A multifunctional surveying and mapping device suitable for complex terrain

Abstract

The application discloses a multifunctional surveying and mapping device suitable for complex terrains, which comprises a vehicle body (1), wherein the vehicle body (1) is provided with a lifting mechanism (2), the execution end of the lifting mechanism (2) is provided with a multi-dimension adjusting mechanism (3), and the movable end of the multi-dimension adjusting mechanism (3) is provided with a laser radar (4) for surveying and mapping; a plurality of lifting cylinders (5) for lifting the vehicle body (1) are arranged at the front and rear ends of the vehicle body (1), side frames (6) are arranged at the two sides of the vehicle body (1), rotatable fixing cylinder pieces (7) are arranged at the end portions of the side frames (6), folding cylinders (8) are hingedly connected to the lower portions of the side frames (6), and connecting rod pieces (9) hingedly connected with the fixing cylinder pieces (7) are arranged at the extending ends of the folding cylinders (8). The application can adapt to complex terrains in a surveying and mapping environment by switching walking modes, greatly improves the flexibility of surveying and mapping, and effectively improves the surveying and mapping efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of surveying equipment, in particular to a multifunctional surveying device suitable for complex terrain. BACKGROUND

[0002] In the field of surveying, it is common for workers to carry surveying instruments in different terrains or environments to conduct measurements. This method is low in surveying efficiency. To this end, surveying robots have appeared. For example, a full-automatic surveying robot is disclosed in Chinese Utility Model Patent No. CN220147447U, which belongs to the technical field of surveying and mapping. It comprises a walking mechanism, a movable body and a surveying mechanism. The surveying mechanism is fixed on the top of the movable body, and the bottom of the movable body is fixed on the walking mechanism. The walking mechanism is configured as a track conveyor mechanism, which comprises a machine table and two track conveyor assemblies symmetrically distributed. One track conveyor assembly is arranged on each side of the machine table. The signal end of the track conveyor mechanism is electrically connected to the control module. The robot adopts a track type walking structure. The flexible structure of the track can adapt to complex terrains with concave-convex structures. However, the track type walking structure cannot play an advantage on flat terrains. In the surveying environment, the terrain structure is complex and diverse. A single walking structure may not be able to adapt to the surveying terrain well, reducing the surveying efficiency. SUMMARY

[0003] The purpose of the present application is to provide a multifunctional surveying device suitable for complex terrain. The present application switches the walking mode to adapt to the complex terrain in the surveying environment, greatly improving the flexibility of surveying and effectively improving the surveying efficiency.

[0004] The technical solution of the present application is a multifunctional surveying device suitable for complex terrain, comprising a vehicle body. A lifting mechanism is arranged on the vehicle body. The execution end of the lifting mechanism is provided with a multi-dimensional adjusting mechanism. The active end of the multi-dimensional adjusting mechanism is provided with a laser radar for surveying. The front and rear ends of the vehicle body are provided with a plurality of lifting cylinders for lifting the vehicle body. The sides of the vehicle body are provided with side frames. The end of the side frame is provided with a rotatable fixed cylinder. The lower part of the side frame is hingedly connected with a folding cylinder. The extending end of the folding cylinder is provided with a connecting rod hingedly connected with the fixed cylinder. The fixed cylinder is internally provided with a movable shaft with a toothed portion. A limiting piece is arranged between the movable shaft and the fixed cylinder. The end of the movable shaft is provided with a track wheel fixing frame. One end of the track wheel fixing frame is provided with a track wheel. The side of the fixed cylinder is provided with a U-shaped frame. The U-shaped frame is internally provided with a gear motor. The output end of the gear motor is connected with a driving gear engaged with the toothed portion of the movable shaft. The upper end of the U-shaped frame is provided with a self-locking assembly for gear locking. The active end of the self-locking assembly is connected with one side of the track wheel fixing frame.

[0005] The lifting mechanism comprises a fixed base arranged on the vehicle body, a rotatable lifting frame arranged on the fixed base, a worm gear drive arranged at the bottom end of the fixed base, a rotatable main frame arranged at the top end of the lifting frame, and an output end of the worm gear drive connected to the bottom end of the lifting frame to drive the lifting frame to rotate and connected to the main frame through a belt drive to drive the main frame to remain in a horizontal state.

[0006] The multi-dimensional adjustment mechanism comprises a rotation adjustment assembly arranged on the main frame, and a lateral fine adjustment assembly arranged on the rotation adjustment assembly.

[0007] The rotation adjustment assembly comprises a steering engine arranged on the main frame, a straight gear connected to the output end of the steering engine, an adjustment gear arranged on the main frame through a bearing and engaged with the straight gear, and a supporting frame arranged on the adjustment gear.

[0008] The lateral fine adjustment assembly comprises an X-axis lateral adjustment piece arranged on the supporting frame, a moving seat arranged on the moving end of the X-axis lateral adjustment piece, a Y-axis lateral adjustment piece arranged on the moving seat, an extension frame arranged on the moving end of the Y-axis lateral adjustment piece, a three-dimensional rotating piece arranged on the extension frame, and a laser radar arranged on the moving end of the three-dimensional rotating piece.

[0009] The three-dimensional rotating piece comprises a three-dimensional motor arranged on the extension frame, and a T-shaped frame arranged on the output end of the three-dimensional motor.

[0010] The self-locking assembly comprises a straight plate arranged on the upper end of the U-shaped frame, a limiting vertical groove arranged in the straight plate, an elastic piece arranged in the limiting vertical groove, a movable piece arranged on the upper end of the elastic piece and matched with the limiting vertical groove, a clamping rod arranged on one end of the movable piece and matched with the tooth groove of the driving gear, and a transmission rod group arranged on the other end of the movable piece and connected with the track wheel fixing frame.

[0011] The limiting piece comprises a first connecting rod arranged on the side of the fixed cylinder piece, a second connecting rod hingedly connected to the side of the movable shaft piece arranged at the end of the first connecting rod, a guide groove arranged in the fixed cylinder piece, and a sliding block arranged on the side of the movable shaft piece and matched with the guide groove to limit the radial deviation of the movable shaft piece.

[0012] The track wheel is a triangular structure track wheel.

[0013] Compared with the prior art, the present application has the following advantages:

[0014] 1. In the present application, the device can intelligently switch between three walking modes according to environmental characteristics: in flat terrain, the side wheel drive mode is adopted to ensure the efficiency of surveying and mapping; when encountering muddy or uneven road surfaces, the lifting cylinder quickly lifts the vehicle body, the folding cylinder is linked to deploy the triangular track wheel, and the flexible contact and large friction characteristics of the track are used to effectively overcome complex terrain obstacles; in the face of extreme situations such as ground protrusions, the air suspension mode is started, the gear motor drives the movable shaft to extend, the clearance between the vehicle body and the ground is precisely adjusted, and the bottom is avoided. Scratch, seamless switching between the three modes; by switching the walking mode to adapt to the complex terrain in the surveying and mapping environment, the terrain coverage range of the surveying and mapping operation is widened, and the surveying and mapping efficiency is effectively improved.

[0015] 2. In the air suspension mode, during the extension of the movable shaft, the track wheel fixing frame triggers the self-locking assembly through the transmission rod group, so that the clamping rod is precisely inserted into the driven gear tooth groove to form a mechanical hard lock; in cooperation with the radial constraint of the limiting piece to the movable shaft, the vibration interference in complex environment can be effectively resisted, the zero displacement error of the gear transmission system can be ensured, and the stability and reliability of the device operation can be ensured.

[0016] 3. The lateral fine adjustment assembly can realize the fine adjustment of the laser radar in the horizontal direction, expand the freedom degree of the laser radar adjustment, effectively expand the surveying and mapping coverage blind area, and meet the high-precision data acquisition demand of complex space structure. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic view of the present application;

[0018] Figure 2 is a schematic view of the lifting mechanism;

[0019] Figure 3 is a schematic view of the multi-dimensional adjustment mechanism;

[0020] Figure 4 is a schematic view of the fixed cylinder;

[0021] Figure 5 is a schematic view of the driven gear;

[0022] Figure 6 is a schematic view of the self-locking assembly.

[0023] The mark in the drawing is explained: 1-car body, 2-lifting mechanism, 3-multidimensional adjustment mechanism, 4-laser radar, 5-lifting cylinder, 6-side frame, 7-fixed cylinder, 8-folding cylinder, 9-linkage, 10-movable shaft, 11-limiting piece, 12-track wheel fixing frame, 13-track wheel, 14-U-shaped frame, 15-gear motor, 16-driving gear, 17-self-locking assembly, 18-lifting frame, 19-worm and gear driving piece, 20-main frame, 21-rotary adjustment assembly, 22-transverse fine adjustment assembly, 23-steering gear, 24-straight gear, 25-adjusting gear, 26-supporting frame, 27-X-axis transverse adjustment piece, 28-moving seat, 29-Y-axis transverse adjustment piece, 30-extension frame, 31-three-dimensional rotary piece, 32-three-dimensional motor, 33-T-shaped frame, 34-straight plate, 35-limiting longitudinal groove, 36-elastic piece, 37-moving piece, 38-transmission rod group, 39-first connecting rod, 40-second connecting rod, 41-clamping rod, 42-fixed base. DETAILED DESCRIPTION

[0024] The application will be further described below in combination with the drawings and examples, but not as the basis for limiting the application.

[0025] Embodiment: a multifunctional surveying and mapping device suitable for complex terrain, comprising a car body 1, as shown in the accompanying drawings Figure 1 The lifting mechanism 2 is installed on the car body 1, the execution end of the lifting mechanism 2 is installed with the multidimensional adjustment mechanism 3, the movable end of the multidimensional adjustment mechanism 3 is installed with the laser radar 4 for surveying and mapping, mainly through the lifting mechanism and the multidimensional adjustment mechanism to make the laser radar obtain more degrees of freedom, the laser radar is widely used in terrain mapping due to its high precision and high efficiency; The front and rear ends of the car body 1 are installed with a plurality of lifting cylinders 5 for lifting the car body 1, the two sides of the car body 1 are installed with side frames 6, the end of the side frame 6 is provided with a rotatable fixed cylinder 7, as shown in the accompanying drawings Figure 4As shown, the lower part of the side frame 6 is hinged with a folding cylinder 8, the extending end of the folding cylinder 8 is provided with a connecting rod 9 hinged with the fixed cylinder 7, and the folding cylinder can realize the folding and unfolding of the fixed cylinder; the inner part of the fixed cylinder 7 is provided with a movable shaft 10 with a toothed part, and a limiting part 11 is arranged between the movable shaft 10 and the fixed cylinder 7; the limiting part 11 includes a first connecting rod 39 arranged on the side part of the fixed cylinder 7, and the end of the first connecting rod 39 is hinged with a second connecting rod 40 hinged with the side part of the movable shaft 10; the toothed part of the movable shaft 10 is engaged with a driving gear 16, and the limiting part 11 is constrained in the extension path through the first connecting rod 39 and the second connecting rod 40. The two connecting rod structures limit the extension length of the movable shaft relative to the fixed cylinder, and the limiting part 11 further includes a guide groove arranged in the fixed cylinder 7, and the side part of the movable shaft 10 is provided with a sliding block matched with the guide groove to limit the radial deviation. The end of the movable shaft 10 is provided with a track wheel fixing frame 12, one end of the track wheel fixing frame 12 is provided with a track wheel 13, and the track wheel 13 is a triangular structure track wheel 13, which can adapt to complex terrains. The side part of the fixed cylinder 7 is provided with a U-shaped frame 14, the U-shaped frame 14 is provided with a gear motor 15, and the output end of the gear motor 15 is connected with a driving gear 16 engaged with the toothed part of the movable shaft 10, as shown in the accompanying drawings Figure 5 As shown, the gear motor output power drives the driving gear to rotate, the driving gear is engaged with the movable shaft with a toothed part, and the extension of the movable shaft is realized, so that the distance between the bottom of the vehicle body and the ground is increased, and the uneven terrain is better adapted. The upper end of the U-shaped frame 14 is provided with a self-locking assembly 17 for gear locking, and the movable end of the self-locking assembly 17 is connected with one side of the track wheel fixing frame 12. When the track wheel is unfolded, the unfolded path is an arc trajectory, and if the distance between the bottom of the vehicle body and the ground is not pulled open by the lifting cylinder, the tread of the track wheel will touch the ground when it is unfolded, so that the track wheel cannot be well unfolded. The self-locking assembly 17 includes a straight plate 34 arranged on the upper end of the U-shaped frame 14, as shown in the accompanying drawings Figure 6 As shown, the straight plate 34 has a limiting vertical groove 35, the limiting vertical groove 35 is provided with an elastic element 36, the upper end of the elastic element 36 is provided with a movable element 37 matched with the limiting vertical groove 35, one end of the movable element 37 has a clamping rod 41 matched with the tooth groove of the driving gear 16, and the other end of the movable element 37 has a transmission rod group 38 connected with the track wheel fixing frame 12; in the air suspension mode, during the extension of the movable shaft, the track wheel fixing frame triggers the self-locking assembly through the transmission rod group, so that the clamping rod is accurately inserted into the tooth groove of the driving gear, and a mechanical hard locking is formed; cooperating with the radial constraint of the limiting part to the movable shaft, the vibration interference in complex environment can be effectively resisted, the gear transmission system zero displacement error is ensured, and the stability and reliability of the device operation are ensured.

[0026] The lifting mechanism 2 comprises a fixed base 42 arranged on the vehicle body 1, as shown in the accompanying drawings Figure 2 A rotatable lifting frame 18 is arranged on the fixed base 42, a worm gear driving part 19 is arranged at the bottom end of the fixed base 42, a rotatable main frame 20 is arranged at the top end of the lifting frame 18, the output end of the worm gear driving part 19 is connected with the main frame 20 through a belt transmission, and the output end of the worm gear driving part 19 is connected with the bottom end of the lifting frame 18. The fixed base is fixed on the vehicle body, the worm gear driving part 19 drives the rotation of the main shaft between the lifting frame and the base through the output power, and the main frame at the upper end of the lifting frame is connected with the worm gear driving part through a belt transmission. The lifting frame is lifted, and the main frame is rotated by a certain angle, so that the main frame remains in a horizontal state, and the laser radar works stably.

[0027] The multi-dimensional adjusting mechanism 3 comprises a rotating adjusting assembly 21 arranged on the main frame, as shown in the accompanying drawings Figure 3 The rotating adjusting assembly 21 is provided with a transverse fine adjustment assembly 22, and the laser radar 4 is arranged on the movable end of the transverse fine adjustment assembly 22.

[0028] The rotating adjusting assembly 21 comprises a steering engine 23 arranged on the main frame 20, the output end of the steering engine 23 is connected with a straight gear 24, the main frame 20 is provided with an adjusting gear 25 engaged with the straight gear 24 through a bearing, and the adjusting gear 25 is provided with a supporting frame 26; the transverse fine adjustment assembly 22 is arranged on the supporting frame 26, the steering engine drives the rotation of the straight gear, the straight gear rotates with the adjusting gear, and the rotation adjustment of the laser radar in the horizontal direction is realized.

[0029] The transverse fine adjustment assembly 22 comprises an X-axis transverse adjusting part 27 arranged on the supporting frame 26, a moving seat 28 is arranged on the movable end of the X-axis transverse adjusting part 27, a Y-axis transverse adjusting part 29 is arranged on the moving seat 28, an extension frame 30 is arranged on the movable end of the X-axis transverse adjusting part 27, a three-dimensional rotating part 31 is arranged on the extension frame 30, and the laser radar 4 is arranged on the movable end of the three-dimensional rotating part 31; the transverse fine adjustment assembly can realize the fine adjustment of the laser radar in the horizontal direction, expand the freedom degree of the laser radar adjustment, effectively expand the blind area of surveying and mapping, and meet the demand of high-precision data acquisition of complex space structure. The structures of the X-axis transverse adjusting part 27 and the Y-axis transverse adjusting part 29 are consistent, a motor drives the rotation of a screw rod, the moving seat cooperated with the screw rod moves, an optical rod is arranged in the moving seat, and the moving seat is limited through the optical rod.

[0030] The stereoscopic rotating part 31 comprises a stereoscopic motor 32 arranged on the extension frame 30, and the output end of the stereoscopic motor 32 is provided with a T-shaped frame 33, and the laser radar 4 is arranged on the T-shaped frame 33, the T-shaped frame is driven to rotate by the stereoscopic motor, so that the laser radar rotates, and the laser radar obtains another direction freedom. In the actual surveying process, the terrain is complex and various obstacles in the environment, through the combination of the stereoscopic rotating part, the rotating adjusting assembly and the transverse fine adjusting assembly, the laser radar obtains multiple adjusted freedoms, which is convenient for changing the position or direction of the laser radar, and is convenient for better surveying.

[0031] The working principle of the present application is as follows: during operation, the walking mode is switched by controlling the lifting cylinder 5, the folding cylinder 8, the gear motor 15 and other components according to the terrain environment: on flat terrain, the folding cylinder 8 is retracted to make the track wheel retract, and the side wheel is driven to move quickly; when encountering muddy or uneven road surface, the lifting cylinder 5 lifts the vehicle body, the folding cylinder 8 unfolds the triangular track wheel, and the track characteristics are used to overcome obstacles; in the face of extreme conditions such as ground protrusions, the gear motor 15 drives the movable shaft 1 to extend, the self-locking assembly 17 cooperates with the limiting piece, and the vehicle body 1 is adjusted to avoid scratching; at the same time, the surveying mechanism cooperates, the worm gear drive 19 at the bottom of the lifting frame 18 drives the main frame 20 to lift and rotate through belt transmission control, ensures that the laser radar 4 is horizontal, the rotating adjusting assembly 54, the transverse fine adjusting assembly 55 and the stereoscopic rotating part 31 cooperate with each other, realize the multi-dimensional accurate adjustment of the laser radar in height, horizontal direction angle, horizontal plane position and vertical direction angle, so that the laser radar scans and surveys the terrain in all directions and high precision during the movement of the device, and completes the efficient and accurate surveying task in complex terrain.

[0032] The above embodiments only express the embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as the limitation of the scope of the patent, and in the present embodiment, up, down, left, right, front, back only represent the relative position and not the absolute position. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A multifunctional surveying device suitable for complex terrain, comprising a vehicle body (1) having side wheels thereon, characterized in that: The vehicle body (1) is provided with a lifting mechanism (2), the execution end of the lifting mechanism (2) is provided with a multi-dimensional adjusting mechanism (3), the movable end of the multi-dimensional adjusting mechanism (3) is provided with a laser radar (4) for surveying; the front and rear ends of the vehicle body (1) are provided with a plurality of lifting cylinders (5) for lifting the vehicle body (1), the sides of the vehicle body (1) are provided with side frames (6), the end of the side frame (6) is provided with a rotatable fixed cylinder (7), the lower part of the side frame (6) is hingedly connected with a folding cylinder (8), the extending end of the folding cylinder (8) is provided with a connecting rod (9) hingedly connected with the fixed cylinder (7); the inside of the fixed cylinder (7) is provided with a movable shaft (10) with a toothed portion, a limiting piece (11) is arranged between the movable shaft (10) and the fixed cylinder (7), the end of the movable shaft (10) is provided with a caterpillar wheel fixing frame (12), one end of the caterpillar wheel fixing frame (12) is provided with a caterpillar wheel (13); the side of the fixed cylinder (7) is provided with a U-shaped frame (14), the U-shaped frame (14) is provided with a gear motor (15), the output end of the gear motor (15) is connected with a driving gear (16) engaged with the toothed portion of the movable shaft (10); the upper end of the U-shaped frame (14) is provided with a self-locking assembly (17) for locking the driving gear (16), the movable end of the self-locking assembly (17) is connected with one side of the caterpillar wheel fixing frame (12).

2. The multi-functional surveying device suitable for complex terrain according to claim 1, wherein: The lifting mechanism (2) comprises a fixed base (42) arranged on the vehicle body (1), the fixed base (42) is provided with a rotatable lifting frame (18), the bottom end of the fixed base (42) is provided with a worm gear drive (19), the top end of the lifting frame (18) is provided with a rotatable main frame (20), the output end of the worm gear drive (19) is connected with the bottom end of the lifting frame (18) to drive the lifting frame (18) to rotate, and the lifting frame (18) is connected with the main frame (20) through belt transmission to drive the main frame (20) to keep horizontal, and the multi-dimensional adjusting mechanism (3) is arranged on the main frame (20).

3. The multi-functional surveying device suitable for complex terrain according to claim 2, wherein: The multi-dimensional adjusting mechanism (3) comprises a rotation adjusting assembly (21) arranged on the main frame (20), and the rotation adjusting assembly (21) is provided with a transverse fine adjustment assembly (22), and the laser radar (4) is arranged on the movable end of the transverse fine adjustment assembly (22).

4. The multi-functional surveying device for complex terrain of claim 3, wherein: The rotation adjusting assembly (21) comprises a steering gear (23) arranged on the main frame (20), the output end of the steering gear (23) is connected with a straight gear (24), the main frame (20) is provided with an adjusting gear (25) engaged with the straight gear (24) through a bearing, and the adjusting gear (25) is provided with a supporting frame (26); the transverse fine adjustment assembly (22) is arranged on the supporting frame (26).

5. The multi-functional surveying device suitable for complex terrain according to claim 4, wherein: The transverse fine adjustment assembly (22) comprises an X-axis transverse adjustment component (27) arranged on a support frame (26), a moving seat (28) arranged on the moving end of the X-axis transverse adjustment component (27), a Y-axis transverse adjustment component (29) arranged on the moving seat (28), an extension frame (30) arranged on the moving end of the Y-axis transverse adjustment component (29), and a three-dimensional rotating component (31) arranged on the moving end of the extension frame (30).

6. The multi-functional surveying device suitable for complex terrain according to claim 5, wherein: The three-dimensional rotating component (31) comprises a three-dimensional motor (32) arranged on the extension frame (30), and a T-shaped frame (33) arranged on the output end of the three-dimensional motor (32).

7. The multi-functional surveying device for complex terrain of claim 1, wherein: The self-locking assembly (17) comprises a straight plate (34) arranged on the upper end of the U-shaped frame (14), a limiting longitudinal groove (35) arranged in the straight plate (34), an elastic member (36) arranged in the limiting longitudinal groove (35), a movable member (37) arranged on the upper end of the elastic member (36) and matched with the limiting longitudinal groove (35), a clamping rod (41) arranged on one end of the movable member (37) and matched with the tooth groove of the driving gear (16), and a transmission rod group (38) arranged on the other end of the movable member (37) and connected with the track wheel fixing frame (12).

8. The multi-functional surveying device for complex terrain of claim 1, wherein: The limiting member (11) comprises a first connecting rod (39) arranged on the side of the fixed cylinder member (7), a second connecting rod (40) hingedly connected with the side of the movable shaft member (10) and arranged on the end of the first connecting rod (39), and a guide groove arranged in the fixed cylinder member (7), and the side of the movable shaft member (10) is provided with a sliding block matched with the guide groove to limit the radial deviation thereof.

9. The multi-functional surveying device for complex terrain of claim 1, wherein: The track wheel (13) is a triangular structure track wheel (13).

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