and the electric telescopic rod (22) are fixedly connected to the bottom outer wall of the fixed cylinder (4).

8. A ground robot construction monitoring device according to claim 1, characterized in that: The signal adaptive adjustment mechanism comprises a guide rail (28) and a mounting seat (29) which are fixedly connected to the top outer wall of the ground robot body (1) in sequence, two antennas (30) symmetrically hinged to the top of the mounting seat (29), two bearing seats (31) symmetrically fixedly connected to the top outer wall of the guide rail (28), a bidirectional screw (32) rotatably mounted between the two bearing seats (31), two sliding blocks (33) symmetrically screwed to two opposite threaded ends of the bidirectional screw (32), a control component, and two linkage rods (34) symmetrically hinged to the tops of the two sliding blocks (33).

9. A ground robot construction monitoring device according to claim 8, characterized in that: The top ends of the two linkage rods (34) are respectively hinged on the two antennas (30), and the lower parts of the two sliding blocks (33) are slidably connected to the guide rail (28). The control assembly includes a No. 2 waterproof servo motor (35) fixedly mounted on the side wall of the ground robot body (1), a driving pulley (36) fixedly mounted on the output shaft of the No. 2 waterproof servo motor (35), and a driven pulley (37) fixedly mounted on one end of the bidirectional screw (32), and the driving pulley (36) and the driven pulley (37) are connected by the same transmission belt (38).

10. A ground robot construction monitoring device according to claim 1, characterized in that: A rain sensor (39) is fixedly mounted on the top outer wall of the waterproof sealing cover (3), and a controller (40) and a signal sensor (41) are fixedly mounted on the top outer wall of the ground robot body (1) in sequence, and the controller (40) and the signal sensor (41) are both located inside the waterproof sealing cover (3).

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