Self-adaptive surveying and mapping device for multi-terrain road

Abstract

The invention belongs to the technical field of road surveying and mapping, and particularly relates to a self-adaptive surveying and mapping device for a multi-terrain road, which comprises a base frame, a transverse adjusting module, a surveying and mapping module, a main obstacle crossing module, an auxiliary obstacle crossing module and a monitoring module. The two transverse adjusting modules are arranged on the two sides of the short edge of the base frame in a relatively sliding mode, a first telescopic rod is arranged between the two transverse adjusting modules in a crossing mode, and through the first telescopic rod and the surveying and mapping module capable of sliding in the axial direction of the first telescopic rod, the surveying and mapping effect is achieved when the surveying and mapping module faces obstacles such as gullies. The transverse position of the surveying and mapping module is freely adjusted to automatically avoid obstacles such as gullies, the effect of alternately supporting the base frame when facing a protruding obstacle is achieved through cooperation of the main obstacle crossing module and the auxiliary obstacle crossing module, and therefore the surveying and mapping device can directly cross the protruding obstacle, and the effects of crossing and obstacle avoidance are achieved; manual intervention is not needed, and various complex road surfaces can be mapped.

Description

Technical Field

[0001] The present invention belongs to the technical field of highway surveying and mapping, and in particular relates to an adaptive surveying and mapping device for multi-terrain highways. Background Art

[0002] Highway surveying and mapping is a crucial step in highway design and construction, and its accuracy is directly related to the quality and service life of highway construction. In complex and ever-changing terrain, traditional surveying and mapping equipment and methods often struggle to meet practical needs. For example, in mountainous areas, on curved roads, and in terrain with large elevation differences, traditional surveying and mapping equipment is limited by the terrain conditions and may suffer from problems such as insufficient measurement accuracy, difficulty in operation, and low efficiency. Furthermore, traditional equipment often requires manual adjustment or replacement of additional components to adapt to varying terrain conditions. This is not only time-consuming and labor-intensive, but can also lead to inconsistent surveying and mapping results.

[0003] In order to achieve more accurate and efficient surveying and mapping, automatic highway surveying and mapping equipment has emerged, but these devices cannot effectively cope with the common slope changes, obstacle interference and large-scale measurement requirements in highway surveying and mapping. For example, the Chinese invention patent application with application publication number CN117308899A and application publication date 2023.12.29 discloses a surveying and mapping device and surveying method for road planning, which uses a transverse movement component to achieve a transverse obstacle avoidance effect when encountering obstacles, thereby ensuring the ranging accuracy of the ranging roller group. However, the surveying and mapping device does not have the ability to cross obstacles. When encountering obstacles that cannot be avoided by transverse movement, the device cannot continue to move forward. Secondly, the obstacle avoidance means of the surveying and mapping device is single, and it only has the ability to cross obstacles by transverse movement. It is also limited by the adjustment environment. For example, it can only move transversely in flat areas. When adjusting on a plane with a larger slope, its support method is single, and it is easy to tip over and slip during the adjustment process. It is also unable to adapt to multi-curve detection and can only perform single straight line detection. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an adaptive surveying and mapping device for multi-terrain roads in response to the shortcomings of the existing technology. The present invention can not only perform adaptive detection on different terrains, but also ensure the detection accuracy in real time, thereby solving the technical problem that the existing surveying and mapping devices have single surveying and obstacle avoidance means and can only detect relatively flat road sections.

[0005] This solution is achieved through the following technical measures: An adaptive surveying and mapping device for multi-terrain roads, including: The base frame serves as the installation foundation for the entire surveying and mapping device; Two groups of transverse adjustment modules are provided, the two groups of transverse adjustment modules are relatively slidably arranged on both sides of the short sides of the base frame, and the two groups of transverse adjustment modules can slide away from or closer to the base frame along the long sides of the base frame; a first telescopic rod is further provided across the two groups of transverse adjustment modules; A surveying and mapping module, the surveying and mapping module being vertically disposed below the base frame and having a driving end thereof slidingly engaged with the first telescopic rod; the surveying and mapping module being capable of sliding along the axis of the first telescopic rod; Main barrier-crossing module, the main barrier-crossing module is provided with two groups, namely a front barrier-crossing unit and a rear barrier-crossing unit, the front barrier-crossing unit and the rear barrier-crossing unit are both slidably arranged under the base frame and can slide along the long side direction of the base frame respectively; Auxiliary obstacle crossing modules, wherein the auxiliary obstacle crossing modules are provided in two groups, and the two groups of auxiliary obstacle crossing modules are respectively provided on the outside of the two groups of lateral adjustment modules; and the auxiliary obstacle crossing modules are provided with two first adjustment arms and second adjustment arms with adjustable angles. When the angle between the first adjustment arm and the second adjustment arm increases, the obstacle crossing distance is synchronously increased, and when the angle between the first adjustment arm and the second adjustment arm decreases, the obstacle crossing distance is synchronously decreased; The monitoring module is vertically fixed on the base frame.

[0006] Preferably, the main obstacle crossing module also includes a guide unit and a first linear drive and a second linear drive that can respectively drive the front obstacle crossing unit and the rear obstacle crossing unit to slide along the guide direction of the guide unit; the guide unit is horizontally fixed at the bottom of the base frame and is arranged parallel to the long side direction of the base frame; the front obstacle crossing unit and the rear obstacle crossing unit are both slidably arranged on the guide unit in a vertical state, and the front obstacle crossing unit and the rear obstacle crossing unit are respectively arranged close to the two ends of the base frame; the first linear drive is horizontally fixed at the bottom of the base frame and the driving end is arranged toward the front obstacle crossing unit and is fixedly connected to the front obstacle crossing unit; the second linear drive is horizontally fixed at the bottom of the base frame and the driving end is arranged toward the rear obstacle crossing unit and is fixedly connected to the rear obstacle crossing unit.

[0007] Preferably, the front obstacle crossing unit includes a first sliding frame, a first adjustment unit and a support unit; the first sliding frame is horizontally slidably arranged on the guide unit; the first adjustment unit is vertically fixedly arranged below the first sliding frame; and the support unit is fixedly arranged at the adjustment end of the first adjustment unit.

[0008] Preferably, the support unit includes a fixed frame, a first rotating wheel, a second rotating wheel, a first servo motor and a third electric push rod; the fixed frame is rotatably arranged on one side of the adjustment end of the first adjusting unit; the first rotating wheel and the second rotating wheel are respectively rotatably arranged on one side of the fixed frame and are respectively arranged close to the two ends of the fixed frame; the first servo motor is fixedly arranged on the other side of the fixed frame and is connected to the first rotating wheel through the fixed frame; the third electric push rod is fixedly arranged on the other side of the fixed frame and is arranged through the fixed frame toward the second rotating wheel, and the telescopic rod of the third electric push rod is also coaxially fixed with a limiting portion.

[0009] Preferably, the lateral adjustment module includes a movable base plate, a guide sleeve, a guide rod and a third linear drive; the guide rod is horizontally fixedly arranged on the top of the base frame and is arranged toward the long side direction of the base frame; the guide sleeve is horizontally fixedly arranged on the movable base plate and slides with the guide rod; the movable base plate is slidably arranged on one side of the long side direction of the base frame through the guide sleeve; the third linear drive is horizontally fixedly arranged on the base frame and the driving end is arranged toward the movable base plate, and is fixedly connected to the movable base plate.

[0010] Preferably, the auxiliary obstacle crossing module also includes a driving unit, a following unit and a second adjusting unit capable of adjusting the angle between the first adjusting arm and the second adjusting arm; the driving unit is fixedly arranged at the front end of the first adjusting arm; the following unit is fixedly arranged at the front end of the second adjusting arm; the second adjusting unit is fixedly arranged in a vertical state on the outside of the lateral adjusting module, and the second adjusting unit is used to adjust the angle between the first adjusting arm and the second adjusting arm.

[0011] Preferably, the driving unit is a vertical steering wheel.

[0012] Preferably, the second adjustment unit includes a mounting frame, a fourth electric push rod, a drive frame and a limit column; the limit columns are provided in two groups and are respectively vertically arranged on the outer walls of the first adjustment arm and the second adjustment arm; a slide groove is also provided on the drive frame, and the drive frame is horizontally arranged between the two limit columns and slides with the two groups of limit columns through the slide groove; the fourth electric push rod is fixed in a vertical state on the outside of the lateral adjustment module through the mounting frame; and the driving end of the fourth electric push rod passes through the mounting frame and is fixedly connected to the drive frame.

[0013] Preferably, the monitoring module includes a support frame, a monitoring camera, a control element and a digital level; the monitoring camera is fixedly arranged on the base frame in a horizontal state through the support frame; the control element is fixedly arranged on the support frame and is arranged near the middle of the support frame; the digital level is fixedly arranged on one side of the control element.

[0014] Preferably, the surveying and mapping module includes a second sliding frame, a telescopic cylinder, a third telescopic rod, a spring, a crawling unit and a surveying and mapping unit; the telescopic cylinder is slidably arranged outside the third telescopic rod through the second sliding frame, and the telescopic cylinder is vertically arranged below the second sliding frame; the third telescopic rod is coaxially slidably arranged in the telescopic cylinder; the surveying and mapping unit is fixedly arranged at the lower end of the third telescopic rod, and the surveying and mapping unit is used to survey the highway; a spring that can elastically support the third telescopic rod is also coaxially fixed outside the third telescopic rod; the crawling unit is fixedly arranged on one side of the second sliding frame and the crawling end is arranged to contact the outer wall of the third telescopic rod.

[0015] Beneficial effects of the present invention: 1. The present invention utilizes a first telescopic rod and a mapping module that can slide axially along the first telescopic rod to achieve automatic obstacle avoidance when encountering obstacles such as gullies by freely adjusting the lateral position of the mapping module. Compared with traditional obstacle avoidance devices, the obstacle avoidance adjustment of the present invention is more streamlined and efficient. 2. The present invention achieves the effect of alternately supporting the base frame when facing raised obstacles through the cooperation of the main obstacle-crossing module and the auxiliary obstacle-crossing module, so that the surveying and mapping device can directly cross the raised obstacle and achieve the effect of crossing and avoiding obstacles. Compared with traditional equipment, it has the effect of directly crossing obstacles without manual intervention, and can achieve mapping of various complex road surfaces with greater adaptability. 3. By combining a digital level with a real-time dynamic adjustment function, the present invention can automatically adjust the horizontal state of the base frame when performing obstacle crossing or traversing operations on inclined or uneven roads, ensuring that the surveying and mapping device always remains horizontal, thereby avoiding data errors and equipment tipping caused by equipment tilt. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of an adaptive surveying and mapping device for multi-terrain roads of the present invention. Figure 1 .

[0017] Figure 2 This is a schematic diagram of the three-dimensional structure of an adaptive surveying and mapping device for multi-terrain roads of the present invention. Figure 2 .

[0018] Figure 3 The figure is a schematic diagram of the three-dimensional exploded structure of an adaptive surveying and mapping device for multi-terrain roads of the present invention.

[0019] Figure 4 This is a side view of the structure of an adaptive surveying and mapping device for multi-terrain roads of the present invention. Figure 1 .

[0020] Figure 5 yes Figure 4Enlarged view of point A in the middle.

[0021] Figure 6 It is a partial structural schematic diagram of an adaptive surveying and mapping device for multi-terrain roads of the present invention.

[0022] Figure 7 This is a side view of the structure of an adaptive surveying and mapping device for multi-terrain roads of the present invention. Figure 2 .

[0023] Figure 8 It is a partial structural diagram of an auxiliary obstacle-crossing module and a lateral adjustment module in an adaptive surveying and mapping device for multi-terrain roads of the present invention.

[0024] Figure 9 The figure is a schematic diagram of the decomposed structure of the lateral adjustment module and the surveying and mapping module in an adaptive surveying and mapping device for multi-terrain roads of the present invention.

[0025] Figure 10 The figure is a schematic diagram of the decomposed structure of the main obstacle-crossing module in the adaptive surveying and mapping device for multi-terrain roads of the present invention.

[0026] The numbers in the figure are: 1. Base frame; 2. Horizontal adjustment module; 21. First telescopic rod; 22. Movable base plate; 23. Guide sleeve; 24. Guide rod; 25. Third linear actuator; 3. Surveying and mapping module; 31. Second sliding frame; 32. Telescopic cylinder; 33. Third telescopic rod; 34. Spring; 35. Crawling unit; 36. Surveying and mapping unit; 4. Main obstacle-crossing module; 41. Front obstacle-crossing unit; 411. First sliding frame; 412. First adjustment unit; 413. Support unit; 4131. Fixed frame; 4132. First rotating wheel; 4133. Second rotating wheel; 4134. First servo motor; 4135. Third electric push rod; 4136. Position limiting unit; 42. Rear obstacle-crossing unit; 43. Guide unit; 44. First linear actuator; 45. Second linear actuator; 5. Auxiliary obstacle crossing module; 51. First adjustment arm; 52. Second adjustment arm; 53. Drive unit; 54. Follow-up unit; 55. Second adjustment unit; 551. Mounting frame; 552. Fourth electric push rod; 553. Drive frame; 554. Limiting column; 6. Monitoring module; 61. Support frame; 62. Monitoring camera; 63. Control element; 64. Digital level. DETAILED DESCRIPTION

[0027] In order to clearly illustrate the technical features of this solution, the solution is described below through specific implementation methods and in conjunction with the accompanying drawings.

[0028] See also Figures 1 to 10 Shown: An adaptive mapping device for multi-terrain roads, comprising: Base frame 1, serving as the installation base for the entire surveying and mapping device; Two groups of transverse adjustment modules 2 are provided. The two groups of transverse adjustment modules 2 are relatively slidably arranged on both sides of the short side of the base frame 1 and the two groups of transverse adjustment modules 2 can slide away from or approach the base frame 1 along the long side of the base frame 1; a first telescopic rod 21 is further provided across the two groups of transverse adjustment modules 2; A surveying and mapping module 3 is vertically disposed below the base frame 1 and a driving end of the surveying and mapping module 3 is slidably engaged with the first telescopic rod 21; the surveying and mapping module 3 is capable of sliding along the axis of the first telescopic rod 21; The main barrier-crossing module 4 is provided with two groups, namely a front barrier-crossing unit 41 and a rear barrier-crossing unit 42. The rear barrier-crossing unit 42 has the same structure as the front barrier-crossing unit 41. The front barrier-crossing unit 41 and the rear barrier-crossing unit 42 are both slidably provided under the base frame 1 and can slide along the long side direction of the base frame 1; Auxiliary obstacle crossing modules 5, which are provided in two groups, and the two groups of auxiliary obstacle crossing modules 5 are respectively provided on the outside of the two groups of lateral adjustment modules 2; and the auxiliary obstacle crossing modules 5 are provided with two first adjustment arms 51 and second adjustment arms 52 with adjustable angles. When the angle between the first adjustment arm 51 and the second adjustment arm 52 increases, the obstacle crossing distance increases synchronously; when the angle between the first adjustment arm 51 and the second adjustment arm 52 decreases, the obstacle crossing distance decreases synchronously; The monitoring module 6 is vertically fixed on the base frame 1 .

[0029] During highway surveying, the staff first sets up the surveying device on the highway. They then drive the two sets of auxiliary obstacle-crossing modules 5 to adjust their movements. By adjusting the angle between the first and second adjustment arms 51, 52, they are retracted, bringing the first and second adjustment arms 51, 52 into contact with the ground and supporting the base frame 1. At this point, the surveying module 3 adaptively adjusts its posture based on the adjustments made by the auxiliary obstacle-crossing modules 5, ensuring that the detection end of the surveying module 3 is always in contact with the surface of the highway to be inspected, thereby ensuring surveying accuracy. While the auxiliary obstacle-crossing modules 5 are operating, the main obstacle-crossing module 4 remains retracted. After adjustment is complete, the auxiliary obstacle-crossing modules 5 are driven to move, driving the base frame 1 and surveying module 3 forward along the highway, achieving full-length surveying.

[0030] During the surveying process, if a pothole or other obstacle is encountered on the road, the staff can drive the surveying module 3 to slide along the axis of the first telescopic rod 21 toward the unobstructed side to avoid the obstacle and ensure that the surveying work proceeds smoothly. If a long gully or other large obstacle is encountered and an obstacle-crossing operation is required, the front obstacle-crossing unit 41 is first driven to move so that the supporting end of the front obstacle-crossing unit 41 contacts the road surface, replacing the support of the auxiliary obstacle-crossing module 5 for the base frame 1. When performing the obstacle-crossing operation, since both the front obstacle-crossing unit 41 and the rear obstacle-crossing unit 42 can slide along the long side of the base frame 1, the rear obstacle-crossing unit 42 first slides toward the middle of the base frame 1 and supports the center of the base frame 1. At this time, the front obstacle-crossing unit 41 moves away from the base frame 1 at its maximum stroke, crosses the gully to the opposite side and stops after contacting the ground, completing the obstacle-crossing operation.

[0031] Subsequently, by driving the rear obstacle-crossing unit 42 to slide horizontally away from the base frame 1, the base frame 1 is moved horizontally toward the front obstacle-crossing unit 41 until the base frame 1 slides onto the front obstacle-crossing unit 41 and is independently supported by the front obstacle-crossing unit 41. Next, by retracting the rear obstacle-crossing unit 42, the horizontal transfer of the base frame 1 can be completed, successfully crossing the obstacle, and ensuring that the surveying and mapping device continues to move forward. When the main obstacle-crossing module 4 is performing the obstacle-crossing operation, since the auxiliary obstacle-crossing module 5 is set in an unretracted state and its front end is close to the ground, if the base frame 1 tilts during the obstacle-crossing process, the auxiliary obstacle-crossing module 5 can also provide timely support to the base frame 1 to assist it in completing the obstacle-crossing operation. Finally, the front obstacle-crossing unit 41 is driven to operate and replace the support of the main obstacle-crossing module 4 for the base frame 1. At this time, the front end of the main obstacle-crossing module 4 is retracted, and the auxiliary obstacle-crossing module 5 drives the base frame 1 and the surveying and mapping module 3 to continue moving along the road and performing surveying.

[0032] When encountering a small, unavoidable, protruding obstacle requiring overcoming, the main obstacle-crossing module 4 is first activated, replacing the auxiliary obstacle-crossing module 5 in supporting the base frame 1. Simultaneously, the auxiliary obstacle-crossing module 5 synchronizes the movement, adjusting the angle between the first adjustment arm 51 and the second adjustment arm 52 to its maximum value. The main obstacle-crossing module 4 then forces the base frame 1 to move in the direction of the obstacle, gradually approaching the protruding obstacle. As the main obstacle-crossing module 4 lifts the base frame 1, the front obstacle-crossing unit 41 moves as close to the center of the base frame as possible, thereby maximizing the distance over which the obstacle can be crossed. Once the front obstacle-crossing unit 41 contacts the protruding obstacle, the auxiliary obstacle-crossing module 5 begins to operate, retracting the angle between the first adjustment arm 51 and the second adjustment arm 52. This retracted first adjustment arm 51 contacts the ground on the other side of the protruding obstacle, providing support. As the retraction process continues, the lowest points of the main obstacle-crossing module 4 and the surveying and mapping module 3 are raised above the protruding obstacle, allowing the surveying and mapping module 3 to smoothly advance over the obstacle. At this point, the rear obstacle-crossing unit 42 begins to operate, with its supporting end vertically downward in contact with the ground, providing support for the base frame 1. Finally, the auxiliary obstacle-crossing module 5 operates again, adjusting the angle between the first adjustment arm 51 and the second adjustment arm 52 to its maximum value, so that the second adjustment arm 52 is higher than the protruding obstacle. This drives the rear obstacle-crossing unit 42 to pull the base frame 1 away from the protruding obstacle, thus completing the automatic obstacle-crossing operation.

[0033] By integrating multifunctional obstacle-crossing control and adaptive adjustment mechanisms, this invention can effectively cope with various complex terrain obstacles, ensuring the smooth operation of the surveying and mapping module 3 during highway surveying. When encountering uneven roads, obstacles, or gullies, the surveying and mapping device can automatically adjust and overcome the obstacles, eliminating manual intervention and improving surveying efficiency and accuracy.

[0034] See also Figure 6 and Figure 7As shown: the main obstacle crossing module 4 also includes a guide unit 43 and a first linear drive 44 and a second linear drive 45 that can respectively drive the front obstacle crossing unit 41 and the rear obstacle crossing unit 42 to slide along the guide direction of the guide unit 43; the guide unit 43 is horizontally fixedly arranged at the bottom of the base frame 1 and is arranged parallel to the long side direction of the base frame 1; the front obstacle crossing unit 41 and the rear obstacle crossing unit 42 are both vertically slidably arranged on the guide unit 43, and the front obstacle crossing unit 41 and the rear obstacle crossing unit 42 are respectively arranged near the two ends of the base frame 1; the first linear drive 44 is horizontally fixedly arranged at the bottom of the base frame 1, and the driving end of the first linear drive 44 is arranged toward the front obstacle crossing unit 41 and is fixedly connected to the front obstacle crossing unit 41; the second linear drive 45 is horizontally fixedly arranged at the bottom of the base frame 1, and the driving end of the second linear drive 45 is arranged toward the rear obstacle crossing unit 42 and is fixedly connected to the rear obstacle crossing unit 42.

[0035] The guide unit 43 is specifically a slide rail, which is used to guide the front obstacle-crossing unit 41 and the rear obstacle-crossing unit 42 to slide horizontally.

[0036] The first linear drive 44 and the second linear drive 45 are both first electric push rods.

[0037] The rear barrier-crossing unit 42 and the front barrier-crossing unit 41 have the same structure.

[0038] To drive the front obstacle-crossing unit 41 to slide along the guide direction of the guide unit 43, simply connect an external power source and activate the first linear actuator 44, which is fixedly connected to the front obstacle-crossing unit 41. By controlling the telescopic rod of the first linear actuator 44 to extend or retract, the front obstacle-crossing unit 41 is driven to slide along the guide direction of the guide unit 43. This allows the front obstacle-crossing unit 41 to be adjusted horizontally away from or closer to the base frame 1. The rear obstacle-crossing unit 42 has the same structure and function as the front obstacle-crossing unit 41. Through corresponding control methods, the rear obstacle-crossing unit 42 can be driven to slide horizontally along the guide unit 43, thereby achieving coordinated movement with the front obstacle-crossing unit 41.

[0039] See also Figure 10 As shown: the front obstacle crossing unit 41 includes a first sliding frame 411, a first adjustment unit 412 and a support unit 413; the first sliding frame 411 is horizontally slidably set on the guide unit 43; the first adjustment unit 412 is fixedly set in a vertical state below the first sliding frame 411; the support unit 413 is fixedly set at the adjustment end of the first adjustment unit 412.

[0040] The first adjustment unit 412 includes a fixed rod, a second telescopic rod slidably arranged in the fixed rod, and a second electric push rod capable of driving the second telescopic rod to freely extend and retract; when it is necessary to drive the support unit 413 to support the base frame 1, it is only necessary to connect an external power supply to drive the second electric push rod to move, and when the telescopic rod of the second electric push rod is extended, the second telescopic rod is driven to extend synchronously, so as to achieve the effect of driving the support unit 413 to contact the ground and support the base frame 1.

[0041] When the base frame 1 needs to be independently supported and an obstacle-crossing operation needs to be performed, an external power source is first connected to drive the first linear actuator 44. The first linear actuator 44 drives the first sliding frame 411 to slide horizontally toward the surveying and mapping module 3, thereby adjusting the support module to the bottom of the center of the base frame 1. Next, the first adjustment unit 412 drives the support unit 413 to move vertically, gradually approaching the ground. After contact with the ground, the support unit 413 completes the support of the base frame 1, ensuring that the entire device is suspended and fully supported. After the base frame 1 is firmly supported, the action of the rear obstacle-crossing unit 42 is coordinated to achieve the obstacle-crossing operation, ensuring that the device can overcome the obstacle and continue the surveying and mapping task.

[0042] See also Figure 10 As shown: the support unit 413 includes a fixed frame 4131, a first rotating wheel 4132, a second rotating wheel 4133, a first servo motor 4134 and a third electric push rod 4135; the fixed frame 4131 is rotatably set on one side of the adjustment end of the first adjustment unit 412; the first rotating wheel 4132 and the second rotating wheel 4133 are respectively rotatably set on one side of the fixed frame 4131 and are respectively arranged near the two ends of the fixed frame 4131; the first servo motor 4134 is fixedly set on the other side of the fixed frame 4131 and passes through the fixed frame 4131 to be transmission-connected with the first rotating wheel 4132; the third electric push rod 4135 is fixedly set on the other side of the fixed frame 4131 and passes through the fixed frame 4131 toward the second rotating wheel 4133, and the telescopic rod of the third electric push rod 4135 is also coaxially fixed with a limiting portion 4136.

[0043] By respectively arranging a first rotating wheel 4132 and a second rotating wheel 4133 on the fixed frame 4131, double-point support can be achieved when supporting the base frame 1, thereby effectively improving the stability of the support. Since the first rotating wheel 4132 is connected to the first servo motor 4134 through a transmission, it can drive the base frame 1 to move during the support process, thereby realizing dynamic adjustment of the base frame 1. When it is necessary to fix the first rotating wheel 4132 at the current support position to prevent it from rotating, it is only necessary to drive the third electric push rod 4135 to move, push the telescopic rod of the third electric push rod 4135 to extend, and then drive the limiting part 4136 at the output end to contact the second roller, forming a physical limit, thereby achieving the limit of the first rotating wheel 4132. Through this limiting structure, the first rotating wheel 4132 and the second rotating wheel 4133 can be fixed synchronously to ensure that the wheels will not rotate unnecessarily during the support process of the base frame 1, thereby achieving stable support and avoiding unstable support or position displacement that may be caused by rotation.

[0044] The combination of dual-point support and a position-limiting structure not only enhances the stability and reliability of base frame 1 during support, but also enables dynamic adjustment of the displacement of base frame 1 through the drive of first servo motor 4134. The position-limiting structure effectively prevents accidental rotation of the rotating wheel, avoiding displacement or damage to the surveying and mapping device caused by unstable support, thereby ensuring the smooth progress of surveying and mapping tasks.

[0045] See also Figure 3 As shown: the lateral adjustment module 2 includes a movable base plate 22, a guide sleeve 23, a guide rod 24 and a third linear drive 25; the guide rod 24 is horizontally fixedly arranged on the top of the base frame 1 and is arranged toward the long side direction of the base frame 1; the guide sleeve 23 is horizontally fixedly arranged on the movable base plate 22 and slides with the guide rod 24; the movable base plate 22 is slidably arranged on one side of the long side direction of the base frame 1 through the guide sleeve 23; the third linear drive 25 is horizontally fixedly arranged on the base frame 1, and the driving end of the third linear drive 25 is arranged toward the movable base plate 22 and fixedly connected to the movable base plate 22.

[0046] When the movable baseplate 22 needs to be moved horizontally toward or away from the base frame 1, thereby changing the telescopic length of the first telescopic rod 21, an external power source is first connected to activate the third linear actuator 25. The telescopic rod of the third linear actuator 25 extends. Since the telescopic rod of the third linear actuator 25 is fixedly connected to the movable baseplate 22, the driving force is transmitted to the movable baseplate 22, causing the movable baseplate 22 to slide horizontally along the guide direction of the guide sleeve 23. Through this operation, the movable baseplate 22 can be stably moved away from the base frame 1 under the guidance constraint, or adjusted to a position closer to the base frame 1 as needed, thereby achieving flexible adjustment of the horizontal distance between the movable baseplate 22 and the base frame 1.

[0047] See also Figures 2 to 4 As shown: the auxiliary obstacle crossing module 5 also includes a driving unit 53, a following unit 54 and a second adjusting unit 55 capable of adjusting the angle between the first adjusting arm 51 and the second adjusting arm 52; the driving unit 53 is fixedly arranged at the front end of the first adjusting arm 51; the following unit 54 is fixedly arranged at the front end of the second adjusting arm 52; the second adjusting unit 55 is fixedly arranged in a vertical state on the outside of the lateral adjusting module 2, and the second adjusting unit 55 is used to adjust the angle between the first adjusting arm 51 and the second adjusting arm 52.

[0048] The proximal ends of the first adjustment arm 51 and the second adjustment arm 52 are respectively hinged to the outer side of the movable base plate 22 through a hinge part and are both arranged near the middle of the width of the movable base plate 22, thereby forming an angle between the first adjustment arm 51 and the second adjustment arm that can be adjusted by the second adjustment unit 55.

[0049] The follower module is a roller rotatably disposed at the front end of the second adjusting arm 52 .

[0050] When it is necessary to adjust the angle between the first adjusting arm 51 and the second adjusting arm 52, first connect an external power supply to drive the second adjusting unit 55 to operate, and the telescopic rod of the second adjusting unit 55 extends to synchronously drive the first adjusting arm 51 and the second adjusting arm 52 to operate, so that the first adjusting arm 51 and the second adjusting arm 52 move away from or closer to each other, thereby adjusting the obstacle crossing distance and support height of the base frame 1; in order to achieve a better obstacle crossing effect, the first adjusting arm 51 and the second adjusting arm 52 can also be set to a telescopic structure, thereby providing a longer and higher obstacle crossing stroke during the obstacle crossing process.

[0051] The driving unit 53 is arranged at the front end of the first adjusting arm 51 to pull and drive the entire surveying and mapping device to move along the surveying and mapping track, and the driving unit 53 can automatically adjust the surveying and mapping route of the surveying and mapping setting according to the surveying and mapping requirements; and the follower unit 54 rotatably arranged at the front end of the second adjusting arm 52 is a follower wheel; in order to achieve a more comprehensive driving effect, the follower wheel can also be replaced by the driving unit 53.

[0052] See also Figure 4 As shown: the driving unit 53 is a vertical steering wheel.

[0053] The vertical steering wheel is prior art and will not be described in detail here.

[0054] By using a vertical steering wheel as the driving unit 53 of the auxiliary obstacle-crossing module 5, a multi-directional driving effect can be achieved when driving the base frame 1 to move. The design of the vertical steering wheel has high flexibility, and its forward direction can be freely adjusted according to the required walking route, which significantly improves the maneuverability of the equipment. Unlike the traditional one-way walking drive method, the vertical steering wheel can flexibly adjust the moving direction of the base frame 1 in different terrain and obstacle environments, ensuring that the equipment can move more accurately along the predetermined path. Especially when it is necessary to turn or bypass obstacles, the multi-directional adjustment capability of the vertical steering wheel can effectively avoid the problem of blockage or poor operation of the equipment due to inflexible steering. Through this structural form, a higher degree of freedom and adaptability can be provided in more complex working environments.

[0055] See also Figure 8 As shown: the second adjustment unit 55 includes a mounting frame 551, a fourth electric push rod 552, a driving frame 553 and a limiting column 554; the limiting column 554 is provided in two groups and is respectively vertically arranged on the outer walls of the first adjustment arm 51 and the second adjustment arm 52; a sliding groove is also opened on the driving frame 553, and the driving frame 553 is horizontally arranged between the two limiting columns 554 and slides with the two groups of limiting columns 554 through the sliding groove; the fourth electric push rod 552 is fixedly arranged in a vertical state on the outside of the lateral adjustment module 2 through the mounting frame 551; and the driving end of the fourth electric push rod 552 passes through the mounting frame 551 and is fixedly connected to the driving frame 553.

[0056] When it is necessary to adjust the angle between the first adjustment arm 51 and the second adjustment arm 52, first connect an external power supply to drive the fourth electric push rod 552 to move, and the telescopic rod of the fourth electric push rod 552 extends to drive the driving frame 553 longitudinally close to the ground. At this time, the limiting columns 554 fixed on the first adjustment arm 51 and the second adjustment arm 52 will slide under the guidance of the slide groove and expand toward both sides, thereby causing the angle between the first adjustment arm 51 and the second adjustment arm 52 to increase. Similarly, when the telescopic rod of the fourth electric push rod 552 contracts, it will synchronously drive the angle between the first adjustment arm 51 and the second adjustment arm 52 to decrease.

[0057] See also Figure 1 、 Figure 2 and Figure 7 As shown: the monitoring module 6 includes a support frame 61, a monitoring camera 62, a control element 63 and a digital level 64, and multiple groups of monitoring cameras 62 are provided; the monitoring camera 62 is fixedly arranged on the base frame 1 in a horizontal state through the support frame 61; the control element 63 is fixedly arranged on the support frame 61 and is arranged near the middle of the support frame 61; the digital level 64 is fixedly arranged on one side of the control element 63.

[0058] As the surveying and mapping device moves along the highway, multiple monitoring cameras 62 capture real-time images of the device's surroundings, enabling operators to obtain comprehensive monitoring information of the equipment's surroundings and ensuring safety and accuracy during operation. The multiple layout of monitoring cameras 62 not only provides a comprehensive front-to-back, left-to-right, and right-to-left field of view, but also covers blind spots around the device, enabling comprehensive monitoring of the device's status. Control unit 63 receives operational commands and controls the device's operation in real time, ensuring it efficiently and accurately executes various surveying and mapping tasks according to actual needs.

[0059] To further enhance the surveying and mapping device's adaptability in complex terrain, the equipment is equipped with a digital level 64, which monitors the device's horizontal position in real time. This digital level 64 accurately detects the device's tilt angle and feeds this data back to the control unit 63. When performing obstacle crossing operations on inclined surfaces, the main obstacle crossing module 4 dynamically adjusts the support height based on the detection results of the digital level 64, ensuring that the base frame 1 remains horizontal.

[0060] See also Figure 9 As shown: the surveying module 3 includes a second sliding frame 31, a telescopic cylinder 32, a third telescopic rod 33, a spring 34, a crawling unit 35 and a surveying unit 36; the telescopic cylinder 32 is slidably arranged outside the third telescopic rod 33 through the second sliding frame 31, and the telescopic cylinder 32 is vertically arranged below the second sliding frame 31; the third telescopic rod 33 is coaxially slidably arranged in the telescopic cylinder 32; the surveying unit 36 ​​is fixedly arranged at the lower end of the third telescopic rod 33, and the surveying unit 36 ​​is used to survey the highway; a spring 34 that can elastically support the third telescopic rod 33 is also coaxially fixed outside the third telescopic rod 33; the crawling unit 35 is fixedly arranged on one side of the second sliding frame 31 and the crawling end is arranged to contact the outer wall of the third telescopic rod 33.

[0061] The crawling unit 35 includes a connecting frame, a second servo motor fixedly mounted on the connecting frame, and a driving wheel coaxially fixedly mounted on an output shaft of the second servo motor.

[0062] The surveying and mapping unit 36 ​​includes a second connecting frame, a roller rotatably arranged in the second connecting frame, and an encoder capable of recording the number of rotations of the roller; the surveying and mapping unit 36 ​​is a prior art and will not be described in detail here.

[0063] When a road needs to be surveyed, the surveying unit 36, supported by the spring 34, drives the third telescopic rod 33 toward the ground, causing the surveying unit 36 ​​to contact the ground and perform ground surveying. If an obstacle appears in the direction of travel of the surveying unit 36 ​​during the surveying process and an obstacle avoidance operation is required, the crawling unit 35 is activated by connecting an external power source. The second servo motor then rotates the drive wheel, causing it to crawl along the third telescopic rod 33, thereby driving the second sliding frame 31 to slide along the axis of the third telescopic rod 33, thereby changing the travel position of the surveying unit 36 ​​and achieving obstacle avoidance.

[0064] The present invention can not only perform adaptive detection on different road sections but also has an automatic obstacle avoidance function, with a high degree of adaptability and good detection effect.

[0065] Technical features not described in the present invention can be implemented by existing technologies and will not be described in detail here. The present invention is not limited to the above-mentioned specific embodiments. Changes, modifications, additions or substitutions made by ordinary technicians in this field within the scope of the essence of the present invention should also fall within the scope of protection of the present invention.

Claims

1. An adaptive mapping device for multi-terrain roads, characterized in that: include: A base frame (1) serving as the installation base of the entire surveying and mapping device; Transverse adjustment modules (2), wherein two groups of the transverse adjustment modules (2) are provided, and the two groups of the transverse adjustment modules (2) are relatively slidably arranged on both sides of the short side of the base frame (1), and the two groups of the transverse adjustment modules (2) can slide away from or approach the base frame (1) along the long side of the base frame (1); a first telescopic rod (21) is also arranged across the two groups of the transverse adjustment modules (2); A surveying and mapping module (3), the surveying and mapping module (3) being vertically arranged below the base frame (1) and the driving end of the surveying and mapping module (3) being slidably matched with the first telescopic rod (21); the surveying and mapping module (3) being capable of sliding along the axis of the first telescopic rod (21); A main barrier-crossing module (4), wherein the main barrier-crossing module (4) is provided with two groups, namely a front barrier-crossing unit (41) and a rear barrier-crossing unit (42), wherein the front barrier-crossing unit (41) and the rear barrier-crossing unit (42) are both slidably arranged under the base frame (1) and are respectively capable of sliding along the long side direction of the base frame (1); An auxiliary obstacle-crossing module (5), wherein the auxiliary obstacle-crossing module (5) is provided with two groups, and the two groups of auxiliary obstacle-crossing modules (5) are respectively provided on the outsides of the two groups of lateral adjustment modules (2); and the auxiliary obstacle-crossing module (5) is provided with two first adjustment arms (51) and second adjustment arms (52) with adjustable angles, and when the angle between the first adjustment arm (51) and the second adjustment arm (52) increases, the obstacle-crossing distance increases synchronously, and when the angle between the first adjustment arm (51) and the second adjustment arm (52) decreases, the obstacle-crossing distance decreases synchronously; A monitoring module (6), wherein the monitoring module (6) is vertically fixedly disposed on the base frame (1).

2. The adaptive mapping device for multi-terrain roads according to claim 1, characterized in that: The main obstacle-crossing module (4) further comprises a guiding unit (43) and a first linear drive (44) and a second linear drive (45) capable of respectively driving the front obstacle-crossing unit (41) and the rear obstacle-crossing unit (42) to slide along the guiding direction of the guiding unit (43); The guide unit (43) is horizontally fixedly arranged at the bottom of the base frame (1) and is arranged parallel to the long side direction of the base frame (1); The front obstacle-crossing unit (41) and the rear obstacle-crossing unit (42) are both slidably arranged on the guide unit (43) in a vertical state, and the front obstacle-crossing unit (41) and the rear obstacle-crossing unit (42) are respectively arranged close to two ends of the base frame (1); The first linear drive (44) is horizontally fixedly arranged at the bottom of the base frame (1), with the drive end arranged toward the front obstacle-crossing unit (41) and fixedly connected to the front obstacle-crossing unit (41); The second linear drive (45) is horizontally fixedly arranged at the bottom of the base frame (1), with the drive end arranged toward the rear obstacle-crossing unit (42) and fixedly connected to the rear obstacle-crossing unit (42).

3. The adaptive mapping device for multi-terrain roads according to claim 2, characterized in that: The front obstacle-crossing unit (41) comprises a first sliding frame (411), a first adjustment unit (412) and a support unit (413); The first sliding frame (411) is horizontally slidably arranged on the guide unit (43); The first adjustment unit (412) is fixedly arranged in a vertical state below the first sliding frame (411); The supporting unit (413) is fixedly arranged on the adjusting end of the first adjusting unit (412).

4. The adaptive mapping device for multi-terrain roads according to claim 3, characterized in that: The support unit (413) comprises a fixing frame (4131), a first rotating wheel (4132), a second rotating wheel (4133), a first servo motor (4134) and a third electric push rod (4135); The fixing frame (4131) is rotatably arranged on one side of the adjustment end of the first adjustment unit (412); The first rotating wheel (4132) and the second rotating wheel (4133) are respectively rotatably arranged on one side of the fixing frame (4131) and are respectively arranged close to two ends of the fixing frame (4131); The first servo motor (4134) is fixedly arranged on the other side of the fixing frame (4131) and passes through the fixing frame (4131) to be transmission-connected with the first rotating wheel (4132); The third electric push rod (4135) is fixedly arranged on the other side of the fixing frame (4131) and passes through the fixing frame (4131) to be arranged toward the second rotating wheel (4133), and the telescopic rod of the third electric push rod (4135) is also coaxially fixedly arranged with a limiting portion (4136).

5. The adaptive mapping device for multi-terrain roads according to claim 4, characterized in that: The lateral adjustment module (2) comprises a movable base plate (22), a guide sleeve (23), a guide rod (24) and a third linear drive (25); The guide rod (24) is horizontally fixedly arranged on the top of the base frame (1) and is arranged toward the long side direction of the base frame (1); The guide sleeve (23) is horizontally fixedly arranged on the movable base plate (22) and slidably cooperates with the guide rod (24); the movable base plate (22) is slidably arranged on one side of the long side direction of the base frame (1) through the guide sleeve (23); The third linear drive (25) is horizontally fixedly arranged on the base frame (1) with the driving end arranged toward the movable base plate (22) and is fixedly connected to the movable base plate (22).

6. The adaptive mapping device for multi-terrain roads according to claim 5, characterized in that: The auxiliary obstacle-crossing module (5) further comprises a driving unit (53), a follower unit (54), and a second adjustment unit (55) capable of adjusting the angle between the first adjustment arm (51) and the second adjustment arm (52); The driving unit (53) is fixedly arranged at the front end of the first adjusting arm (51); The follower unit (54) is fixedly arranged at the front end of the second adjustment arm (52); The second adjustment unit (55) is fixedly arranged in a vertical state on the outside of the lateral adjustment module (2), and the second adjustment unit (55) is used to adjust the angle between the first adjustment arm (51) and the second adjustment arm (52).

7. The adaptive mapping device for multi-terrain roads according to claim 6, characterized in that: The driving unit (53) is a vertical steering wheel.

8. The adaptive mapping device for multi-terrain roads according to claim 7, characterized in that: The second adjustment unit (55) comprises a mounting frame (551), a fourth electric push rod (552), a driving frame (553) and a limiting column (554); The limiting columns (554) are provided in two groups and are respectively arranged vertically on the outer walls of the first adjusting arm (51) and the second adjusting arm (52); The driving frame (553) is also provided with a sliding groove, and the driving frame (553) is arranged across the two limiting columns (554) and is slidably matched with the two groups of limiting columns (554) through the sliding groove; The fourth electric push rod (552) is fixedly arranged in a vertical state on the outside of the lateral adjustment module (2) via a mounting frame (551); and the driving end of the fourth electric push rod (552) passes through the mounting frame (551) and is fixedly connected to the driving frame (553).

9. The adaptive mapping device for multi-terrain roads according to claim 8, characterized in that: The monitoring module (6) comprises a support frame (61), a monitoring camera (62), a control element (63) and a digital level (64); The monitoring camera (62) is fixedly arranged on the base frame (1) in a horizontal state via a support frame (61); The control element (63) is fixedly disposed on the support frame (61) and is disposed close to the middle of the support frame (61); The digital level (64) is fixedly arranged on one side of the control element (63).

10. The adaptive mapping device for multi-terrain roads according to claim 9, characterized in that: The surveying and mapping module (3) comprises a second sliding frame (31), a telescopic cylinder (32), a third telescopic rod (33), a spring (34), a crawling unit (35) and a surveying and mapping unit (36); The telescopic cylinder (32) is slidably arranged outside the third telescopic rod (33) via a second sliding frame (31), and the telescopic cylinder (32) is vertically arranged below the second sliding frame (31); The third telescopic rod (33) is coaxially slidably disposed in the telescopic cylinder (32); The surveying and mapping unit (36) is fixedly arranged at the lower end of the third telescopic rod (33), and the surveying and mapping unit (36) is used to survey and map the highway; A spring (34) capable of elastically supporting the third telescopic rod (33) is coaxially fixedly disposed outside the third telescopic rod (33); The crawling unit (35) is fixedly arranged on one side of the second sliding frame (31) and the crawling end is arranged to abut against the outer wall of the third telescopic rod (33).

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