Surveying and mapping robot with foldable arm extension

Abstract

The invention is applicable to the technical field of industrial detection robots, and provides a surveying and mapping robot with a foldable arm extension, which comprises a working vehicle, an adjusting mechanism arranged at the upper end of the working vehicle, a surveying instrument arranged at the upper end of the adjusting mechanism, and a folding arm mechanism mounted at the lower end of the surveying instrument and mounted on the adjusting mechanism. The folding arm mechanism is used for adjusting the height of the surveying instrument, and the adjusting mechanism is used for adjusting the angle between the folding arm mechanism and the surveying instrument. The folding arm mechanism comprises a strip-shaped seat, and the strip-shaped seat is installed on the adjusting mechanism and lifts the surveying instrument to a preset working height. According to surveying and mapping requirements, the controller controls the telescopic amount of the electric telescopic rod and adjusts the horizontal orientation angle of the surveying and mapping instrument. And the surveying instrument carries out measurement operation at a specified height and angle. And the servo motor is reversely rotated to drive the movable seat to move away from the arm rod assembly, so that the arm rod assembly is folded and put away, and finally the surveying instrument descends to a compact transportation state and is convenient to transfer or maintain.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of industrial detection robots, and particularly relates to a surveying and mapping robot with foldable arm span. BACKGROUND

[0002] Geographical information collection of urban environment is conducive to subsequent municipal planning and layout. Currently, urban geographical information is mostly collected by vehicles equipped with laser detection, remote sensing radar and video recording, so as to record geographical environment information during vehicle driving.

[0003] The existing geographical information collection vehicle for city surveying and mapping, with the publication number CN116279912A, specifically discloses a vehicle terminal and a UAV terminal jointly supervised by a remote monitoring platform through a network, and the UAV terminal exists as a control sub-body of the vehicle terminal in a local area network. According to the scheme, the vehicle body drives according to a predetermined route under the cooperation of an intelligent driving system, and an environment monitoring unit, i.e., a radar remote sensor, a laser detector, a camera and an infrared sensor, detects the environment around the vehicle body to obtain environment data and geographical information data. When the vehicle drives to a high-risk environment, the UAV hovers to pre-detect the environment information at an unknown position.

[0004] The existing surveying and mapping device sets an arm rod and a surveying and mapping mechanism at the front end of the arm rod. Since the arm rod is long, the surveying and mapping device occupies a large indoor space when not working. On the other hand, when performing daily maintenance, repair or cleaning work, the operator needs to spend more time and effort to reach the end of the arm rod, which increases the difficulty of maintenance work. To solve the above problems, it is necessary to design a surveying and mapping robot with foldable arm span. SUMMARY

[0005] The present application provides a surveying and mapping robot with foldable arm span, which aims to solve the problem that the arm rod of the existing surveying and mapping device occupies a large indoor space, and the operator needs to spend more time and effort to reach the end of the arm rod when performing daily maintenance, repair or cleaning work, which increases the difficulty of maintenance work.

[0006] The present application is implemented as follows: a surveying and mapping robot with foldable arm span, comprising a work vehicle, an adjusting mechanism is arranged at the upper end of the work vehicle, a surveying and mapping instrument is arranged at the upper end of the adjusting mechanism, a folding arm mechanism is installed at the lower end of the surveying and mapping instrument, the folding arm mechanism is installed on the adjusting mechanism, the folding arm mechanism is used to adjust the height of the surveying and mapping instrument, and the adjusting mechanism is used to adjust the angle between the folding arm mechanism and the surveying and mapping instrument.

[0007] The folding arm mechanism comprises a strip-shaped seat mounted on the adjusting mechanism, a sliding groove is formed on one side of the strip-shaped seat, two spaced movable seats are slidingly mounted on the sliding groove, first arm rods are hingedly connected to the movable seats, second arm rods are hingedly connected to the upper ends of the first arm rods, the first arm rod and second arm rod assemblies on both sides are symmetrically distributed, and the upper ends of the second arm rods are hingedly connected to the bottom of the surveying instrument.

[0008] Preferably, the folding arm mechanism further comprises a driving assembly for driving the first arm rod and second arm rod assembly.

[0009] Preferably, the driving assembly comprises a lead screw, the lead screw is a bidirectional lead screw, the lead screw is rotatably mounted on the strip-shaped seat, the lead screw penetrates through the two movable seats and is threadedly connected with the movable seats, a servo motor is fixedly mounted on the strip-shaped seat, and the output shaft of the servo motor is fixedly connected with one end of the lead screw.

[0010] Preferably, the driving assembly further comprises a connecting shaft fixedly connected with the hinge shaft at the lower end of the first arm rod, a driven wheel is fixedly mounted on the end of the connecting shaft, two spaced first racks are fixedly mounted on the strip-shaped seat, and the first racks on the same side are engaged with the driven wheel.

[0011] Preferably, the adjusting mechanism comprises a support seat fixedly mounted on the top of the working vehicle, a transverse shaft is rotatably mounted on the support seat, a connecting seat is fixedly mounted on the middle segment of the transverse shaft, the upper end of the connecting seat is fixedly connected with the bottom of the strip-shaped seat, a notch is formed in the support seat, an incomplete gear is fixedly mounted below the middle segment of the transverse shaft, the incomplete gear is located in the notch, an electric telescopic rod is fixedly mounted on the support seat, a second rack is fixedly mounted on the output end of the electric telescopic rod, and the second rack is engaged with the incomplete gear.

[0012] Preferably, a controller is fixedly mounted on the side of the support seat, the electric telescopic rod, the servo motor and the working vehicle are electrically connected to the controller, and the electric telescopic rod, the servo motor and the working vehicle are controlled by the controller.

[0013] Preferably, a downwardly inclined camera is fixedly mounted on the front end of the working vehicle, and the camera is electrically connected to the controller.

[0014] Preferably, a wireless communication module is arranged on the controller, the wireless communication module is used for data interaction with a remote terminal to realize remote control of the running state of the electric telescopic rod, the servo motor and the working vehicle.

[0015] Preferably, a vertical rod is fixedly mounted on the bottom of the surveying instrument, a guide sleeve is fixedly mounted on the strip-shaped seat, the lower end of the vertical rod extends into the guide sleeve, and the vertical rod is slidingly mounted in the guide sleeve.

[0016] Preferably, a buffer spring is arranged between the lower end of the vertical rod and the inner bottom of the guide sleeve, which is arranged in the guide sleeve to provide buffer protection during height adjustment of the surveying instrument.

[0017] Compared with the related art, the surveying robot with foldable arm span provided by the application has the following beneficial effects: The controller starts the servo motor to drive the screw rod to rotate, so that the movable seat moves towards, thereby unfolding the combined arm of the first arm rod and the second arm rod and lifting the surveying instrument to a predetermined working height. According to the surveying requirement, the controller controls the extension amount of the electric telescopic rod, and adjusts the horizontal orientation angle of the surveying instrument through the second rack and the incomplete gear. The surveying instrument performs measurement operation at the specified height and angle. After the surveying task is completed, the controller first controls the electric telescopic rod to straighten the arm rod, and then reverses the servo motor to drive the movable seat to move away, so that the arm rod is folded and stored, and finally the surveying instrument is lowered to a compact transportation state, facilitating transfer or maintenance. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the application; Figure 2 It is a side view of the application; Figure 3 It is a front view of the application; Figure 4 It is an exploded schematic diagram of the support seat and the strip-shaped seat in the application; Figure 5 It is a Figure 4 enlarged schematic diagram of A in the application; Figure 6 It is an enlarged schematic diagram of part of the structure of the folding arm mechanism in the application; Figure 7 It is a Figure 6 enlarged schematic diagram of B in the application.

[0019] In the figure: 1, work vehicle; 2, adjusting mechanism; 3, surveying instrument; 4, folding arm mechanism; 5, controller; 6, camera; 7, vertical rod; 8, guide sleeve; 201, support seat; 202, horizontal shaft; 203, connecting seat; 204, notch; 205, incomplete gear; 206, electric telescopic rod; 207, second rack; 401, strip-shaped seat; 402, sliding groove; 403, movable seat; 404, first arm rod; 405, second arm rod; 406, screw rod; 407, servo motor; 408, connecting shaft; 409, driven wheel; 410, first rack. DETAILED DESCRIPTION

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0021] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0022] A preferred embodiment of the foldable arm mapping robot provided by the present invention is as follows: Figures 1 to 7 As shown: A foldable arm surveying robot includes a work vehicle 1, an adjustment mechanism 2 at the upper end of the work vehicle 1, a surveying instrument 3 at the upper end of the adjustment mechanism 2, a folding arm mechanism 4 at the lower end of the surveying instrument 3, the folding arm mechanism 4 being mounted on the adjustment mechanism 2, the folding arm mechanism 4 being used to adjust the height of the surveying instrument 3, and the adjustment mechanism 2 being used to adjust the angle between the folding arm mechanism 4 and the surveying instrument 3.

[0023] The folding arm mechanism 4 includes a strip seat 401, which is mounted on the adjustment mechanism 2. A groove 402 is provided on one side of the strip seat 401. Two movable seats 403 are slidably mounted on the groove 402 at intervals. A first arm 404 is hinged to each movable seat 403. A second arm 405 is hinged to the upper end of each first arm 404. The first arm 404 and second arm 405 assemblies on both sides are symmetrically distributed. The upper end of each second arm 405 is hinged to the bottom of the surveying instrument 3.

[0024] The folding arm mechanism 4 also includes a drive assembly for moving the first arm 404 and the second arm 405 assembly.

[0025] The driving assembly comprises a screw rod 406, which is a bidirectional screw rod, and the screw rod 406 is rotatably installed at the ends of the strip-shaped seat 401 and penetrates through the two movable seats 403 and is threadedly connected with the movable seats 403, and the strip-shaped seat 401 is fixedly installed with a servo motor 407, and the output shaft of the servo motor 407 is fixedly connected with one end of the screw rod 406. The driving assembly further comprises a connecting shaft 408, which is fixedly connected with the hinged shaft at the lower end of the first arm rod 404, and the connecting shaft 408 is fixedly installed with a driven wheel 409 at the end, and the strip-shaped seat 401 is fixedly installed with two first gear racks 410 which are arranged at intervals, and the first gear racks 410 located at the same side are engaged with the driven wheel 409.

[0026] The adjusting mechanism 2 comprises a support seat 201, which is fixedly installed at the top of the working vehicle 1, and the support seat 201 is rotatably installed with a horizontal shaft 202, and the horizontal shaft 202 is fixedly installed with a connecting seat 203 at the middle, and the connecting seat 203 is fixedly connected with the bottom of the strip-shaped seat 401, and the support seat 201 is provided with a notch 204, and the horizontal shaft 202 is fixedly installed with an incomplete gear 205 below the middle, and the incomplete gear 205 is located in the notch 204, and the support seat 201 is fixedly installed with an electric telescopic rod 206, and the output end of the electric telescopic rod 206 is fixedly installed with a second gear rack 207, and the second gear rack 207 is engaged with the incomplete gear 205.

[0027] The controller 5 can preset a working program or receive external instructions. When mapping, the working vehicle 1 moves to the target mapping area. The controller 5 starts the servo motor 407 to drive the screw rod 406 to rotate, so that the movable seats 403 move towards each other, thereby unfolding the combined arms of the first arm rod 404 and the second arm rod 405, and lifting the mapping instrument 3 to a predetermined working height. According to the mapping requirements, the controller 5 controls the telescopic amount of the electric telescopic rod 206 to adjust the horizontal orientation angle of the mapping instrument 3 through the second gear rack 207 and the incomplete gear 205. The mapping instrument 3 performs measurement work at the specified height and angle. After the mapping task is completed, the controller 5 first controls the electric telescopic rod 206 to straighten the arm rod, and then reverses the servo motor 407 to drive the movable seats 403 to move away, so that the arm rod combination is folded and stored, and finally the mapping instrument 3 is lowered to a compact transportation state, which is convenient for transfer or maintenance.

[0028] When the servo motor 407 is started, it will drive the screw rod 406 to rotate. Since the screw rod 406 is a bidirectional screw rod, and the screw threads of the two movable seats 403 are opposite in direction, when rotating, the two movable seats 403 will move linearly along the axis direction of the screw rod 406 towards or away from each other.

[0029] The linear motion of the movable seat 403 will push the first arm rod 404 hinged thereto to move. The upper end of the first arm rod 404 is hinged to the second arm rod 405, and the top end of the second arm rod 405 is hinged to the bottom of the surveying instrument 3. Therefore, when the two movable seats 403 move close to each other, the two sets of symmetrically distributed first arm rods 404 and second arm rods 405 will be pushed to stretch upward, thereby lifting the surveying instrument 3 and realizing the lengthening of the arm span. Conversely, when the movable seats 403 move away from each other, the arm rod combination will be folded, and the surveying instrument 3 will be lowered.

[0030] To ensure that the arm rod remains stable after being unfolded, a connecting shaft 408, a driven wheel 409, and a first rack 410 are designed. The connecting shaft 408 is fixed to the hinge shaft at the lower end of the first arm rod 404 and is provided with the driven wheel 409. When the movable seat 403 drives the first arm rod 404 to move, the driven wheel 409 will roll along the fixed first rack 410. This meshing process is equivalent to a gear and rack mechanism, which converts the linear translation of the first arm rod 404 into its rotation around the hinge shaft, thereby ensuring that the posture of the arm rod is controllable during unfolding and folding, and effectively enhancing the rigidity of the structure when fully unfolded.

[0031] The adjusting mechanism 2 is responsible for changing the horizontal angle of the entire folding arm mechanism 4 and the surveying instrument 3. The electric telescopic rod 206 is telescopic, and the linear motion of the second rack 207 at the output end of the electric telescopic rod 206 is driven. The second rack 207 is meshed with the incomplete gear 205 fixed on the cross shaft 202. The linear motion of the second rack 207 will be converted into the rotational motion of the incomplete gear 205. Since the incomplete gear 205 and the connecting seat 203 are both fixed on the same cross shaft 202, the rotation of the incomplete gear 205 will drive the cross shaft 202 and the entire bar-shaped seat 401, i.e. the folding arm mechanism 4, to rotate around the axis of the cross shaft 202, thereby realizing the adjustment of the horizontal angle of the surveying instrument 3.

[0032] In further preferred embodiments of the present application: The support seat 201 is fixedly installed with a controller 5 on the side, and the electric telescopic rod 206, the servo motor 407, and the work vehicle 1 are electrically connected to the controller 5 and are controlled by the controller 5.

[0033] The work vehicle 1 is fixedly installed with a downwardly inclined camera 6 at the front end, and the camera 6 is electrically connected to the controller 5. The controller 5 is provided with a wireless communication module, which is used for data interaction with a remote terminal to realize remote control of the running state of the electric telescopic rod 206, the servo motor 407, and the work vehicle 1.

[0034] The bottom of the surveying instrument 3 is fixedly provided with a vertical rod 7, and a guide sleeve 8 is fixedly provided on the strip-shaped seat 401. The lower end of the vertical rod 7 extends into the guide sleeve 8, and the vertical rod 7 is slidingly installed in the guide sleeve 8. A buffer spring is arranged between the lower end of the vertical rod 7 and the inner bottom of the guide sleeve 8, and the buffer spring is arranged in the guide sleeve 8, so as to provide buffer protection during height adjustment of the surveying instrument 3.

[0035] In the embodiment, the newly added camera 6 serves as an environmental perception unit. The camera 6 is fixedly installed on the front section of the working vehicle 1 and is inclined downward. This installation mode aims to continuously monitor the ground conditions in front of the working vehicle 1, the space below the arm folding mechanism, or the preliminary positioning area of the surveying instrument 3. It will transmit real-time video streams to the controller 5.

[0036] During the movement of the working vehicle 1, the controller 5 can perform simple image analysis on the camera 6 picture or the picture can be observed by a remote operator to identify obstacles or feature points, assisting the working vehicle 1 to accurately move into position and prepare for measurement. The operator can view the unfolded state of the folding arm mechanism 4 and the approximate posture of the surveying instrument 3 in real time through the remote terminal, realizing visual monitoring.

[0037] The controller 5 is the command center of the entire robot. The controller 5 is an embedded microprocessor system (such as ATMEGA16 model). It internally stores preset program logic, receives remote instructions from the wireless communication module, and can process simple visual signals from the camera 6. According to these inputs, it accurately outputs control signals: sends pulse signals to the servo motor 407 to control its rotation angle and speed, thereby accurately controlling the unfolded height of the arm; sends switch signals to the electric telescopic rod 206 to control its telescopic stroke, thereby adjusting the angle of the surveying instrument 3.

[0038] The wireless communication module is based on wireless radio frequency technology (such as nRF24L01+ or GPRS). It follows the Modbus communication protocol and is responsible for establishing a data link between the controller 5 and the remote terminal (such as a computer, tablet, or professional remote controller). The controller 5 packages device status (such as arm angle, motor current, etc.) data and sends it out through the module; the remote terminal sends action instructions to the controller 5 through the module to realize remote control of the electric telescopic rod 206, servo motor 407, and the running state of the working vehicle 1.

[0039] The vertical rod 7 is fixed at the bottom of the surveying instrument 3, and its lower end extends into the guide sleeve 8 fixed on the strip-shaped seat 401 to form a sliding fit. The buffer spring between them always provides an upward supporting force. When the working vehicle 1 moves on uneven ground or slight vibration occurs during the unfolding / folding of the arm rod, the impact will be transmitted to the surveying instrument 3. At this time, the vertical rod 7 slides slightly up and down relative to the guide sleeve 8, compresses or releases the buffer spring, and absorbs and dissipates the impact energy by the deformation of the spring, like a "suspension system", effectively protecting the high-precision surveying instrument 3 from instantaneous severe impact.

[0040] This structure also adds an additional vertical support point to the surveying instrument 3, which together with the rear hinged second arm rod 405 forms a more stable geometric structure, limiting the unintended shaking of the surveying instrument 3 that may occur during measurement, especially in the presence of crosswinds or mechanical clearance, helping to improve the accuracy and stability of the measurement.

[0041] It is worth noting that the circuits, electronic components and modules involved in the present application are all prior art and can be implemented by those skilled in the art without further description. The content protected by the present application does not involve improvement of software and methods.

[0042] In several embodiments provided by the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only illustrative, such as the division of the above units, which is only a logical function division, and actual implementation can have another division manner, such as combination or integration of multiple units or components into another system, or some features can be ignored or not executed. In addition, the coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical or other forms.

[0043] The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the protection scope of the application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative labor belong to the scope to be protected by the present application. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art can still combine, add or delete or make other adjustments to the features in the embodiments of the present application according to the circumstances without conflict and creative labor, so as to obtain different other technical solutions which do not deviate from the concept of the present application in essence. These technical solutions also belong to the scope to be protected by the present application.

Claims

1. A collapsible arm span mapping robot, characterized by, The utility model provides a surveying and mapping device, including work car (1), the upper end of work car (1) is provided with adjusting mechanism (2), the upper end of adjusting mechanism (2) is provided with surveying and mapping instrument (3), the lower end of surveying and mapping instrument (3) is installed with folding arm mechanism (4), folding arm mechanism (4) is installed on adjusting mechanism (2), folding arm mechanism (4) is used for adjusting the height of surveying and mapping instrument (3), adjusting mechanism (2) is used for adjusting the angle of folding arm mechanism (4) with surveying and mapping instrument (3); The folding arm mechanism (4) includes a strip-shaped seat (401) installed on the adjusting mechanism (2), a sliding groove (402) is formed on one side of the strip-shaped seat (401), two spaced apart movable seats (403) are slidably installed in the sliding groove (402), a first arm rod (404) is hingedly connected to each of the movable seats (403), a second arm rod (405) is hingedly connected to the upper end of each of the first arm rods (404), the first arm rods (404) and the second arm rods (405) on both sides are symmetrically distributed, and the upper ends of the second arm rods (405) are hingedly connected to the bottom of the surveying and mapping instrument (3).

2. The collapsible arm span mapping robot of claim 1, wherein, The folding arm mechanism (4) further includes a driving assembly for driving the first arm rod (404) and the second arm rod (405) to move.

3. The machine robot of claim 2, wherein, The driving assembly includes a lead screw (406), the lead screw (406) is a bidirectional lead screw, the ends of the lead screw (406) are rotatably installed on the strip-shaped seat (401), the lead screw (406) penetrates through the two movable seats (403) and is threadedly connected with the movable seats (403), a servo motor (407) is fixedly installed on the strip-shaped seat (401), and the output shaft of the servo motor (407) is fixedly connected with one end of the lead screw (406).

4. The collapsible arm span mapping robot of claim 3, wherein, The driving assembly further includes a connecting shaft (408) fixedly connected with the hinge shaft at the lower end of the first arm rod (404), a driven wheel (409) is fixedly installed on the end of the connecting shaft (408), two spaced apart first racks (410) are fixedly installed on the strip-shaped seat (401), and the first racks (410) on the same side are in meshing connection with the driven wheel (409).

5. The collapsible arm-span mapping robot of claim 4, wherein, The adjusting mechanism (2) includes a support seat (201) fixedly installed on the top of the work car (1), a horizontal shaft (202) rotatably installed on the support seat (201), a connecting seat (203) fixedly installed on the middle of the horizontal shaft (202), the upper end of the connecting seat (203) fixedly connected with the bottom of the strip-shaped seat (401), a notch (204) formed on the support seat (201), an incomplete gear (205) fixedly installed below the middle of the horizontal shaft (202), the incomplete gear (205) located in the notch (204), an electric telescopic rod (206) fixedly installed on the support seat (201), and a second rack (207) fixedly installed on the output end of the electric telescopic rod (206), the second rack (207) in meshing connection with the incomplete gear (205).

6. The collapsible arm-span mapping robot of claim 5, wherein, A controller (5) is fixedly installed on the side of the support base (201). The electric telescopic rod (206), servo motor (407), and work vehicle (1) are all electrically connected to the controller (5). The electric telescopic rod (206), servo motor (407), and work vehicle (1) are all controlled by the controller (5).

7. The collapsible arm-span mapping robot of claim 6, wherein, The work vehicle (1) is fixedly equipped with a downwardly tilted camera (6) at the front end, and the camera (6) is electrically connected to the controller (5).

8. The collapsible arm-span mapping robot of claim 7, wherein, The controller (5) is equipped with a wireless communication module, which is used to interact with a remote terminal to remotely control the operation status of the electric telescopic pole (206), the servo motor (407) and the work vehicle (1).

9. The collapsible arm span mapping robot of claim 1, wherein, The bottom of the surveying instrument (3) is fixedly installed with a vertical rod (7), and a guide sleeve (8) is fixedly installed on the strip seat (401). The lower end of the vertical rod (7) extends into the guide sleeve (8), and the vertical rod (7) is slidably installed in the guide sleeve (8).

10. The machine robot of claim 9, wherein, A buffer spring is provided between the lower end of the vertical rod (7) and the bottom of the guide sleeve (8). The buffer spring is located inside the guide sleeve (8) and is used to provide buffer protection during the height adjustment of the surveying instrument (3).

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