Terrain surveying device for land engineering

Abstract

The invention relates to the technical field of topographic survey devices, and provides a topographic survey device for land engineering, which can realize autonomous movement and automatic adjustment of a survey state on the premise of ensuring a basic topographic survey function, further improves the overall intelligence of the device, liberates both hands of human beings while ensuring survey operation, and improves the work efficiency. The robot is higher in functionality, better in practicability and capable of being automatically folded after being used, the protection effect of a laser distance measuring sensor and an image collecting camera is better after the laser distance measuring sensor and the image collecting camera are folded, and the robot comprises the laser distance measuring sensor and further comprises a body track system which comprises a first side track frame and a second side track frame. A sliding frame is slidably connected between the first side track frame and the second side track frame, a rotating frame is rotatably connected to the sliding frame, power tracks are installed on the rotating frame, the first side track frame and the second side track frame, and a first servo motor and a second servo motor are installed in the first side track frame and at the left end of the sliding frame respectively.

Description

Technical Field

[0001] This invention relates to the field of topographic surveying equipment technology, and specifically to a topographic surveying equipment for land engineering. Background Technology

[0002] As is well known, land engineering topographic surveying equipment is an instrument designed and manufactured for surveying operations. It is mostly used in the planning, design, construction and operation management stages of engineering projects, and is mainly used for land topographic surveying.

[0003] A search revealed two patents: Chinese Patent Publication No. CN117366419A and Chinese Patent Publication No. CN212388306U, which respectively disclose a terrain undulation measurement device for urban land planning and a flatness detection device for hybrid plastic running track paving. The former is roughly described as including a horizontally positioned measuring platform with a telescopic extension component inside. Four sets of support legs are hinged to the lower edge of the measuring platform, and a multi-angle adjustment component is provided on the upper surface. A connecting intermediate seat is fixed to the center of the lower surface of the measuring platform, and a support base is raised and lowered below the connecting intermediate seat. A total station is mounted on the measuring platform, including a control panel and an observation lens. This device solves the problems of traditional technologies... The measuring instruments used for measuring terrain relief suffer from several problems, including poor overall support stability and adaptability, a small operating platform causing inconvenience, and poor adjustability of the observation angle leading to large blind spots. The latter can be roughly described as follows: The main body has a top plate at its top, a fixing nut at the center of the top of the top plate, a fixing shell at the bottom of the top plate, and four right-angle frames symmetrically distributed inside the fixing shell. A laser distance sensor is mounted on the top of each right-angle frame, and a rotating bearing is located at the bottom of the right-angle frame. A base is located at the bottom of the main body, and a laser sensor and a display are mounted on the main body. During use, the display is used to observe whether the laser sensor scanning distance is the same at the same time point to determine whether the ground is flat.

[0004] While both of the aforementioned existing technical solutions can assist in terrain surveying, the former has poor autonomous mobility and requires manual lifting during position switching, making it difficult to achieve autonomous position switching operations. The latter, although equipped with rollers, still requires manual assistance to apply pushing force for movement and adjustment, and the protection of the core surveying components needs to be further strengthened. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a topographic surveying device for land engineering. While ensuring basic topographic surveying functions, it can achieve autonomous movement and automatic adjustment of the surveying status, further improving the overall intelligence of the device. It ensures surveying operations while freeing up human hands, making it more functional and practical. After use, it can be folded autonomously, providing better protection for the laser rangefinder and image acquisition camera.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a topographic surveying device for land engineering, comprising a laser ranging sensor and a main track system. The main track system includes a first side track frame and a second side track frame. A sliding frame is slidably connected between the first side track frame and the second side track frame. A rotating frame is rotatably connected to the sliding frame. Powered tracks are installed on the rotating frame, the first side track frame, and the second side track frame. A first servo motor and a second servo motor are respectively installed inside the first side track frame and at the left end of the sliding frame. The first servo motor is used for adjusting the movement of the sliding frame relative to the first side track frame, and the second servo motor is used for adjusting the rotation of the rotating frame relative to the sliding frame. The first side track frame and the second side track frame are fixedly connected. A center adjustment mounting assembly is installed inside the second side track frame, and the laser ranging sensor is installed inside the center adjustment mounting assembly.

[0007] Preferably, the central adjustment mounting assembly includes a rotating cantilever frame, a fixed shaft fixedly connected inside the second side track frame, the rotating cantilever frame rotatably connected to the fixed shaft, and a return spring connected to the rotating cantilever frame. The return spring is connected inside the second side track frame, a rotation limiting post fixedly connected inside the second side track frame, the rotation limiting post matching the rotating cantilever frame, a secondary nested frame rotatably connected inside the rotating cantilever frame, a hemispherical nested frame rotatably connected inside the secondary nested frame, a third servo motor and a fourth servo motor respectively installed inside the rotating cantilever frame and the secondary nested frame. The third servo motor is used for rotational adjustment of the secondary nested frame relative to the rotating cantilever frame, and the fourth servo motor is used for rotational adjustment of the hemispherical nested frame relative to the secondary nested frame. The laser ranging sensor is installed inside the hemispherical nested frame.

[0008] Preferably, a column frame is slidably connected inside the hemispherical nested frame. Both ends of the column frame have mounting slots. The laser ranging sensor is installed in one of the two mounting slots, and an image acquisition camera is installed in the other slot. A reduced-diameter section is provided on the column frame, and a disc spring is fixedly connected to the reduced-diameter section. The disc spring is fixedly connected inside the hemispherical nested frame. Iron rings are fixedly connected to both ends of the column frame. Two electromagnets are installed inside the hemispherical nested frame, and the iron rings are made of a material that can be magnetically attracted by the electromagnets.

[0009] Preferably, the sliding frame has a recessed pushing groove and a space-enlarging notch, the rotating cantilever frame has a narrow strip that matches the recessed pushing groove, and the space-enlarging notch provides space for the rotating cantilever frame to rotate out and be limited.

[0010] Preferably, the rotating frame, the first side track frame, and the second side track frame are all rotatably connected to a power drive roller and a driven roller. The three power drive rollers are respectively connected to the three power tracks, and the three power tracks are respectively connected to the three driven rollers. The rotating frame, the first side track frame, and the second side track frame are all equipped with a fifth servo motor. The three fifth servo motors are respectively used to drive the rotation of the three power drive rollers.

[0011] Preferably, a threaded column is rotatably connected inside the first side track frame, and a threaded sleeve is externally threaded to the threaded column. A portal frame is fixedly connected to the left end of the sliding frame, and the threaded sleeve is fixedly connected to the portal frame.

[0012] Preferably, the internal space of the gantry frame is sufficient to allow the passage of the second servo motor, and a synchronization frame and a handheld frame are fixedly connected between the first side track frame and the second side track frame.

[0013] Preferably, the first side track frame and the second side track frame each have a strip-shaped track opening at their respective ends that are close to each other. The sliding frame has two annular recesses, which are slidably connected to the two strip-shaped track openings. The sliding frame has two pressing plates fixedly connected to it, which are slidably engaged with the first side track frame and the second side track frame, respectively.

[0014] Preferably, a rotating shaft and a drive shaft are fixedly connected to the outside of the rotating frame, and two rotating ports are opened on the sliding frame. The rotating shaft and the drive shaft are rotatably connected to the two rotating ports respectively, and the output shaft of the second servo motor is drivenly connected to the drive shaft.

[0015] Preferably, drive pulleys are fixedly mounted on the output shafts of the first servo motor and the second servo motor. Both drive pulleys are connected to transmission wheels via synchronous belts. The two transmission wheels are fixedly connected to the threaded column and the drive shaft, respectively. The rotating frame, the first side track frame, and the second side track frame are all fixedly connected to external brackets. The three fifth servo motors are respectively mounted on the three external brackets. Drive gears are mounted on the output shafts of the three fifth servo motors. The three drive gears are meshed with internal gears. The three internal gears are respectively installed inside the three power drive rollers.

[0016] Compared with the prior art, the present invention provides a topographic surveying device for land engineering, which has the following beneficial effects: (1) In this invention, by equipping a laser rangefinder sensor, data measurement and extraction are realized in the process of topographic surveying, so as to ensure the basic topographic surveying function.

[0017] (2) In this invention, the main structure of the land engineering topographic survey device is formed by the design of the main track system. The structure has posture adjustment and active movement functions, and can realize autonomous movement and automatic adjustment of survey status. The overall intelligence of the device is further improved, ensuring the survey operation while freeing human hands, and the functionality is stronger.

[0018] (3) In this invention, the design of the central adjustment mounting component is matched with the laser rangefinder to form its installation structure in the main track system. The component can be matched with the structural adjustment of the main track system to form a follow-up adjustment, so as to facilitate the extension of the central adjustment mounting component during use and the storage after use. It has stronger functionality and better practicality. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the entire invention; Figure 2 For the present invention Figure 1 A magnified schematic diagram of the local structure at point A; Figure 3 This is a three-dimensional structural diagram of the rotating frame of the present invention after rotation adjustment relative to the sliding frame; Figure 4 For the present invention Figure 3 A magnified schematic diagram of the local structure at point B; Figure 5 This is a three-dimensional structural schematic diagram of a partial cross-section of the bottom side of the present invention; Figure 6 For the present invention Figure 5 A magnified schematic diagram of the local structure at point C; Figure 7 For the present invention Figure 5 A magnified schematic diagram of the local structure at point D; Figure 8 For the present invention Figure 5 A magnified schematic diagram of the local structure at point E; Figure 9 This is a three-dimensional structural diagram of the invention viewed from below. Figure 10 This is a partial cross-sectional three-dimensional structural schematic diagram of the cooperation between the rotating cantilever frame, the secondary nested frame, and the third servo motor of the present invention. Figure 11 This is a partial cross-sectional three-dimensional structural schematic diagram of the hemispherical nested frame, disc spring, and iron ring of the present invention. Figure 12This is a partial cross-sectional three-dimensional structural schematic diagram of the hemispherical nested frame and the two electromagnets of the present invention. Figure 13 This is a partial cross-sectional three-dimensional structural schematic diagram of the first side track frame, the second side track frame, and the powered track of the present invention. Figure 14 This is a partial cross-sectional three-dimensional structural diagram of the sliding frame, rotating frame, and second servo motor of the present invention. Figure 15 This is a three-dimensional structural schematic diagram of another partial cross-section of the sliding frame, rotating frame, and second servo motor of the present invention. Figure 16 This is a three-dimensional structural diagram of the area between the first side track frame and the second side track frame of the present invention; Figure 17 This is a three-dimensional structural diagram of the area where the rotating frame of the present invention is inserted between the first side track frame and the second side track frame; Figure 18 This is a three-dimensional structural diagram of the rotating frame of the present invention, which is raised between the first track frame and the second track frame. Figure 19 This is a three-dimensional structural diagram of the rotating frame after it has been rotated and adjusted relative to the sliding frame according to the present invention; Figure 20 This is a schematic diagram illustrating the calculation principle after mapping in this invention.

[0020] In the diagram: 1. Laser rangefinder sensor; 2. First side track frame; 3. Second side track frame; 4. Sliding frame; 5. Rotating frame; 6. Power track; 7. First servo motor; 8. Second servo motor; 9. Rotating cantilever frame; 10. Fixed shaft; 11. Return spring; 12. Rotation limit post; 13. Secondary nested frame; 14. Hemispherical nested frame; 15. Third servo motor; 16. Fourth servo motor; 17. Column frame; 18. Image acquisition camera; 19. Reduced diameter section; 20. Disc spring; 21. Iron ring; 2. Electromagnet; 23. Recessed push groove; 24. Space enlargement notch; 25. Narrow strip; 26. Power drive roller; 27. Driven roller; 28. Fifth servo motor; 29. ​​Threaded column; 30. Threaded sleeve; 31. Portal frame; 32. Drive pulley; 33. Synchronous frame; 34. Handheld frame; 35. Strip track opening; 36. Annular recessed groove; 37. Press plate; 38. Rotating shaft; 39. Drive shaft; 40. Synchronous belt; 41. Transmission wheel; 42. External bracket; 43. Drive gear; 44. Internal gear. Detailed Implementation

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] For examples, please refer to Figures 1-20 A land surveying device for land engineering includes a laser rangefinder sensor 1 and a track system. The track system includes a first side track frame 2 and a second side track frame 3. A sliding frame 4 is slidably connected between the first side track frame 2 and the second side track frame 3. Each of the first side track frame 2 and the second side track frame 3 has a strip-shaped track opening 35 at one end close to the other. The sliding frame 4 has two annular recesses 36, which are slidably connected to the two strip-shaped track openings 35 respectively. Two pressing plates 37 are fixedly connected to the sliding frame 4, and the two pressing plates 37 are respectively connected to the first side track. The first track frame 2 and the second track frame 3 are in a sliding fit, facilitating the assembly and installation of the sliding frame 4 between the first track frame 2 and the second track frame 3. A rotating frame 5 is rotatably connected to the sliding frame 4. Powered tracks 6 are mounted on the rotating frame 5, the first track frame 2, and the second track frame 3. Power drive rollers 26 and driven drive rollers 27 are rotatably connected to the rotating frame 5, the first track frame 2, and the second track frame 3. The three power drive rollers 26 are respectively connected to the three powered tracks 6, and the three powered tracks 6 are respectively connected to the three driven drive rollers 27. The rotating frame 5, the first track frame 2, and the second track frame 3 are rotatably connected to the sliding frame 4. Each side track frame 3 is equipped with a fifth servo motor 28. The three fifth servo motors 28 are used to drive the rotation of the three power drive rollers 26. A first servo motor 7 and a second servo motor 8 are respectively installed inside the first side track frame 2 and at the left end of the sliding frame 4. The first servo motor 7 is used for adjusting the movement of the sliding frame 4 relative to the first side track frame 2, and the second servo motor 8 is used for adjusting the rotation of the rotating frame 5 relative to the sliding frame 4. The first side track frame 2 and the second side track frame 3 are fixedly connected. Through the design of the main track system, the main structure of this land engineering topographic surveying device is formed. This structure has… Equipped with attitude adjustment and active movement functions, it can achieve autonomous movement and automatic adjustment of survey status, further improving the overall intelligence of the device. While ensuring survey operations, it frees up human hands and has stronger functionality. The first side track frame 2 is rotatably connected to a threaded column 29, and the threaded column 29 is externally threaded to a threaded sleeve 30. The left end of the sliding frame 4 is fixedly connected to a gantry frame 31, and the threaded sleeve 30 is fixedly connected to the gantry frame 31. The internal space of the gantry frame 31 can allow the passage of the second servo motor 8. The first side track frame 2 and the second side track frame 3 are fixedly connected to a synchronization frame 33 and a handheld frame 34.

[0023] It should be further explained that a center adjustment mounting assembly is installed inside the second side track frame 3. A laser rangefinder sensor 1 is installed within this assembly. The laser rangefinder sensor 1 enables data measurement and extraction during terrain surveying, ensuring basic terrain surveying functionality. The center adjustment mounting assembly includes a rotating cantilever frame 9. A fixed shaft 10 is fixedly connected inside the second side track frame 3. The rotating cantilever frame 9 is rotatably connected to the fixed shaft 10, and a return spring 11 is connected to the rotating cantilever frame 9. The return spring 11 is connected inside the second side track frame 3. A rotation limit post 12 is fixedly connected inside the second side track frame 3. The rotation limit post 12 matches the rotating cantilever frame 9. When the sliding frame 4 moves towards the synchronous frame 33, it pushes the rotating cantilever frame 9 to compress the return spring 11 and retract into the first... Inside the two side track frames 3, when the sliding frame 4 returns to its original position, the return spring 11 releases its elastic force, pushing the rotating cantilever frame 9 to rotate out of the second side track frame 3 and insert into the enlarged space notch 24 of the sliding frame 4. A secondary nested frame 13 is rotatably connected inside the rotating cantilever frame 9, and a hemispherical nested frame 14 is rotatably connected inside the secondary nested frame 13. A third servo motor 15 and a fourth servo motor 16 are respectively installed inside the rotating cantilever frame 9 and the secondary nested frame 13. The third servo motor 15 is used for adjusting the rotation of the secondary nested frame 13 relative to the rotating cantilever frame 9, and the fourth servo motor 16 is used for adjusting the rotation of the hemispherical nested frame 14 relative to the secondary nested frame 13. A laser rangefinder sensor 1 is installed inside the hemispherical nested frame 14, and a column frame 17 is slidably connected inside the hemispherical nested frame 14. Mounting slots are provided at both ends of the frame 17. The laser rangefinder 1 is installed in one of the two mounting slots, and the image acquisition camera 18 is installed in the other mounting slot. A reduced diameter section 19 is provided on the column frame 17, and a disc spring 20 is fixedly connected to the reduced diameter section 19. The disc spring 20 is fixedly connected to the hemispherical nested frame 14. Iron rings 21 are fixedly connected to both ends of the column frame 17. Two electromagnets 22 are installed in the hemispherical nested frame 14. The iron rings 21 are made of a material that can be attracted by the magnetism of the electromagnets 22. Through the design of the mid-adjustment mounting component, the laser rangefinder 1 is matched to form its mounting structure within the main track system. Moreover, this component can be adjusted in accordance with the structural adjustment of the main track system to facilitate the use of the mid-adjustment mounting component. The sliding frame 4 features a recessed pushing groove 23 and a space-enlarging notch 24, which enhances its functionality and practicality. The rotating cantilever frame 9 has a narrow strip 25 that matches the recessed pushing groove 23. The space-enlarging notch 24 provides space for the rotating cantilever frame 9 to rotate out and be limited. A rotating shaft 38 and a drive shaft 39 are fixedly connected to the external rotating frame 5. The sliding frame 4 has two rotating openings, and the rotating shaft 38 and drive shaft 39 are rotatably connected to the two openings respectively. The output shaft of the second servo motor 8 is connected to the drive shaft 39. Drive pulleys 32 are fixedly mounted on the output shafts of both the first servo motor 7 and the second servo motor 8. Both drive pulleys 32 are connected to transmission pulleys 41 via a synchronous belt 40.Two transmission wheels 41 are fixedly connected to threaded posts 29 and drive shafts 39, respectively. External brackets 42 are fixedly connected to the rotating frame 5, the first side track frame 2, and the second side track frame 3. Three fifth servo motors 28 are mounted on the three external brackets 42. Drive gears 43 are mounted on the output shafts of the three fifth servo motors 28. The three drive gears 43 are meshed with internal gears 44, which are respectively installed inside the three power drive rollers 26.

[0024] In this embodiment, the laser rangefinder 1, image acquisition camera 18, first servo motor 7, second servo motor 8, third servo motor 15, fourth servo motor 16, electromagnet 22, and fifth servo motor 28 are all commercially available conventional devices known to those skilled in the art. In this invention, we are simply using them without modifying their structure or function. Their setting method, installation method, and electrical connection method can be easily understood by those skilled in the art by following the instructions for use, and will not be described in detail here.

[0025] In summary, the working principle of this land engineering topographic surveying device is as follows: During use, batteries are first installed to power the laser rangefinder 1, image acquisition camera 18, first servo motor 7, second servo motor 8, third servo motor 15, fourth servo motor 16, electromagnet 22, and fifth servo motor 28. The batteries can be installed in one or multiple units within the available space of the rotating frame 5, the first side track frame 2, and the second side track frame 3. The working principle of this topographic surveying device for land engineering is as follows: First, batteries powering the laser rangefinder 1, first servo motor 7, second servo motor 8, third servo motor 15, fourth servo motor 16, electromagnet 22, and fifth servo motor 28 are installed in the same location. The batteries for the servo motor 16, electromagnet 22, and fifth servo motor 28 are connected using the nearest available power supply to avoid redundancy. Wireless signal transmitters are installed in the rotating frame 5, the first side track frame 2, and the second side track frame 3 to facilitate signal transmission with external controllers. This, in turn, facilitates the transmission of information captured by the laser rangefinder 1 and image acquisition camera 18, and also facilitates the operation control of the first servo motor 7, second servo motor 8, third servo motor 15, fourth servo motor 16, electromagnet 22, and fifth servo motor 28. After assembly and debugging, the laser rangefinder 1, image acquisition camera 18, and first servo motor 28 are controlled via external controllers. The coordinated operation control of servo motor 7, second servo motor 8, third servo motor 15, fourth servo motor 16, electromagnet 22, and fifth servo motor 28, wherein when the first servo motor 7 is powered on, it can realize the rotation drive of the drive pulley 32 on its main shaft. Under the transmission action of the synchronous belt 40 and transmission wheel 41 that are matched with the drive pulley 32, the first servo motor 7 can realize the rotation drive of the threaded column 29. Since the threaded sleeve 30 and the threaded column 29 are connected by threads, and the threaded sleeve 30 is fixedly connected to the portal frame 31, and the portal frame 31 is connected to the sliding frame 4, the portal frame 31 has a fixed limitation on the direction of movement. The threaded sleeve 30 on this portal frame 31 will not rotate synchronously with the rotation of the threaded post 29. The threaded sleeve 30 is driven by the rotating threaded post 29 to form a linear movement between the first side track frame 2 and the second side track frame 3. By controlling the rotation direction of the main shaft of the first servo motor 7, the relative movement direction of the sliding frame 4 between the first side track frame 2 and the second side track frame 3 can be controlled. When the second servo motor 8 is powered on, it can realize the rotation drive of the drive pulley 32 on its main shaft. Under the transmission action of the synchronous belt 40 and the transmission wheel 41 matched with the drive pulley 32, the operation of the second servo motor 8 can realize the rotation control of the rotating frame 5 relative to the sliding frame 4.

[0026] As attached Figure 3The diagram shows a certain posture of the rotating frame 5 after rotational adjustment relative to the sliding frame 4. In this posture, the rotating frame 5, the first side track frame 2, and the second side track frame 3 cooperate to form a tripod-like structure, providing a three-point support structure for the laser rangefinder sensor 1, facilitating the mapping preparation work for the laser rangefinder sensor 1. The third servo motor 15, when powered on, enables the rotational adjustment of the secondary nested frame 13 relative to the rotating cantilever frame 9. The fourth servo motor 16, when powered on, enables the rotational adjustment of the hemispherical nested frame 14 relative to the secondary nested frame 13. Therefore, through the combined operation of the third servo motor 15 and the fourth servo motor 16, the posture adjustment of the hemispherical nested frame 14 can be achieved, allowing the laser rangefinder sensor 1 and the image acquisition camera 18 to adjust and switch the target detection area, as shown in the attached diagram. Figure 4 This diagram illustrates the surveying state of the laser rangefinder 1. In this state, the electromagnet 22 on the side facing the lens of the laser rangefinder 1 is energized to generate an electromagnetic field. This electromagnetic field acts on the iron ring 21, creating a magnetic attraction. Under this magnetic attraction, the column frame 17 overcomes the elastic force of the disc spring 20 and slides relative to the hemispherical nested frame 14, allowing the laser rangefinder 1 to extend relative to the hemispherical nested frame 14, facilitating the detection operation of the laser rangefinder 1. The fifth servo motor 28 is energized to drive the rotation of the drive gear 43. Under the meshing transmission between the drive gear 43 and the internal gear 44, the three fifth servo motors 28 are energized to drive the rotation of the three power drive rollers 26, respectively. The rotation of the three power drive rollers 26 drives the movement of the three power tracks 6, which roll relative to the ground, thus enabling the movement of the land surveying device. Furthermore, by controlling the differential rotation of the main shafts of the three fifth servo motors 28, the overall steering adjustment of the land surveying device can be achieved.

[0027] During actual testing, the first servo motor 7 is powered on to further insert the rotating frame 5 between the first track frame 2 and the second track frame 3, causing the sliding frame 4 to move closer to the synchronous frame 33 between the first track frame 2 and the second track frame 3. During this process, the rotating cantilever frame 9 is pushed into the second track frame 3. (See attached image.) Figure 17 As shown, in this state, both the laser rangefinder 1 and the image acquisition camera 18 are housed within the second side track frame 3, thus providing good protection. After adjustment, the first servo motor 7 is controlled to enter a parking state to maintain this state. Then, the three fifth servo motors 28 operate synchronously to drive the movement of the three powered tracks 6, thereby realizing the overall movement of the land engineering terrain surveying device. During the movement, the second servo motor 8 controls the end of the rotating frame 5 away from the synchronous frame 33 to tilt upwards, as shown in the attached diagram. Figure 18The state shown is designed to improve the overall obstacle-crossing capability of the land engineering topographic surveying device. Specifically, when the land engineering topographic surveying device faces an obstacle in its direction of travel, the raised portion of the power track 6 on the rotating frame 5 first contacts the obstacle. Then, the second servo motor 8 is powered on, controlling the end of the first side track frame 2 and the second side track frame 3 where the fifth servo motor 28 is installed to tilt upwards, facilitating the land engineering topographic surveying device's passage through the obstacle and thus improving its overall obstacle-crossing capability. After the land engineering topographic surveying device reaches the target survey location, the second servo motor 8 is powered on, controlling the angle between the first side track frame 2 and the second side track frame 3 and the bottom side of the rotating frame 5 to decrease, entering the position shown in the attached diagram. Figure 19 As shown in the diagram, the first servo motor 7 is then powered on to move the rotating frame 5 away from the synchronous frame 33 until the rotating cantilever frame 9 rotates and extends under the elastic force of the return spring 11, and the rotated rotating cantilever frame 9 rotates and inserts into the increased space gap 24. During the above adjustment process, the three fifth servo motors 28 should be controlled to operate in combination to cooperate with the change in position of the powered track 6 relative to the ground to form a follow-up movement, so as to reduce the formation of sliding friction between the powered track 6 and the ground, and also reduce the load on the first servo motor 7 and the second servo motor 8 during operation, thereby improving the protective effect of the equipment.

[0028] After adjustment, according to the spatial requirements of the survey, the angle of the hemispherical nesting frame 14 is adjusted by the combined operation of the third servo motor 15 and the fourth servo motor 16 to facilitate the matching of the survey area with the target area. When using the laser rangefinder sensor 1 to form a survey, the corresponding side of the laser rangefinder sensor 1 needs to be rotated and extended by the combined operation of the third servo motor 15 and the fourth servo motor 16. An electromagnetic field is generated by energizing the electromagnet 22 on the side facing the lens of the laser rangefinder sensor 1, causing the laser rangefinder sensor 1 to extend relative to the hemispherical nesting frame 14, facilitating its use in surveying. After completing the preparation work, the angle of the hemispherical nesting frame 14 should first be adjusted by the third servo motor 15 and the fourth servo motor 16. The third servo motor 15 and the fourth servo motor 16 work together to achieve ground measurement by the laser rangefinder 1. The minimum distance measured by the laser rangefinder 1 is selected to form a vertical orientation marker. That is, the minimum distance measured by the laser rangefinder 1 is selected to determine its reference height h, which serves as the reference for subsequent angle calculations. The rotation angles of the third servo motor 15 and the fourth servo motor 16 corresponding to this vertical marker are recorded. Using this as a reference, during the mapping process of the laser rangefinder 1, the mapping angle of the laser rangefinder 1 can be calculated by calculating the rotation angles of the third servo motor 15 and the fourth servo motor 16. The calculation principle is as follows: Figure 20As shown, h is the minimum distance measured by the laser rangefinder 1 to the ground, and angle α is the measurement angle calculated by the rotation angle of the third servo motor 15 and the fourth servo motor 16. After the aforementioned calibration is completed, the distance between two points on the ground can be derived by measuring the length of b using the laser rangefinder 1 and applying the Pythagorean theorem. When using the image acquisition camera 18, it is only necessary to rotate the lens of the image acquisition camera 18 outward and energize the electromagnet 22 on the side facing the lens of the image acquisition camera 18 to generate an electromagnetic field, thereby enabling the image acquisition camera 18 to move relative to the hemisphere. The extension of the nested frame 14 facilitates ranging and image acquisition operations. By combining data from the image acquisition camera 18 and the laser rangefinder 1, a complete terrain survey is achieved. Due to the setting of the disc spring 20, when both electromagnets 22 are de-energized, the column frame 17 is retracted into the hemispherical nested frame 14. The laser rangefinder 1 and image acquisition camera 18 on both sides of the column frame 17 are also completely retracted into the hemispherical nested frame 14, improving the protection of the laser rangefinder 1 and image acquisition camera 18. After a single location survey is completed, it can maintain the following... Figure 3 The device is positioned as shown, and the three powered tracks 6 are operated in combination by the operation of three fifth servo motors 28, enabling the movement and adjustment of the land engineering topographic surveying device. This state is suitable for switching and adjustment when the land surface condition is good and the distance is short. It can also restore the land engineering topographic surveying device to the position shown in the attached figure. Figure 17 and attached Figure 18 As shown in the diagram, the movement of the land engineering terrain surveying device is then adjusted through the coordinated operation of three powered tracks 6, as shown in the attached diagram. Figure 17 and attached Figure 18 As shown, since both the laser rangefinder 1 and the camera 18 are housed within the second side track frame 3, the laser rangefinder 1 and the camera 18 are more protected and are more suitable for mobile scenarios with poor ground conditions and long adjustment distances.

[0029] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A topographic surveying device for land engineering, comprising a laser rangefinder sensor, characterized in that, It also includes a main track system, which includes a first side track frame and a second side track frame. A sliding frame is slidably connected between the first side track frame and the second side track frame. A rotating frame is rotatably connected to the sliding frame. Powered tracks are installed on the rotating frame, the first side track frame, and the second side track frame. A first servo motor and a second servo motor are respectively installed inside the first side track frame and at the left end of the sliding frame. The first servo motor is used for adjusting the movement of the sliding frame relative to the first side track frame, and the second servo motor is used for adjusting the rotation of the rotating frame relative to the sliding frame. The first side track frame and the second side track frame are fixedly connected. A center adjustment mounting assembly is installed inside the second side track frame, and the laser rangefinder is installed inside the center adjustment mounting assembly.

2. The topographic surveying device for land engineering according to claim 1, characterized in that, The central adjustment mounting assembly includes a rotating cantilever frame. A fixed shaft is fixedly connected inside the second side track frame. The rotating cantilever frame is rotatably connected to the fixed shaft and is connected to a return spring inside the second side track frame. A rotation limit post is fixedly connected inside the second side track frame and matches the rotating cantilever frame. A secondary nested frame is rotatably connected inside the rotating cantilever frame, and a hemispherical nested frame is rotatably connected inside the secondary nested frame. A third servo motor and a fourth servo motor are respectively installed inside the rotating cantilever frame and the secondary nested frame. The third servo motor is used for rotational adjustment of the secondary nested frame relative to the rotating cantilever frame, and the fourth servo motor is used for rotational adjustment of the hemispherical nested frame relative to the secondary nested frame. The laser ranging sensor is installed inside the hemispherical nested frame.

3. The topographic surveying device for land engineering according to claim 2, characterized in that, A column frame is slidably connected within the hemispherical nested frame. Both ends of the column frame have mounting slots. The laser rangefinder is installed in one of these mounting slots, and an image acquisition camera is installed in the other. A reduced-diameter section is provided on the column frame, and a disc spring is fixedly connected to the reduced-diameter section. The disc spring is fixedly connected within the hemispherical nested frame. Iron rings are fixedly connected to both ends of the column frame. Two electromagnets are installed within the hemispherical nested frame, and the iron rings are made of a material that can be magnetically attracted by the electromagnets.

4. A topographic surveying device for land engineering according to claim 3, characterized in that, The sliding frame has a recessed pushing groove and a space-enlarging notch, and the rotating cantilever frame has a narrow strip that matches the recessed pushing groove. The space-enlarging notch provides space for the rotating cantilever frame to rotate out and be limited.

5. A topographic surveying device for land engineering according to claim 4, characterized in that, The rotating frame, the first side track frame, and the second side track frame are all rotatably connected to a power drive roller and a driven roller. The three power drive rollers are respectively connected to the three power tracks, and the three power tracks are respectively connected to the three driven rollers. The rotating frame, the first side track frame, and the second side track frame are all equipped with a fifth servo motor. The three fifth servo motors are respectively used to drive the rotation of the three power drive rollers.

6. A topographic surveying device for land engineering according to claim 5, characterized in that, A threaded column is rotatably connected inside the first side track frame, and a threaded sleeve is externally threaded to the threaded column. A portal frame is fixedly connected to the left end of the sliding frame, and the threaded sleeve is fixedly connected to the portal frame.

7. A topographic surveying device for land engineering according to claim 6, characterized in that, The internal space of the gantry frame allows the passage of the second servo motor, and a synchronization frame and a handheld frame are fixedly connected between the first side track frame and the second side track frame.

8. A topographic surveying device for land engineering according to claim 7, characterized in that, Both the first and second track frames have strip-shaped track openings at their closest points. The sliding frame has two annular recesses that are slidably connected to the two strip-shaped track openings. Two pressing plates are fixedly connected to the sliding frame and are slidably engaged with the first and second track frames, respectively.

9. A topographic surveying device for land engineering according to claim 8, characterized in that, The rotating frame is fixedly connected to a rotating shaft and a drive shaft. The sliding frame has two rotating openings. The rotating shaft and the drive shaft are rotatably connected to the two rotating openings respectively. The output shaft of the second servo motor is drivenly connected to the drive shaft.

10. A topographic surveying device for land engineering according to claim 9, characterized in that, Drive pulleys are fixedly mounted on the output shafts of the first and second servo motors. Both drive pulleys are connected to transmission wheels via synchronous belts. The two transmission wheels are fixedly connected to the threaded column and the drive shaft, respectively. External brackets are fixedly connected to the rotating frame, the first side track frame, and the second side track frame. Three fifth servo motors are respectively mounted on the three external brackets. Drive gears are mounted on the output shafts of the three fifth servo motors. The three drive gears are meshed with internal gears. The three internal gears are respectively installed inside the three power drive rollers.

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