Intelligent robot for actual measurement of building and measurement method thereof

Abstract

The invention relates to the technical field of building measurement, in particular to an intelligent robot for actual measurement of a building and a measurement method thereof.According to the intelligent robot, an automatic leveling mechanism and an auxiliary leveling mechanism are arranged and work cooperatively, dynamic leveling of a measuring instrument on the complex ground is achieved, and the measurement accuracy is improved. A balancing weight in the automatic leveling mechanism is combined with an inverted trapezoidal stabilizing cylinder, the measuring instrument is rapidly stabilized by using a gravity self-locking principle, the measuring instrument is ensured not to be damaged when measurement is not performed, the service life is prolonged, a suspended chassis is formed by a bottom beam and an adjusting spring and dynamically adapts to ground potholes, a contact surface is actively adjusted when a driving wheel moves, and the measurement accuracy is improved. The interference of uneven ground on the attitude of the measuring instrument is reduced, the cleaning mechanism can perform auxiliary obstacle removing work in the advancing direction of the base, the measuring efficiency is improved, the extension rod slides in the stabilizing groove, it is ensured that the front shovel always keeps the optimal obstacle removing angle with the ground, and the stability of the equipment is improved while the obstacle removing effect is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of building measurement, and more specifically, to an intelligent robot for actual measurement and quantity survey of buildings and a measurement method thereof. Background Technique

[0002] Actual measurement and quantity survey refer to using measuring tools (such as straightedges, laser instruments, etc.) to conduct on-site tests and records of parameters such as the dimensions, flatness, and perpendicularity of building projects, so as to obtain real data reflecting the project quality. It runs through multiple stages of building projects, including the main structure, masonry, plastering, fine decoration, etc., covering project contents such as concrete, doors and windows, waterproofing, and coatings. Its importance lies not only in quality control during the construction process, but also directly relates to the satisfaction of the owners at the time of delivery, becoming a key basis for avoiding disputes.

[0003] Traditional actual measurement and quantity survey operations are carried out manually. The measurement personnel carry various tools into the site for on-site measurement, and need to carry a large number of measuring instruments back and forth between multiple floors, with low efficiency. Therefore, there appears an actual measurement and quantity survey robot on the market, such as an intelligent actual measurement and quantity survey robot with the patent publication number CN222609629U. The measurement mechanism in this robot is used to comprehensively scan the house, which has the advantages of being unaffected by the environment, fast measurement speed, and accurate measurement. The rotation of the third motor can drive the brush rod to rotate outside the protective glass shell, so as to clean the dust adhered to the outer surface thereof, improving the scanning clarity. It can move and measure by itself, with good mobility, accurate measurement, unaffected by the environment, and fast measurement speed.

[0004] However, this machine ignores a key point, that is, for measuring instruments (such as laser measuring instruments, total stations), leveling is required during use, and the purpose is to ensure measurement accuracy, and the angle needs to be adjusted during continuous measurement. At present, the working environment of the actual measurement and quantity survey robot is too ideal. In the actual operation and use process, the ground of the building to be measured will have varying degrees of potholes, which will affect the measurement accuracy; at the same time, there will also be a situation of debris accumulation in the house to be measured. At present, there are indeed measurement robots that can climb over obstacles, but if the debris accumulates at the measurement point, it needs to be manually cleaned before the measurement robot can measure, which seriously affects the measurement efficiency.

[0005] Therefore, we disclose an actual measurement and quantity survey robot that can assist in clearing obstacles at the measurement point and automatically level during measurement to ensure measurement efficiency and accuracy. Summary of the Invention

[0006] The purpose of the present invention is to provide an intelligent robot for actual measurement and quantity survey of buildings and a measurement method thereof, so as to solve the problems raised in the above background technique.

[0007] To achieve the above object, the present invention provides the following technical solutions: An intelligent robot for actual measurement of buildings includes a base, a housing installed on the base, and a measuring instrument. An installation cavity is formed inside the housing, and the measuring instrument is installed inside the installation cavity. An angle adjustment mechanism for adjusting the angle of the measuring instrument itself is provided at the bottom of the measuring instrument; An automatic leveling mechanism is further provided inside the installation cavity. The measuring instrument is connected to the automatic leveling mechanism through the angle adjustment mechanism, and the automatic leveling mechanism is used to keep the measuring instrument horizontal during measurement; An auxiliary leveling mechanism is also connected to the bottom of the base. The auxiliary leveling mechanism is used to drive the base to move and perform auxiliary leveling. A cleaning mechanism is installed on the outside of the base, and the cleaning mechanism is used to assist in clearing obstacles in front of the base during its movement.

[0008] A further technical solution of the present application: The automatic leveling mechanism includes two driving parts symmetrically installed inside the installation cavity, a horizontal part connected between the two driving parts, and a stabilizing part connected to the bottom of the horizontal part; The horizontal part includes a connecting cylinder, a counterweight block connected to the bottom end of the connecting cylinder, and a stabilizing cylinder installed at the bottom of the installation cavity. A connecting rod is rotatably inserted into the upper end of the connecting cylinder, and both sides of the connecting rod are respectively connected to the two driving parts. The counterweight block is connected to the stabilizing cylinder in a matching manner, and the cross-sectional shapes of the counterweight block and the stabilizing cylinder are both inverted trapezoids. The stabilizing cylinder is used to stabilize the counterweight block when the counterweight block is not lifted and for auxiliary positioning when the counterweight block falls; The stabilizing part is used to reduce the swing of the counterweight block after it breaks away from the stabilizing cylinder, and the stabilizing part is connected to the bottom of the counterweight block.

[0009] A further technical solution of the present application: A single driving part includes a driving groove opened on the inner side of the installation cavity. A driving motor is installed at the bottom of the driving groove. The power output shaft of the driving motor is connected to a driving screw rod, and a driving nut sleeve is connected in a matching manner on the outside of the driving screw rod; One end of the connecting rod is connected to the side of the driving nut sleeve. A limiting groove is further opened on the inner side of the driving groove, and one end of a limiting rod is connected in a sliding manner inside the limiting groove. The other end of the limiting block is connected to the side of the driving nut sleeve.

[0010] A further technical solution of the present application: The stabilizing part includes a stop swing chute, a stop swing slider, and a stop swing rope. One end of the stop swing rope is connected to the center of the bottom of the counterweight block, and the stop swing slider is connected to the other end of the stop swing rope. The stop swing chute is opened on the base, and the stop swing chute is perpendicular to the connecting rod. The stop swing slider is slidably connected inside the stop swing chute.

[0011] A further technical solution of the present application: Positioning rings are installed on both sides of the connecting rod outside the connecting cylinder.

[0012] A further technical solution of the present application: The auxiliary leveling mechanism includes two bottom cavities symmetrically opened at the bottom of the base, a bottom rod installed at the center of the inside of a single bottom cavity, and a bottom beam rotatably connected to the outside of the bottom rod; On both sides of the upper end face of the bottom beam, adjusting springs are symmetrically arranged, and the adjusting springs are connected to the inside of the bottom cavity. A number of driving wheels are also arranged inside the bottom beam.

[0013] A further technical solution of the present application: The cleaning mechanism includes a front shovel and a buffer part. The number of buffer parts is two, and they are symmetrically installed at both ends on the same side of the base. The front shovel is rotatably installed between the two buffer parts; A single buffer part includes a buffer groove opened on the side of the base, stable grooves opened on both sides inside the buffer groove, and an extension rod slidably fitted inside the buffer groove. One end of the extension rod is connected to one end of a connecting shaft, and one end of the front shovel is connected to the outside of the connecting shaft. One end of the extension rod located inside the buffer groove is connected to a stable block, and the stable block is slidably connected to the inside of the stable groove. A buffer spring is also connected to the extension rod, and the buffer spring is connected to the inner side of the buffer groove. Driving wheels are also symmetrically arranged on both sides of the lower end of the front shovel.

[0014] A further technical solution of the present application: The angle adjustment mechanism includes a connecting column connected to the top end of the connecting cylinder, a driving tooth installed at the top end of the connecting column, and an adjustment cavity opened at the bottom of the measuring instrument. The upper end of the connecting column is fitted and installed inside the adjustment cavity, and the lower end of the connecting column is connected to the top end of the connecting cylinder; An adjustment motor is also installed inside the adjustment cavity. The power output shaft of the adjustment motor is connected to a driving gear, and the driving gear is meshed and connected to the driving tooth.

[0015] A measuring method for an intelligent robot for on-site measurement and quantity inspection in construction. The measuring method includes the following steps: Step 1: The auxiliary leveling mechanism drives the base to move. During the movement, the cleaning mechanism assists in clearing obstacles in the advancing direction of the base to ensure the stable movement of the base. After the base moves to the measuring point, the measurement starts; Step 2: The automatic leveling mechanism pushes the measuring instrument out of the housing. When the measuring instrument is completely pushed out, the automatic leveling mechanism automatically levels the measuring instrument to ensure that the measuring instrument remains horizontal during the measurement process; Step 3: After one-sided measurement is completed, the angle adjustment mechanism works to adjust the angle of the measuring instrument itself for measurement on the other side.

[0016] Adopting the technical solution provided by the present invention, compared with the prior art, it has the following beneficial effects: 1. The present invention realizes the dynamic leveling of the measuring instrument on complex ground by setting an automatic leveling mechanism and an auxiliary leveling mechanism, which work together. The counterweight in the automatic leveling mechanism is combined with the inverted trapezoidal stabilizing cylinder, and the principle of gravity self-locking is used to quickly stabilize the measuring instrument, reducing the error caused by mechanical vibration. The driving motor precisely controls the lifting of the supporting rod through a screw rod. When not in measurement, it ensures that the measuring instrument will not be damaged, improving its service life. Moreover, the bottom beam and the adjusting spring form a suspended chassis, dynamically adapting to the ground potholes. The driving wheels actively adjust the contact surface during movement, reducing the interference of ground unevenness on the attitude of the measuring instrument.

[0017] 2. The present invention sets a cleaning mechanism, which can assist in clearing obstacles in the advancing direction of the base, improving the measurement efficiency. The buffer spring and the stabilizing block can absorb the impact force of the front shovel hitting an obstacle, avoiding equipment damage. The extension rod slides in the stabilizing groove to ensure that the front shovel always maintains the best obstacle-clearing angle with the ground, improving the stability of the equipment while ensuring the obstacle-clearing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 is an enlarged schematic diagram of part A in; Figure 3 is a three-dimensional schematic diagram of the present invention; Figure 4 is a sectional schematic diagram of the present invention; Figure 5 is a sectional view schematic diagram of the present invention; Figure 6 For the present invention Figure 5 is an enlarged schematic diagram of part B in; Figure 7 For the present invention Figure 5 is an enlarged schematic diagram of part C in; Figure 8 is a schematic diagram of the bottom structure of the present invention; Figure 9 is a sectional view schematic diagram of the present invention.

[0019] Explanation of the reference numerals in the schematic diagrams: 1. Base; 2. Housing; 3. Measuring instrument; 4. Front shovel; 5. Buffer groove; 6. Stabilizing groove; 7. Connecting shaft; 8. Extension rod; 9. Stabilizing block; 10. Buffer spring; 11. Bottom beam; 12. Driving wheel; 13. Pendulum stop slider; 14. Stabilizing cylinder; 15. Pendulum stop rope; 16. Counterweight; 17. Installation cavity; 18. Driving motor; 19. Driving screw; 20. Driving groove; 21. Driving nut; 22. Connecting cylinder; 23. Lifting rod; 24. Driving tooth; 25. Driving gear; 26. Connecting column; 27. Positioning ring; 28. Limiting rod; 29. Limiting groove; 30. Bottom rod; 31. Bottom cavity; 32. Adjusting spring. Detailed implementation manners

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. The present invention will be further described below in conjunction with the embodiments.

[0021] Please refer to Figures 1 to 9 , in an embodiment of the present application, an intelligent robot for actual measurement in construction includes a base 1, a housing 2 installed on the base 1, and a measuring instrument 3. An installation cavity 17 is formed inside the housing 2, the measuring instrument 3 is installed in the installation cavity 17, and an angle adjustment mechanism for adjusting the angle of the measuring instrument 3 itself is provided at the bottom of the measuring instrument 3. An automatic leveling mechanism is also provided in the installation cavity 17. The measuring instrument 3 is connected to the automatic leveling mechanism through the angle adjustment mechanism, and the automatic leveling mechanism is used to keep the measuring instrument 3 horizontal during measurement. An auxiliary leveling mechanism is further connected to the bottom of the base 1. The auxiliary leveling mechanism is used to drive the base 1 to move and perform auxiliary leveling. A cleaning mechanism is also installed on the outside of the base 1, and the cleaning mechanism is used to assist in clearing obstacles in front of the moving direction of the base 1.

[0022] Further, the auxiliary leveling mechanism includes two bottom cavities 31 symmetrically opened at the bottom of the base 1, a bottom rod 30 installed at the center of the inside of a single bottom cavity 31, and a bottom beam 11 rotatably connected to the outside of the bottom rod 30. Adjusting springs 32 are symmetrically arranged on both sides of the upper end surface of the bottom beam 11, and the adjusting springs 32 are connected to the inside of the bottom cavity 31. A plurality of driving wheels 12 are also provided inside the bottom beam 11.

[0023] This embodiment is implemented as follows: During actual use, the auxiliary horizontal mechanism is required to drive the base 1 to displace. During the displacement process, the cleaning mechanism clears obstacles along the advancing direction of the base 1 to ensure the stable movement of the base 1. After the base 1 moves to the measurement point, the measurement starts. The automatic leveling mechanism pushes the measuring instrument 3 out of the housing 2. When the measuring instrument 3 is fully pushed out, the automatic leveling mechanism automatically levels the measuring instrument 3 to ensure that the measuring instrument 3 remains horizontal during the measurement process. After one-sided measurement is completed, the angle adjustment mechanism operates to adjust the angle of the measuring instrument 3 itself for measurement on the other side.

[0024] It should be noted that the measuring instrument 3 is a commercially available high-precision construction measuring instrument that supports functions such as laser ranging, angle sensing, and wireless data transmission. Its selection needs to meet the usage requirements of this patent, so it will not be elaborated here too much.

[0025] Meanwhile, this robot also has a built-in SLAM (Simultaneous Localization and Mapping) module that perceives the environment through the fusion of lidar and depth cameras and constructs a three-dimensional point cloud map of the building in real time. After the measurement task is started, the central processor automatically generates the optimal measurement path based on the BIM model data and dynamically avoids temporary obstacles. When cross-floor operation is required, the robot docks with the elevator Internet of Things system through a wireless communication module: the TOF sensor carried accurately identifies the position of the elevator door, and the RFID reader / writer at the end of the robotic arm interacts with the elevator control panel to send floor commands and receive elevator status feedback, realizing functions such as fully automatic elevator calling, entering the elevator, and arriving at the target floor.

[0026] Meanwhile, the single measurement data is uploaded to the cloud quality management system in real time through the 5G module. If an out-of-tolerance index is detected, the system automatically generates a retest path and triggers the robot for secondary positioning, forming a complete closed loop of "movement - measurement - decision - re-measurement".

[0027] Please refer to Figure 1 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 As a preferred embodiment of this application, the automatic leveling mechanism includes two driving parts symmetrically installed inside the installation cavity 17, a horizontal part connected between the two driving parts, and a stabilizing part connected to the bottom of the horizontal part; The horizontal part includes a connecting cylinder 22, a counterweight 16 connected to the bottom end of the connecting cylinder 22, and a stabilizing cylinder 14 installed at the bottom of the installation cavity 17. The upper end of the connecting cylinder 22 is rotatably inserted with a connecting rod 23, and both sides of the connecting rod 23 are connected to the two driving parts respectively. The counterweight 16 is cooperatively connected with the stabilizing cylinder 14, and the cross-sectional shapes of both the counterweight 16 and the stabilizing cylinder 14 are trapezoidal in reverse. The stabilizing cylinder 14 is used to stabilize the counterweight 16 when the counterweight 16 is not lifted and for auxiliary positioning when the counterweight 16 falls. The stabilizing part is used to reduce the swing of the counterweight block 16 after it detaches from the stabilizing cylinder 14, and the stabilizing part is connected to the bottom of the counterweight block 16.

[0028] Furthermore, a single driving part includes a driving groove 20 opened on the inner side of the installation cavity 17. A driving motor 18 is installed at the bottom of the driving groove 20. The power output shaft of the driving motor 18 is connected to a driving screw 19, and a driving nut 21 is connected in a matching manner on the outer side of the driving screw 19; One end of the connecting rod 23 is connected to the side surface of the driving nut 21. A limiting groove 29 is also opened on the inner side of the driving groove 20. One end of a limiting rod 28 is connected in a sliding and matching manner inside the limiting groove 29, and the other end of the limiting block is connected to the side surface of the driving nut 21.

[0029] Furthermore, the stabilizing part includes a stop swing chute, a stop swing slider 13 and a stop swing rope 15. One end of the stop swing rope 15 is connected to the center of the bottom of the counterweight block 16. The stop swing slider 13 is connected to the other end of the stop swing rope 15. The stop swing chute is opened on the base 1, and the stop swing chute is perpendicular to the connecting rod 23. The stop swing slider 13 is connected in a sliding manner inside the stop swing chute.

[0030] Furthermore, positioning rings 27 are installed on both sides of the connecting cylinder 22 on the outer side of the connecting rod 23.

[0031] Furthermore, the angle adjustment mechanism includes a connecting column 26 connected to the top end of the connecting cylinder 22, a driving gear 24 installed at the top end of the connecting column 26, and an adjustment cavity opened at the bottom of the measuring instrument 3. The upper end of the connecting column 26 is installed in the adjustment cavity in a matching manner, and the lower end of the connecting column 26 is connected to the top end of the connecting cylinder 22; An adjustment motor is also installed on the inner side of the adjustment cavity. The power output shaft of the adjustment motor is connected to a driving gear 25, and the driving gear 25 is meshed and connected to the driving gear 24.

[0032] This embodiment is implemented as follows: First, regarding the auxiliary leveling mechanism required when the base 1 moves, it is driven by two bottom beams 11 rotating with a plurality of driving wheels 12 installed at their respective bottoms, so as to drive the base 1 to move. The bottom beam 11 and the bottom cavity 31 are connected by a bottom rod 30. The bottom beam 11 can rotate on the outer side of the bottom rod 30, and the bottom rod 30 is connected to the center of the bottom beam 11. This ensures that the lengths on both sides of the bottom beam 11 are the same and the forces are the same. At the same time, adjustment springs 32 are provided on both sides of the bottom beam 11 to assist in connection and buffer and shock absorption. At the same time, according to the unevenness of the bottom surface, the heights of both sides of the bottom beam 11 are adaptively adjusted to try to ensure the horizontal state of the base 1; thus, the functions of auxiliary leveling and driving movement are realized.

[0033] For the automatic leveling mechanism, its main function is to level the measuring instrument 3 to ensure that it is level during the measurement process of the measuring instrument 3, so as to ensure the measurement efficiency. The automatic leveling mechanism is specifically composed of three parts, namely, a driving part, a leveling part, and a stabilizing part. The driving part is used to send the measuring instrument 3 out of the inside of the housing 2. When the measuring instrument 3 is not in use, it is inside the housing 2. This is to ensure that the measuring instrument 3 will not be damaged when not in use and to extend its service life. The driving part can send the measuring instrument 3 out of the housing 2, and when it is sent out, the leveling part will work to level the measuring instrument 3.

[0034] Specifically, the driving part displaces the supporting rod 23 upward. During the displacement of the supporting rod 23, the stabilizing cylinder 14 and the counterweight 16 move upward at the same time. When the counterweight 16 completely disengages from the stabilizing cylinder 14, it will swing back and forth due to its own weight and the action of gravity and finally remain vertical. When the counterweight 16 is vertical, it is the horizontal state of the measuring instrument 3, which is the measurement state. When not in measurement, the measuring instrument 3 needs to be retracted. Similarly, the driving part can displace the supporting rod 23 downward, and the measuring instrument 3 moves downward. Similarly, the counterweight 16 also moves downward. Due to its own shape and the guiding of the installation cavity 17 and the stabilizing cylinder 14, it falls back into the counterweight cylinder again, thus realizing automatic leveling.

[0035] The stabilizing part is used to make the counterweight 16 stop swinging faster when it disengages from the stabilizing cylinder 14. It mainly uses the stop swing rope 15 to pull the bottom of the counterweight 16, and at the same time cooperates with the stop swing slider 13 at the other end of the stop swing rope 15 to assist in pulling the counterweight 16 to quickly stop swinging. It should be noted that the stop swing slider 13 will displace inside the stop swing chute. This ensures that before the counterweight 16 disengages from the inside of the stabilizing cylinder 14, the stop swing slider 13 will displace according to the inclination angle of the base 1 and be in place in advance. It should also be noted that the stop swing rope 15 should be made of an elastic or flexible rope.

[0036] Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 8 and Figure 9 As a preferred embodiment of the present application, the cleaning mechanism includes a front shovel 4 and a buffer part. The number of buffer parts is two, and they are symmetrically installed at both ends on the same side of the base 1. The front shovel 4 is rotatably installed between the two buffer parts; The single buffer part includes a buffer groove 5 opened on the side of the base 1, stable grooves 6 opened on both sides inside the buffer groove 5, and an extension rod 8 slidably fitted inside the buffer groove 5. One end of the extension rod 8 is connected to one end of a connecting shaft 7, and one end of the front shovel 4 is connected to the outside of the connecting shaft 7. One end of the extension rod 8 located inside the buffer groove 5 is connected to a stabilizing block 9, and the stabilizing block 9 is slidably connected inside the stable groove 6. A buffer spring 10 is also connected to the extension rod 8, and the buffer spring 10 is connected to the inner side of the buffer groove 5. Driving wheels 12 are symmetrically arranged on both sides of the lower end of the front shovel 4.

[0037] This embodiment is implemented as follows: The main function of the buffer part is to prevent the front shovel 4 from retracting when it touches an obstacle that cannot be cleared. Specifically, through the cooperation of the buffer spring 10 and the buffer groove 5, the extension rod 8 makes a contraction movement inside the buffer groove 5. At the same time, the front shovel 4 is rotatably installed between the two buffer parts, and the front shovel 4 can also rotate to lift the angle to ensure stable progress.

[0038] Please refer to Figure 4 and Figure 5 As a preferred embodiment of the present application, the angle adjustment mechanism includes a connecting column 26 connected to the top end of the connecting cylinder 22, a driving gear 24 installed at the top end of the connecting column 26, and an adjustment cavity opened at the bottom of the measuring instrument 3. The upper end of the connecting column 26 is fitted inside the adjustment cavity, and the lower end of the connecting column 26 is connected to the top end of the connecting cylinder 22; An adjustment motor is also installed inside the adjustment cavity. The power output shaft of the adjustment motor is connected to a driving gear 25, and the driving gear 25 is meshed with the driving gear 24.

[0039] This embodiment is implemented as follows: The function of the angle adjustment mechanism is to adjust the angle of the measuring instrument 3 itself. However, when the measuring instrument 3 is not in use, it is housed inside the installation cavity 17 and is in a non-rotatable state. Therefore, to adjust the measuring angle, the measuring instrument 3 needs to be separated from the installation cavity 17, and the adjustment motor drives the driving gear 25 to rotate, thereby driving the driving gear 24 to rotate, so as to realize the rotation of the measuring instrument 3 itself.

[0040] Please refer to Figures 1 to 9 A measuring method of an intelligent robot for on-site measurement and quality inspection of buildings according to the present invention, the measuring method includes the following steps: Step 1: The auxiliary leveling mechanism drives the base 1 to displace, and during the displacement process, the cleaning mechanism assists in clearing obstacles in the advancing direction of the base 1 to ensure the stable movement of the base 1. After the base 1 moves to the measuring point, the measurement starts; Step 2: The automatic leveling mechanism pushes the measuring instrument 3 out of the housing 2. When the measuring instrument 3 is completely pushed out, the automatic leveling mechanism automatically levels the measuring instrument 3 to ensure that the measuring instrument 3 remains horizontal during the measurement process; Step 3: After the unilateral measurement is completed, the angle adjustment mechanism works to adjust the angle of the measuring instrument 3 itself for the measurement of the other side.

[0041] In summary, by setting the automatic leveling mechanism and the auxiliary leveling mechanism, the two work together to achieve the dynamic leveling of the measuring instrument on complex ground. The counterweight block in the automatic leveling mechanism is combined with the inverted trapezoidal stabilizing cylinder to quickly stabilize the measuring instrument using the principle of gravity self-locking, reducing the error caused by mechanical vibration; the driving motor precisely controls the lifting of the strut through the screw rod. When not in measurement, it ensures that the measuring instrument will not be damaged, improving its service life. Moreover, the bottom beam and the adjusting spring form a suspended chassis, dynamically adapting to the ground potholes. The driving wheels actively adjust the contact surface during movement, reducing the interference of ground unevenness on the attitude of the measuring instrument; by setting the cleaning mechanism, the cleaning mechanism can assist in clearing obstacles in the advancing direction of the base, improving the measurement efficiency. Additionally, the buffer spring and the stabilizing block can absorb the impact force of the front shovel hitting obstacles, avoiding equipment damage; the extension rod slides in the stabilizing groove to ensure that the front shovel always maintains the best obstacle-clearing angle with the ground, ensuring the obstacle-clearing effect while improving the stability of the equipment.

[0042] The above schematically describes the present invention and its implementation manners. This description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. Therefore, if those of ordinary skill in the art are inspired by it and, without departing from the purpose of the present invention, creatively design a structural manner and an embodiment similar to this technical solution, they shall fall within the protection scope of the present invention.

[0043] In addition, it should be understood that although this specification is described according to implementation manners, not every implementation manner only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementation manners that can be understood by those skilled in the art.

Claims

1. An intelligent robot for actual measurement of buildings, comprising a base (1), a housing (2) installed on the base (1), and a measuring instrument (3), characterized in that: An installation cavity (17) is formed inside the housing (2), the measuring instrument (3) is installed inside the installation cavity (17), and an angle adjustment mechanism for adjusting the angle of the measuring instrument (3) itself is provided at the bottom of the measuring instrument (3); An automatic leveling mechanism is also provided inside the installation cavity (17), the measuring instrument (3) is connected to the automatic leveling mechanism through the angle adjustment mechanism, and the automatic leveling mechanism is used to keep the measuring instrument (3) level during measurement; An auxiliary leveling mechanism is further connected to the bottom of the base (1), the auxiliary leveling mechanism is used to drive the base (1) to move and perform auxiliary leveling, and a cleaning mechanism is installed on the outside of the base (1), and the cleaning mechanism is used to assist in clearing obstacles in front of the base (1) during travel.

2. The intelligent robot for actual measurement of buildings according to claim 1, characterized in that, The automatic leveling mechanism includes two driving parts symmetrically installed inside the installation cavity (17), a horizontal part connected between the two driving parts, and a stabilizing part connected to the bottom of the horizontal part; The horizontal part includes a connecting cylinder (22), a counterweight (16) connected to the bottom end of the connecting cylinder (22), and a stabilizing cylinder (14) installed at the bottom of the installation cavity (17). A lifting rod (23) is rotatably inserted into the upper end of the connecting cylinder (22), and both sides of the lifting rod (23) are respectively connected to the two driving parts. The counterweight (16) is connected to the stabilizing cylinder (14) in a matching manner, and the cross-sectional shapes of the counterweight (16) and the stabilizing cylinder (14) are both trapezoidal in reverse. The stabilizing cylinder (14) is used to stabilize the counterweight (16) when the counterweight (16) is not lifted and assist in positioning when the counterweight (16) falls; The stabilizing part is used to reduce the swing of the counterweight (16) after it breaks away from the stabilizing cylinder (14), and the stabilizing part is connected to the bottom of the counterweight (16).

3. The intelligent robot for actual measurement of buildings according to claim 2, wherein A single driving part includes a driving groove (20) opened on the inner side of the installation cavity (17), a driving motor (18) is installed at the bottom of the driving groove (20), a driving screw rod (19) is connected to the power output shaft of the driving motor (18), and a driving nut (21) is connected to the outside of the driving screw rod (19) in a matching manner; One end of the lifting rod (23) is connected to the side surface of the driving nut (21), a limiting groove (29) is also opened on the inner side of the driving groove (20), and one end of a limiting rod (28) is connected to the inside of the limiting groove (29) in a sliding manner in a matching manner, and the other end of the limiting block is connected to the side surface of the driving nut (21).

4. The intelligent robot for actual measurement of buildings according to claim 2, wherein The stabilizing part includes a stop swing chute, a stop swing slider (13), and a stop swing rope (15). One end of the stop swing rope (15) is connected to the center of the bottom of the counterweight (16), the stop swing slider (13) is connected to the other end of the stop swing rope (15), the stop swing chute is opened on the base (1), and the stop swing chute is perpendicular to the lifting rod (23), and the stop swing slider (13) is slidably connected to the inside of the stop swing chute.

5. The intelligent robot for actual measurement of buildings according to claim 2, wherein Positioning rings (27) are also installed on both sides of the connecting cylinder (22) on the outside of the lifting rod (23).

6. The intelligent robot for actual measurement of buildings according to claim 1, wherein The auxiliary leveling mechanism includes two bottom cavities (31) symmetrically opened at the bottom of the base (1), a bottom rod (30) installed at the center of the inside of a single bottom cavity (31), and a bottom beam (11) rotatably connected to the outside of the bottom rod (30); On both sides of the upper end face of the bottom beam (11), adjusting springs (32) are symmetrically arranged, and the adjusting springs (32) are connected to the inside of the bottom cavity (31). A number of driving wheels (12) are also arranged inside the bottom beam (11).

7. The intelligent robot for actual measurement of buildings according to claim 6, wherein The cleaning mechanism includes a front shovel (4) and a buffer part. The number of buffer parts is two, and they are symmetrically installed at both ends on the same side of the base (1). The front shovel (4) is rotatably installed between the two buffer parts; A single buffer part includes a buffer groove (5) opened on the side of the base (1), stable grooves (6) opened on both sides inside the buffer groove (5), and an extension rod (8) slidably fitted inside the buffer groove (5). One end of a connecting shaft (7) is connected to the end of the extension rod (8), and one end of the front shovel (4) is connected to the outside of the connecting shaft (7). A stabilizing block (9) is connected to the end of the extension rod (8) located inside the buffer groove (5), and the stabilizing block (9) is slidably connected to the inside of the stable groove (6). A buffer spring (10) is also connected to the extension rod (8), and the buffer spring (10) is connected to the inner side of the buffer groove (5). Driving wheels (12) are also symmetrically arranged on both sides of the lower end of the front shovel (4).

8. The intelligent robot for actual measurement of buildings according to claim 2, wherein, The angle adjustment mechanism includes a connecting column (26) connected to the top of the connecting cylinder (22), a driving tooth (24) installed at the top of the connecting column (26), and an adjustment cavity opened at the bottom of the measuring instrument (3). The upper end of the connecting column (26) is fitted inside the adjustment cavity, and the lower end of the connecting column (26) is connected to the top of the connecting cylinder (22); An adjustment motor is also installed inside the adjustment cavity. The power output shaft of the adjustment motor is connected to a driving tooth (25), and the driving tooth (25) is meshed with the driving tooth (24).

9. A measurement method for an intelligent robot used in on-site measurement of buildings, which is applied to the intelligent robot for on-site measurement of buildings according to any one of claims 1 to 8, characterized in that, The measuring method includes the following steps: Step 1: The auxiliary leveling mechanism drives the base (1) to move. During the movement, the cleaning mechanism clears obstacles in the advancing direction of the base (1) to ensure the stable movement of the base (1). After the base (1) moves to the measuring point, the measurement starts; Step 2: The automatic leveling mechanism pushes the measuring instrument (3) out of the housing (2). When the measuring instrument (3) is completely pushed out, the automatic leveling mechanism automatically levels the measuring instrument (3) to ensure that the measuring instrument (3) remains horizontal during the measurement process; Step 3: After the single-side measurement is completed, the angle adjustment mechanism works to adjust the angle of the measuring instrument (3) itself for the measurement on the other side.

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