A topographic survey device for land engineering

Abstract

The application relates to the technical field of terrain survey devices, and discloses a terrain survey device for land engineering, which can realize automatic adjustment of the autonomous movement and survey state under the premise of guaranteeing the basic terrain survey function, the overall intelligence of the device is further improved, the hands of human beings are liberated while the survey operation is guaranteed, the device is stronger in function and better in practicability, can be autonomously folded after use, and the protection effect of the laser ranging sensor and the image acquisition camera is better after folding, the device comprises a laser ranging sensor, a body track system, the body track system 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, a first servo motor and a second servo motor are respectively installed in the first side track frame and the left end of the sliding frame.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of terrain surveying devices, in particular to a terrain surveying device for land engineering. BACKGROUND

[0002] As is known to all, the terrain surveying device for land engineering is an instrument designed and manufactured for surveying and mapping operation, which is mostly applied in the planning and design, construction and management stages of engineering construction, and is mainly used for land topographic surveying work.

[0003] According to the search, the patents with the patent publication numbers CN117366419A and CN212388306U respectively disclose a terrain undulation measuring device for urban land planning and a flatness detection device for mixed plastic track laying, wherein the former is generally described as including a horizontally arranged measuring operation table, a telescopic extension assembly is arranged in the measuring operation table, four groups of support foot supports are hingedly arranged at the side edges of the lower surface of the measuring operation table, a multi-angle adjusting assembly is arranged on the upper surface of the measuring operation table, a connecting intermediate seat is fixedly connected at the center of the lower surface of the measuring operation table, a support base is arranged on the lower part of the connecting intermediate seat, a total station is arranged on the measuring operation table, and the total station includes a control panel and an observation lens, which, when in use, solves the problems of poor support stability and adaptability of the measuring instrument in the traditional technology, small operation table causing inconvenience in use, and poor adjustability of the observation angle leading to large dead angle in measurement, wherein the latter is generally described as including a main body, a top plate is arranged on the top of the main body, a fixing nut is arranged on the top of the top plate, a fixing shell is arranged on the bottom of the top plate, right-angle frames are arranged in the inside of the fixing shell and are symmetrically distributed at the center of the inside of the fixing shell, a laser ranging sensor is arranged on the top of the right-angle frame, a rotating bearing is arranged on the bottom of the right-angle frame, a base is arranged on the bottom of the main body, a laser sensor and a display are arranged on the main body, which, when in use, uses the display to observe whether the scanning distances of the laser sensors at the same time point are the same to judge whether the ground is flat.

[0004] The two sets of prior art solutions described above can assist in terrain surveying, but the former has poor self-mobility and needs to be manually lifted to realize position switching, which is difficult to form self-position switching operation, and the latter needs manual assistance to apply a pushing force to realize movement adjustment, and the protection of the core surveying component needs to be further strengthened. SUMMARY

[0005] In view of the deficiencies of the prior art, the landform surveying device for land engineering can realize autonomous movement and automatic adjustment of the surveying state under the premise of guaranteeing basic landform surveying function, the overall intelligence of the device is further improved, the hands of human beings are liberated while the surveying operation is guaranteed, the device is more functional and practical, and the protection effect of the laser ranging sensor and the image acquisition camera is better after folding.

[0006] To achieve the above object, the present application provides the following technical scheme: a landform surveying device for land engineering, comprising a laser ranging sensor, further comprising a body track system, the body track system 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, a power track is 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 in the first side track frame and 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, 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 middle adjustment installation assembly is installed in the second side track frame, and the laser ranging sensor is installed in the middle adjustment installation assembly.

[0007] Preferably, the middle adjustment installation assembly comprises a rotating overhanging frame, a fixed shaft is fixedly connected in the second side track frame, the rotating overhanging frame is rotatably connected with the fixed shaft, and a return spring is connected with the rotating overhanging frame, the return spring is connected in the second side track frame, a rotating limiting column is fixedly connected in the second side track frame, the rotating limiting column is matched with the rotating overhanging frame, a secondary nested frame is rotatably connected in the rotating overhanging frame, a hemispherical nested frame is rotatably connected in the secondary nested frame, a third servo motor and a fourth servo motor are respectively installed in the rotating overhanging frame and the secondary nested frame, the third servo motor is used for adjusting the rotation of the secondary nested frame relative to the rotating overhanging frame, the fourth servo motor is used for adjusting the rotation of the hemispherical nested frame relative to the secondary nested frame, and the laser ranging sensor is installed in the hemispherical nested frame.

[0008] Preferably, a column body frame is slidably connected in the hemispherical nested frame, installation grooves are formed at both ends of the column body frame, the laser ranging sensor is installed in one of the installation grooves, an image acquisition camera is installed in the other installation groove, a reduced diameter section is arranged on the column body frame, a disc-shaped spring is fixedly connected to the reduced diameter section, the disc-shaped spring is fixedly connected in the hemispherical nested frame, iron rings are fixedly connected at both ends of the column body frame, two electromagnets are installed in 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 is provided with a recessed pushing groove and a space increasing gap, the rotating overhanging frame is provided with a narrow strip matched with the recessed pushing groove, and the space increasing gap provides space for the rotating overhanging 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 rotationally connected with power driving rollers and driven driving rollers, the three power driving rollers are respectively in transmission connection with the three power tracks, the three power tracks are respectively in transmission connection with the three driven driving rollers, the rotating frame, the first side track frame and the second side track frame are all provided with fifth servo motors, and the three fifth servo motors are respectively used for rotationally driving the three power driving rollers.

[0011] Preferably, the first side track frame is rotationally connected with a threaded column, the threaded column is externally threadedly connected with a threaded sleeve, the left end of the sliding frame is fixedly connected with a door-shaped frame, and the threaded sleeve is fixedly connected with the door-shaped frame.

[0012] Preferably, the door-shaped frame is internally provided with a space allowing the second servo motor to pass through, and the first side track frame and the second side track frame are fixedly connected with a synchronous frame and a handheld frame.

[0013] Preferably, the first side track frame and the second side track frame are both provided with a strip-shaped track opening at one end close to each other, the sliding frame is provided with two annular recessed grooves, the two annular recessed grooves are respectively in sliding connection with the two strip-shaped track openings, and the sliding frame is fixedly connected with two pressing plates, and the two pressing plates are respectively in sliding cooperation with the first side track frame and the second side track frame.

[0014] Preferably, the rotating frame is fixedly connected with a rotating shaft and a driving shaft outside, the sliding frame is provided with two rotating openings, the rotating shaft and the driving shaft are respectively in rotational connection with the two rotating openings, and the output shaft of the second servo motor is in transmission connection with the driving shaft.

[0015] Preferably, the output shaft of the first servo motor and the output shaft of the second servo motor are both fixedly installed with driving pulleys, the two driving pulleys are both in transmission connection with transmission wheels through synchronous belts, the two transmission wheels are respectively in fixed connection with the threaded column and the driving shaft, the rotating frame, the first side track frame and the second side track frame are all fixedly connected with external hanging frames, the three fifth servo motors are respectively installed on the three external hanging frames, the output shafts of the three fifth servo motors are all installed with driving gears, the three driving gears are all in meshing transmission connection with internally toothed gears, and the three internally toothed gears are respectively installed in the three power driving rollers.

[0016] Compared with the prior art, the terrain surveying device for land engineering has the following beneficial effects:

[0017] (1) In the present application, through the arrangement of the laser ranging sensor, data measurement extraction in the terrain survey process is realized to ensure the basic terrain survey function.

[0018] (2) In the present application, through the design of the body track system, the main structure of the terrain survey device for land engineering is formed, which has the functions of posture adjustment and active movement, can realize autonomous movement and automatic adjustment of the survey state, and further improves the intelligence of the device as a whole, ensures the survey operation and liberates human hands, and has stronger functionality.

[0019] (3) In the present application, through the design of the middle adjustment mounting assembly, the laser ranging sensor is matched to form the installation structure in the body track system, and the assembly can be matched with the structure adjustment of the body track system to form follow-up adjustment, so as to facilitate the extension and storage after use of the middle adjustment mounting assembly, and has stronger functionality and better practicability. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a schematic diagram of the overall three-dimensional structure of the present application;

[0021] Figure 2 is a schematic diagram of the overall three-dimensional structure of the present application Figure 1 is a schematic diagram of the overall three-dimensional structure of the present application

[0022] Figure 3 is a schematic diagram of the overall three-dimensional structure of the present application

[0023] Figure 4 is a schematic diagram of the overall three-dimensional structure of the present application Figure 3 is a schematic diagram of the overall three-dimensional structure of the present application

[0024] Figure 5 is a schematic diagram of the overall three-dimensional structure of the present application

[0025] Figure 6 is a schematic diagram of the overall three-dimensional structure of the present application Figure 5 is a schematic diagram of the overall three-dimensional structure of the present application

[0026] Figure 7 is a schematic diagram of the overall three-dimensional structure of the present application Figure 5 is a schematic diagram of the overall three-dimensional structure of the present application

[0027] Figure 8 is a schematic diagram of the overall three-dimensional structure of the present application Figure 5 is a schematic diagram of the overall three-dimensional structure of the present application

[0028] Figure 9 is a schematic diagram of the overall three-dimensional structure of the present application

[0029] Figure 10Partial sectional view of the three-dimensional structure diagram of the rotating overhanging frame, the secondary nested frame and the third servo motor of the present application;

[0030] Figure 11 Partial sectional view of the three-dimensional structure diagram of the semi-spherical nested frame, the disc spring and the iron ring of the present application;

[0031] Figure 12 Partial sectional view of the three-dimensional structure diagram of the semi-spherical nested frame and the two electromagnets of the present application;

[0032] Figure 13 Partial sectional view of the three-dimensional structure diagram of the first side track frame, the second side track frame and the power track of the present application;

[0033] Figure 14 Partial sectional view of the three-dimensional structure diagram of the sliding frame, the rotating frame and the second servo motor of the present application;

[0034] Figure 15 Another partial sectional view of the three-dimensional structure diagram of the sliding frame, the rotating frame and the second servo motor of the present application;

[0035] Figure 16 The three-dimensional structure diagram of the rotating frame inserted into the area between the first side track frame and the second side track frame of the present application;

[0036] Figure 17 The three-dimensional structure diagram of the rotating frame inserted into the area between the first side track frame and the second side track frame of the present application;

[0037] Figure 18 The three-dimensional structure diagram of the rotating frame inserted into the area between the first side track frame and the second side track frame of the present application;

[0038] Figure 19 The three-dimensional structure diagram of the rotating frame relative to the sliding frame of the present application;

[0039] Figure 20 The schematic diagram of the calculation principle after surveying of the present application.

[0040] In the figure: 1, laser ranging 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 overhanging frame; 10, fixed shaft; 11, return spring; 12, rotating 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, ferrous ring; 22, electromagnet; 23, recessed pushing groove; 24, space increasing gap; 25, narrow strip; 26, power drive roller; 27, driven drive roller; 28, fifth servo motor; 29, threaded column; 30, threaded sleeve; 31, door-shaped frame; 32, drive pulley; 33, synchronous frame; 34, handheld frame; 35, strip-shaped track intersection; 36, annular recessed groove; 37, pressing plate; 38, rotating shaft; 39, drive shaft; 40, synchronous belt; 41, transmission wheel; 42, external hanging frame; 43, drive gear; 44, internal gear. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0042] Embodiment, please refer to Figures 1-20The utility model provides a topographic survey device for land engineering, including laser ranging sensor 1, still including body caterpillar system, body caterpillar system includes first side caterpillar frame 2 and second side caterpillar frame 3, and the sliding connection of sliding frame 4 is formed between first side caterpillar frame 2 and second side caterpillar frame 3, and the end of first side caterpillar frame 2 and second side caterpillar frame 3 is close to each other and is provided with strip track mouth 35, and two annular recessed grooves 36 are formed in the sliding frame 4, and the two annular recessed grooves 36 are slidably connected with the two strip track mouths 35 respectively, two compression plates 37 are fixedly connected on the sliding frame 4, and the two compression plates 37 are slidably connected with the first side caterpillar frame 2 and the second side caterpillar frame 3 respectively, which facilitates the assembly and installation of the sliding frame 4 between the first side caterpillar frame 2 and the second side caterpillar frame 3, a rotating frame 5 is rotatably connected to the sliding frame 4, a power caterpillar 6 is installed on the rotating frame 5, the first side caterpillar frame 2 and the second side caterpillar frame 3, the rotating frame 5, the first side caterpillar frame 2 and the second side caterpillar frame 3 are rotatably connected with a power drive roller 26 and a driven drive roller 27, three power drive rollers 26 are drivingly connected with the three power caterpillars 6 respectively, the three power caterpillars 6 are drivingly connected with the three driven drive rollers 27 respectively, the rotating frame 5, the first side caterpillar frame 2 and the second side caterpillar frame 3 are provided with a fifth servo motor 28, the three fifth servo motors 28 are used for the rotational driving of the three power drive rollers 26 respectively, a first servo motor 7 and a second servo motor 8 are installed in the first side caterpillar frame 2 and the left end of the sliding frame 4 respectively, the first servo motor 7 is used for the movement adjustment of the sliding frame 4 relative to the first side caterpillar frame 2, and the second servo motor 8 is used for the rotational adjustment of the rotating frame 5 relative to the sliding frame 4, the first side caterpillar frame 2 and the second side caterpillar frame 3 are fixedly connected, through the design of the body caterpillar system, the main structure of the topographic survey device for land engineering is formed, the structure has the functions of posture adjustment and active movement, can realize the automatic adjustment of autonomous movement and surveying state, the overall intelligence of the device is further improved, the hands of human beings are liberated while ensuring the surveying operation, and the functionality is stronger, a threaded column 29 is rotatably connected in the first side caterpillar frame 2, a threaded sleeve 30 is externally threadedly connected with the threaded column 29, a door-shaped frame 31 is fixedly connected to the left end of the sliding frame 4, the threaded sleeve 30 is fixedly connected with the door-shaped frame 31, and the internal space of the door-shaped frame 31 can allow the second servo motor 8 to pass through, and the first side caterpillar frame 2 and the second side caterpillar frame 3 are fixedly connected with a synchronous frame 33 and a handheld frame 34.

[0043] It also needs to be further explained that the second side track frame 3 is provided with a middle adjustment mounting assembly, and the laser ranging sensor 1 is mounted in the middle adjustment mounting assembly. Through the configuration of the laser ranging sensor 1, data measurement extraction in the terrain survey process is realized to ensure the basic terrain survey function. The middle adjustment mounting assembly comprises a rotating overhanging frame 9, the second side track frame 3 is fixedly connected with a fixed shaft 10, the rotating overhanging frame 9 is rotatably connected with the fixed shaft 10, and the rotating overhanging frame 9 is connected with a return spring 11, the return spring 11 is connected in the second side track frame 3, the second side track frame 3 is fixedly connected with a rotating limiting column 12, the rotating limiting column 12 is matched with the rotating overhanging frame 9, when the sliding frame 4 moves towards the synchronous frame 33, the rotating overhanging frame 9 is pushed to compress the return spring 11 and is retracted into the second side track frame 3, when the sliding frame 4 is reset, the return spring 11 releases the elastic force to push the rotating overhanging frame 9 to rotate out of the second side track frame 3 and is inserted into the space increasing gap 24 of the sliding frame 4, the rotating overhanging frame 9 is rotatably connected with a secondary nested frame 13, the secondary nested frame 13 is rotatably connected with a hemispherical nested frame 14, the rotating overhanging frame 9 and the secondary nested frame 13 are respectively provided with a third servo motor 15 and a fourth servo motor 16, the third servo motor 15 is used for adjusting the rotation of the secondary nested frame 13 relative to the rotating overhanging frame 9, the fourth servo motor 16 is used for adjusting the rotation of the hemispherical nested frame 14 relative to the secondary nested frame 13, the laser ranging sensor 1 is mounted in the hemispherical nested frame 14, the hemispherical nested frame 14 is slidably connected with a column frame 17, both ends of the column frame 17 are provided with mounting grooves, the laser ranging sensor 1 is mounted in one of the two mounting grooves, and an image acquisition camera 18 is mounted in the other mounting groove, the column frame 17 is provided with a reduced diameter section 19, the reduced diameter section 19 is fixedly connected with a disc spring 20, the disc spring 20 is fixedly connected in the hemispherical nested frame 14, both ends of the column frame 17 are fixedly connected with iron rings 21, two electromagnets 22 are mounted in the hemispherical nested frame 14, the iron rings 21 are made of a material that can be magnetically attracted by the electromagnets 22, through the design of the middle adjustment mounting assembly, the laser ranging sensor 1 forms its mounting structure in the body track system, and the assembly can adjust the structure of the body track system to form a follow-up adjustment to facilitate the extension and storage of the middle adjustment mounting assembly during use, the function is stronger and the practicability is better, the sliding frame 4 is provided with a recessed pushing groove 23 and a space increasing gap 24, the rotating overhanging frame 9 is provided with a narrow strip 25 matched with the recessed pushing groove 23, the space increasing gap 24 provides space for the rotating overhanging frame 9 to rotate out and limit, the rotating frame 5 is fixedly connected with a rotating shaft 38 and a driving shaft 39, the sliding frame 4 is provided with two rotating openings, the rotating shaft 38 and the driving shaft 39 are rotatably connected with the two rotating openings respectively, the output shaft of the second servo motor 8 is in transmission connection with the driving shaft 39, the output shaft of the first servo motor 7 and the output shaft of the second servo motor 8 are both fixedly provided with driving pulleys 32, the two driving pulleys 32 are both in transmission connection with transmission wheels 41 through synchronous belts 40,The two transmission wheels 41 are fixedly connected with the threaded columns 29 and the driving shaft 39 respectively, the rotating frame 5, the first side track frame 2 and the second side track frame 3 are all fixedly connected with outer hanging frames 42, three fifth servo motors 28 are installed on the three outer hanging frames 42 respectively, driving gears 43 are installed on the output shafts of the three fifth servo motors 28 respectively, the three driving gears 43 are all meshingly and drivingly connected with internal gear wheels 44, and the three internal gear wheels 44 are installed in the three power driving rollers 26 respectively.

[0044] The laser ranging sensor 1, the image acquisition camera 18, the first servo motor 7, the second servo motor 8, the third servo motor 15, the fourth servo motor 16, the electromagnet 22 and the fifth servo motor 28 in the embodiment are all conventional devices known to the person skilled in the art and purchased on the market, and we only use them in the application, without improving the structures and functions thereof.

[0045] In summary, the working principle of the land engineering topographic surveying device is that, in use, first, the laser ranging sensor 1, the image acquisition camera 18, the first servo motor 7, the second servo motor 8, the third servo motor 15, the fourth servo motor 16, the electromagnet 22 and the fifth servo motor 28 in the land engineering topographic surveying device are matched with the installed power supply battery. The installation of the battery can be one or more. The installation position of the battery is the available space in the rotating frame 5, the first side track frame 2 and the second side track frame 3. The power supply lines are avoided to be redundant by adopting the principle of proximity. The wireless signal transmitter is installed in the rotating frame 5, the first side track frame 2 and the second side track frame 3 to facilitate the signal transmission between the external controller and the laser ranging sensor 1 and the image acquisition camera 18. The first servo motor 7, the second servo motor 8, the third servo motor 15, the fourth servo motor 16, the electromagnet 22 and the fifth servo motor 28 are also controlled. After assembly, debugging is performed. The laser ranging sensor 1, the image acquisition camera 18, the first servo motor 7, the second servo motor 8, the third servo motor 15, the fourth servo motor 16, the electromagnet 22 and the fifth servo motor 28 are cooperatively controlled by the external controller. When the first servo motor 7 is powered on, the driving pulley 32 on the main shaft of the first servo motor 7 is rotated and driven. Under the transmission of the synchronous belt 40 and the transmission wheel 41 matched with the driving pulley 32, the first servo motor 7 powered on can drive the threaded column 29 to rotate. Since the threaded sleeve 30 is threadedly connected with the threaded column 29, and the threaded sleeve 30 is fixedly connected to the door-shaped frame 31, and the door-shaped frame 31 is connected to the sliding frame 4, the threaded sleeve 30 on the door-shaped frame 31 has a fixed limit in the movable direction, so the threaded sleeve 30 does not synchronously rotate with the threaded column 29. The threaded sleeve 30 is driven by the rotating threaded column 29 to move linearly 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, the driving pulley 32 on the main shaft of the second servo motor 8 is rotated and driven. Under the transmission of the synchronous belt 40 and the transmission wheel 41 matched with the driving pulley 32, the second servo motor 8 is rotated and driven to control the rotating frame 5 relative to the sliding frame 4.

[0046] As shown in the accompanying drawings Figure 3The rotating frame 5 is shown in a certain posture after rotation 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, which forms a three-point support structure for the laser ranging sensor 1, facilitating the surveying preparation work of the laser ranging sensor 1. The third servo motor 15 is powered on to realize the rotation adjustment of the secondary nested frame 13 relative to the rotating overhang frame 9. The fourth servo motor 16 is powered on to realize the rotation adjustment of the hemispherical nested frame 14 relative to the secondary nested frame 13. Therefore, through the cooperation of the third servo motor 15 and the fourth servo motor 16, the posture adjustment of the hemispherical nested frame 14 can be realized to adjust and switch the detection target area of the laser ranging sensor 1 and the image acquisition camera 18. As shown in Figure 4 The laser ranging sensor 1 forms a surveying state diagram. In this state, the electromagnet 22 on the side of the laser ranging sensor 1 lens is powered on to generate an electromagnetic field, which acts on the iron ring 21 to form a magnetic attraction. Under the action of the magnetic attraction, the column frame 17 overcomes the elastic force of the disc spring 20 to form relative sliding in the hemispherical nested frame 14, so that the laser ranging sensor 1 can move out relative to the hemispherical nested frame 14, facilitating the detection work of the laser ranging sensor 1. The fifth servo motor 28 is powered on to realize the rotation drive of the drive gear 43. Under the meshing transmission action between the drive gear 43 and the internal gear 44, the three fifth servo motors 28 are powered on to realize the rotation drive of the three power drive rollers 26 respectively. The rotation of the three power drive rollers 26 respectively realizes the movement drive of the three power tracks 6. The three power tracks 6 form rolling relative to the land, which realizes the movement of the land engineering topographic surveying device. By controlling the differential rotation of the main shafts of the three fifth servo motors 28, the overall steering adjustment of the land engineering topographic surveying device can be achieved.

[0047] In actual detection operation, first, the first servo motor 7 is powered on to make the rotating frame 5 further inserted between the first side track frame 2 and the second side track frame 3, so that the sliding frame 4 moves towards the synchronous frame 33 between the first side track frame 2 and the second side track frame 3. In this process, the rotating overhang frame 9 is pushed into the second side track frame 3. At this time, as shown in Figure 17 The laser ranging sensor 1 and the image acquisition camera 18 are both in the second side track frame 3, so better protection can be formed. After adjustment, the first servo motor 7 is controlled to enter the parking state to maintain this state. Then, the three fifth servo motors 28 are synchronously operated to realize the movement drive of the three power tracks 6, thereby realizing the overall movement of the land engineering topographic surveying device. During the movement, the end of the rotating frame 5 far from the synchronous frame 33 is raised upwards by the operation of the second servo motor 8, that is, as shown in Figure 18The state shown, to improve the overall land engineering terrain survey device obstacle passing ability, that is, when the land engineering terrain survey device has an obstacle in the direction of travel, the raised part of the power track 6 on the rotating frame 5 can first contact the obstacle, and then the second servo motor 8 is powered to control the raised end of the fifth servo motor 28 installed in the first side track frame 2 and the second side track frame 3, facilitating the passage of the land engineering terrain survey device through the obstacle, thereby improving the overall land engineering terrain survey device's ability to overcome obstacles. After the overall land engineering terrain survey device travels to the target survey site, the second servo motor 8 is powered to control the reduction of the included angle between the first side track frame 2 and the second side track frame 3 and the bottom side of the rotating frame 5 into the state shown in Figure 6. Figure 19 The state shown, after the first servo motor 7 is powered to work to achieve the movement of the rotating frame 5 away from the synchronous frame 33, until the rotating overhang frame 9 is rotated and extended under the elastic force of the return spring 11, and the rotated rotating overhang frame 9 is inserted into the enlarged gap 24, during the above adjustment process, the three fifth servo motors 28 should be controlled to operate in coordination to form a follow-up motion to reduce the formation of sliding friction between the power track 6 and the land, and also reduce the load during the operation of the first servo motor 7 and the second servo motor 8, improve the protection effect of the equipment.

[0048] After the adjustment is completed, according to the space required for surveying and mapping, the third servo motor 15 and the fourth servo motor 16 are operated in coordination to adjust the angle of the half-sphere nesting frame 14, to facilitate the matching of the mapping area and the target area. When using the laser ranging sensor 1 to form mapping, the third servo motor 15 and the fourth servo motor 16 are operated in coordination to rotate the side of the laser ranging sensor 1 corresponding to the electromagnetic body 22, and the electromagnetic field generated by the electromagnetic body 22 on the side facing the lens of the laser ranging sensor 1 is powered to realize the movement of the laser ranging sensor 1 relative to the half-sphere nesting frame 14, to facilitate the use of the laser ranging sensor 1 for mapping. After the preparation work is completed, the third servo motor 15 and the fourth servo motor 16 should be operated in coordination to realize the ground measurement of the laser ranging sensor 1, and the minimum distance of the laser ranging sensor 1 to the ground is selected to form a vertical posture mark, that is, the minimum distance of the laser ranging sensor 1 to the ground is selected to determine its reference height h as a reference for subsequent angle calculation, and the rotation angle of the third servo motor 15 and the fourth servo motor 16 corresponding to the vertical mark is recorded. Based on this, during the mapping of the laser ranging sensor 1, the mapping angle of the laser ranging sensor 1 can be calculated by calculating the rotation angle of the third servo motor 15 and the rotation angle of the fourth servo motor 16, and the calculation principle is as shown in Figure 8. Figure 20As shown, wherein h is the minimum distance measured by the laser ranging sensor 1 to the ground, the angle a is the measured angle calculated by the rotation angle of the third servo motor 15 and the fourth servo motor 16, after the calibration is completed, only need to measure the length of b by the laser ranging sensor 1, the distance between two points on the ground can be derived by the Pythagorean theorem, when using the image acquisition camera 18, only need to turn the direction of the image acquisition camera 18 lens, and make the electromagnet 22 on the side facing the image acquisition camera 18 lens power generation electromagnetic field, realize the movement of the image acquisition camera 18 relative to the hemispherical nesting frame 14, so as to facilitate the work of distance measurement and image acquisition, through the double data combination of the image acquisition camera 18 and the laser ranging sensor 1, the complete survey of the terrain is formed, because of the setting of the disc spring 20, when the two electromagnets 22 are in the power-off state, the column frame 17 will be retracted into the hemispherical nesting frame 14, the laser ranging sensor 1 and the image acquisition camera 18 on both sides of the column frame 17 will also be completely retracted into the hemispherical nesting frame 14, in order to improve the protection effect of the laser ranging sensor 1 and the image acquisition camera 18, after the single site surveying and mapping is completed, it can be kept in the state as shown in the accompanying Figure 3 As shown, and through the operation of the three fifth servo motors 28, the matching operation of the three power tracks 6 is realized, the progress adjustment of the terrain surveying and mapping device for land engineering is realized, this state is suitable for switching adjustment of the land surface condition is good and the distance is short, at the same time, it can also make the terrain surveying and mapping device for land engineering return to the state as shown in the accompanying Figure 17 And the accompanying Figure 18 As shown, and through the operation of the three fifth servo motors 28, the matching operation of the three power tracks 6 is realized, the progress adjustment of the terrain surveying and mapping device for land engineering is realized, this state is suitable for switching adjustment of the land surface condition is good and the distance is short, at the same time, it can also make the terrain surveying and mapping device for land engineering return to the state as shown in the accompanying Figure 17 And the accompanying Figure 18 As shown, and through the operation of the three fifth servo motors 28, the matching operation of the three power tracks 6 is realized, the progress adjustment of the terrain surveying and mapping device for land engineering is realized, this state is suitable for switching adjustment of the land surface condition is good and the distance is short, at the same time, it can also make the terrain surveying and mapping device for land engineering return to the state as shown in the accompanying

[0049] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A topographic survey device for land engineering, comprising a laser distance measuring sensor, characterized in that, The body track system 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, a power track is mounted 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 mounted in the first side track frame and 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, 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 middle adjustment mounting assembly is mounted in the second side track frame, the laser ranging sensor is mounted in the middle adjustment mounting assembly, the middle adjustment mounting assembly comprises a rotating overhanging frame, a fixed shaft is fixedly connected in the second side track frame, the rotating overhanging frame is rotatably connected with the fixed shaft, and a return spring is connected to the rotating overhanging frame, the return spring is connected in the second side track frame, a rotating limiting column is fixedly connected in the second side track frame, the rotating limiting column is matched with the rotating overhanging frame, a secondary nested frame is rotatably connected in the rotating overhanging frame, a hemispherical nested frame is rotatably connected in the secondary nested frame, a third servo motor and a fourth servo motor are respectively mounted in the rotating overhanging frame and the secondary nested frame, the third servo motor is used for adjusting the rotation of the secondary nested frame relative to the rotating overhanging frame, the fourth servo motor is used for adjusting the rotation of the hemispherical nested frame relative to the secondary nested frame, and the laser ranging sensor is mounted in the hemispherical nested frame. A column frame is slidably connected in the hemispherical nested frame, two ends of the column frame are provided with mounting grooves, the laser ranging sensor is mounted in one of the two mounting grooves, an image acquisition camera is mounted in the other mounting groove, a reduced diameter section is arranged on the column frame, a disc spring is fixedly connected to the reduced diameter section, the disc spring is fixedly connected in the hemispherical nested frame, iron rings are fixedly connected to the two ends of the column frame, two electromagnets are mounted in the hemispherical nested frame, the iron rings are made of a material that can be magnetically attracted by the electromagnets, a synchronous frame and a handheld frame are fixedly connected between the first side track frame and the second side track frame, during actual detection operation, first, the rotating frame is further inserted between the first side track frame and the second side track frame by powering the first servo motor to move, so that the sliding frame moves in the direction of the synchronous frame between the first side track frame and the second side track frame, during this process, the rotating overhanging frame is pushed into the second side track frame, and in this state, the laser ranging sensor and the image acquisition camera are both received in the second side track frame.

2. The topographic surveying device for land engineering according to claim 1, wherein A recessed pushing groove and a space increasing gap are formed in the sliding frame, a narrow strip matched with the recessed pushing groove is arranged on the rotating overhanging frame, and the space increasing gap provides a rotating-out and limiting space for the rotating overhanging frame.

3. The topographic surveying device for land engineering according to claim 2, wherein The rotating frame, the first side track frame and the second side track frame are rotationally connected with power driving rollers and driven driving rollers, three power driving rollers are in transmission connection with three power tracks respectively, three power tracks are in transmission connection with three driven driving rollers respectively, the rotating frame, the first side track frame and the second side track frame are provided with fifth servo motors, and the three fifth servo motors are used for rotationally driving the three power driving rollers respectively.

4. The topographic surveying device for land engineering according to claim 3, wherein The first side track frame is rotationally connected with a threaded column, the threaded column is externally threadedly connected with a threaded sleeve, the left end of the sliding frame is fixedly connected with a door-shaped frame, and the threaded sleeve is fixedly connected with the door-shaped frame.

5. The topographic surveying device for land engineering according to claim 4, wherein The door-shaped frame has an internal space capable of allowing the second servo motor to pass through.

6. The topographic surveying device for land engineering according to claim 5, wherein The first side track frame and the second side track frame are provided with strip-shaped track openings at one end close to each other, the sliding frame is provided with two annular recessed grooves, the two annular recessed grooves are in sliding connection with the two strip-shaped track openings respectively, the sliding frame is fixedly connected with two pressing plates, and the two pressing plates are in sliding cooperation with the first side track frame and the second side track frame respectively.

7. The topographic surveying device for land engineering according to claim 6, wherein The rotating frame is fixedly connected with a rotating shaft and a driving shaft, the sliding frame is provided with two rotating openings, the rotating shaft and the driving shaft are in rotational connection with the two rotating openings respectively, and the output shaft of the second servo motor is in transmission connection with the driving shaft.

8. The topographic surveying device for land engineering according to claim 7, wherein The output shaft of the first servo motor and the output shaft of the second servo motor are both fixedly provided with driving pulleys, the two driving pulleys are both in transmission connection with transmission pulleys through synchronous belts, the two transmission pulleys are fixedly connected with the threaded column and the driving shaft respectively, the rotating frame, the first side track frame and the second side track frame are fixedly connected with external hanging frames, the three fifth servo motors are mounted on the three external hanging frames respectively, the output shafts of the three fifth servo motors are all provided with driving gears, the three driving gears are all in meshing transmission connection with inscribed gears, and the three inscribed gears are mounted in the three power driving rollers respectively.

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