Seismic level cooperative measurement device

Abstract

A seismic level cooperative measurement device relates to the technical field of seismic level measurement; including bottom plate, walking wheel assembly, driving wheel assembly, control power supply assembly, bearing assembly and marking assembly; walking wheel assembly and driving wheel assembly are both installed on the lower surface of bottom plate, control power supply assembly, bearing assembly and marking assembly are all installed on bottom plate; walking wheel assembly and driving wheel assembly are electrically connected with control power supply assembly respectively; bearing assembly is electrically connected with control power supply assembly, bearing assembly is configured as loading ruler, control power supply assembly controls bearing assembly to unload ruler in preset position; marking assembly is electrically connected with control power supply assembly, control power supply assembly controls marking assembly to spray mark in preset position. The present application provides a kind of seismic level cooperative measurement device to solve the technical problems of higher cost, lower efficiency, greater labor intensity and measurement accuracy easily affected by human factors in the prior art seismic level measurement operation mode.

Description

Technical Field

[0001] This invention relates to the field of seismic leveling technology, and more specifically, to a seismic leveling collaborative measurement device. Background Technology

[0002] Information on vertical surface deformation and its research findings are indispensable components for understanding crustal deformation and earthquake-generating mechanisms, exploring its impact on the environment, and advancing the development of geodynamics. They serve as a crucial foundation for in-depth research. Seismic leveling is a key technology for acquiring vertical surface deformation data, playing an irreplaceable role in earthquake activity monitoring, fault activity research, and ground subsidence assessment. However, traditional seismic leveling has long faced challenges such as low efficiency, high cost, poor accuracy and stability, and relatively dangerous operating environments. Especially in earthquake-prone areas or extreme environments, manual measurement struggles to meet the demands for high timeliness and accuracy. With the rapid development of artificial intelligence, robotics, and multi-sensor fusion technologies, the development of intelligent instruments with collaborative operation capabilities has become an urgent industry need.

[0003] The principle of seismic leveling is mainly to determine the elevation difference between two points on the ground using a level instrument and a leveling rod. For example... Figure 1 As shown, the typical operation mode of seismic leveling is as follows: Leveling rod A and leveling rod B are erected at points A and B on the ground, respectively. A level instrument is placed between A and B to observe leveling rods A and B. The horizontal line of sight of the level instrument is used to read the reading 'a' on leveling rod A and the reading 'b' on leveling rod B, thereby calculating the elevation difference H between points A and B. AB =ab. Based on this principle, using elevation benchmarks or known points in the area as the starting point, and following the "GB / T 12897-2006" leveling measurement standard, the elevation of point A relative to the geoid Ha and the elevation of point B relative to the geoid Hb can be measured. Furthermore, the elevation of each turning point can be determined station by station along the selected leveling route. In this process, the positioning accuracy of the turning points (the temporary locations where leveling rods are erected to transfer elevation) directly determines the measurement efficiency and data reliability.

[0004] In recent years, to improve the efficiency of distance measurement at various points and meet diverse operational needs, surveyors have continuously explored more convenient and efficient distance measurement equipment. The earliest method used manual rope measuring, relying on two people to straighten the rope to determine the distance between stations. This method had poor terrain adaptability, and the efficiency in mountainous areas was less than 2 kilometers per day. Later, surveyors developed a hand-pushed mechanical wheeled distance measuring vehicle. For example, the wheel circumference was precisely calibrated to 1 meter, and a mechanical counter was driven by a coupling to achieve digital display of the travel distance. However, it still had problems such as slope error, steering deviation, and terrain limitations, and could not meet the high-precision requirements in complex environments.

[0005] Furthermore, according to leveling measurement specifications, before setting up the leveling rod at a turning point (or measuring point), a dedicated rod platform must be placed on the ground. The leveling rod is placed vertically on the hemisphere of the platform to ensure that the elevation of the leveling rod remains stable during the measurement process and is not affected by conversions (such as from foresight to backsight). In actual measurement, the selected measuring point locations also need to be painted on the ground to accurately mark the points, providing a clear ground reference for subsequent re-measurements and data verification. This is an important foundation for ensuring the traceability of measurement points and the consistency of data.

[0006] Problems with the current seismic leveling surveying operation mode:

[0007] 1. In terms of measurement accuracy, the error in determining the placement of instruments and rulers by manual distance measurement can reach ±0.5 meters. The measurement accuracy is greatly affected by human factors and is difficult to meet the requirements of high-precision operation.

[0008] 2. In terms of manpower allocation, traditional surveying requires 6-7 people to cooperate in completing the entire process (holding the measuring rod, observing, passing the measuring rod platform, measuring distance), which is labor-intensive and has a high proportion of labor costs.

[0009] 3. In terms of operational efficiency, the weight of a single measuring platform can reach 5kg, and it can be moved more than 100 times a day, accumulating more than 10 kilometers. In addition, the existing manual distance measurement methods such as mechanical vehicles or measuring ropes, and manual spraying of paint on the ground at selected measurement points, are slow, labor-intensive, and have low observation efficiency. Therefore, there is an urgent need to equip it with power auxiliary equipment.

[0010] In summary, the existing seismic leveling surveying methods need to be optimized in terms of accuracy, cost, efficiency, and labor intensity. Summary of the Invention

[0011] The purpose of this invention is to provide a seismic leveling collaborative measurement device, which can, to a certain extent, solve the technical problems of high cost, low efficiency, high labor intensity, and easy influence of human factors on measurement accuracy in the existing seismic leveling operation mode.

[0012] To achieve the above objectives, the present invention provides the following technical solution:

[0013] A seismic leveling collaborative measurement device includes a base plate, a traveling wheel assembly, a drive wheel assembly, a control power supply assembly, a load-bearing assembly, and a marking assembly;

[0014] The walking wheel assembly and the drive wheel assembly are both mounted on the lower surface of the base plate, and the control power supply assembly, the load-bearing assembly and the marking assembly are all mounted on the base plate;

[0015] The walking wheel assembly and the drive wheel assembly are respectively electrically connected to the control power supply assembly. The control power supply assembly controls the walking wheel assembly to achieve steering and orientation, and controls the drive wheel assembly to provide power.

[0016] The bearing component is electrically connected to the control power supply component. The bearing component is configured as a loading platform. The control power supply component controls the bearing component to unload the platform at a preset position.

[0017] The marking component is electrically connected to the control power supply component, and the control power supply component controls the marking component to spray markings at preset positions.

[0018] Optionally, the walking wheel assembly includes a walking wheel, a support base, a wheel axle, a wheel connector, a support connector, and an elastic element;

[0019] The walking wheel is rotatably connected to the wheel axle, and the walking wheel is configured to rotate about the axis of the wheel axle; the wheel connector is rotatably connected to the wheel axle, and the rotation axis of the wheel connector is perpendicular to the axis of the wheel axle.

[0020] The support base is fixedly connected to the base plate; one end of the support connector is hinged to the support base, and the other end is hinged to the wheel connector;

[0021] One end of the elastic element is fixedly connected to the base plate, and the other end is hinged to the wheel connector.

[0022] Optionally, the walking wheel, the wheel axle, the wheel connector, the support connector, and the elastic member form a partial structure of the walking wheel; the number of the partial structures of the walking wheel is two; the two partial structures of the walking wheel are symmetrically arranged about the support base.

[0023] The walking wheel assembly also includes a transmission connector, a transmission rod, and a steering servo electrically connected to the control power supply assembly; both ends of the transmission connector are respectively hinged to the corresponding wheel shaft; the axial direction of the hinge shaft of the transmission connector is perpendicular to the axial direction of the wheel shaft; the steering servo is fixedly connected to the support base, and the drive end of the steering servo is connected to the transmission rod to drive the transmission rod to swing.

[0024] A convex shaft is provided in the middle of the transmission connector, and a transmission groove is provided at the end of the transmission rod away from the steering servo; the convex shaft is configured to slide in the transmission groove along a direction perpendicular to the swing direction of the transmission rod.

[0025] Optionally, the support connector includes a first support connector and a second support connector; one end of the first support connector and the second support connector are respectively hinged to the support base, and the other end of the first support connector and the second support connector are respectively hinged to the wheel connector, and the first support connector and the second support connector are arranged parallel to each other;

[0026] The wheel connector has a first pivot shaft at its top and a second pivot shaft at its bottom; the axial direction of the first pivot shaft is parallel to the axial direction of the second pivot shaft, and the rotation axis of the wheel connector, the axial direction of the wheel's rotation axis, and the axial direction of the first pivot shaft are perpendicular to each other; the first support connector and the elastic member are both pivotally connected to the first pivot shaft, and the first support connector and the elastic member are located on both sides of the wheel connector; the second support connector is pivotally connected to the second pivot shaft.

[0027] The elastic element is a telescopic rod or a shock-absorbing spring.

[0028] Optionally, the support component includes a platform component, a platform driver, and a platform transmission mechanism; the platform driver is electrically connected to the control power supply component.

[0029] The base plate has an unloading hole, the platform driver is fixed on the base plate, and its driving end is driven to connect to the platform component through the platform transmission mechanism so that the platform component can move to close the unloading hole to support the scale, or open the unloading hole to unload the scale.

[0030] Optionally, the platform component includes a first platform component and a second platform component;

[0031] The platform driver is of two types, one of which is connected to the first platform component via the platform transmission mechanism, and the other is connected to the second platform component via the platform transmission mechanism.

[0032] The platform transmission mechanism includes a gear and rack mechanism;

[0033] The base plate is provided with a sliding groove for the first platform component and the second platform component to slide;

[0034] The base plate is fixedly connected to a positioning component; when the unloading hole is opened to a preset position, the first platform component and / or the second platform component abut against the positioning component.

[0035] The first platform component is provided with a clearance groove at one end near the second platform component, and / or the second platform component is provided with a clearance groove at one end near the first platform component;

[0036] A stop is fixedly connected to the upper surface of the base plate, and the stop is disposed around the unloading hole.

[0037] Optionally, the marking assembly includes a marking base, a marking driver, a gas injector, a pigment injector, and a tag card;

[0038] The marking base is fixedly connected to the base plate;

[0039] The marker driver, the gas injector, and the pigment injector are each electrically connected to the control power supply assembly and are all fixedly connected to the marker base.

[0040] The driving end of the tag driver is connected to the tag card, so that the tag card rotates about its own axis; the tag card has a plurality of through holes for tag patterns;

[0041] The gas injector is configured to inject gas outward, and the nozzle of the gas injector corresponds to the position of one of the marked pattern through holes;

[0042] The pigment injector is configured to spray pigment outwards, with the direction of the pigment spraying direction forming an angle with the direction of the gas spraying direction of the gas injector. The nozzle height of the pigment injector is lower than the nozzle height of the gas injector, so that the gas sprayed by the gas injector can propel the pigment sprayed by the pigment injector onto the label card and through the marking pattern through-hole to form a mark.

[0043] Optionally, the marking assembly further includes a marking power supply electrically connected to the control power supply assembly; the marking power supply powers the marking driver, the gas injector, and the pigment injector;

[0044] The pigment injector includes a paint can and a pigment air pressure spray gun, and the paint can and the pigment air pressure spray gun are detachably connected; the pigment air pressure spray gun is connected to the marking base by a shock-absorbing bracket.

[0045] The tag card is coaxially and fixedly connected to the output shaft of the driving end of the tag driver;

[0046] The gas injector is at least one of an air gun, an air pump, a high-pressure gas cylinder, or an air bag.

[0047] The label card has a circular disc-shaped structure; the through hole of the marking graphic is at least one of the following: circular, triangular, pentagonal, crescent-shaped, and cross-shaped.

[0048] Optionally, the drive wheel assembly includes a drive wheel, a drive connector, and a wheel driver; the drive connector is fixedly connected to the lower surface of the base plate, and the drive wheel is rotatably connected to the drive connector; the wheel driver is fixedly connected to the drive connector or the base plate, and the drive end of the wheel driver is connected to the drive wheel to drive the drive wheel to rotate.

[0049] The number of the drive wheel and the wheel drive are both two, with each wheel drive connected to a single drive wheel;

[0050] The wheel drive includes a brushless DC motor and a rotary encoder electrically connected to the control power supply component. The brushless DC motor drives the drive wheel, and the rotary encoder is configured to detect the rotational speed of the drive wheel and send drive wheel rotational speed information to the control power supply component.

[0051] Optionally, the control power supply assembly includes a power supply, a controller, a power supply bracket, and a remote control device; the power supply bracket is fixedly connected to the upper surface of the base plate, the power supply is fixedly connected to the power supply bracket, and the controller is fixedly connected to the base plate or the power supply bracket.

[0052] The controller includes a main control chip, and also includes a voltage regulator module, a wireless communication module, a Hall sensor, a motion measurement sensor, a display screen, and a buzzer that are electrically connected to the main control chip.

[0053] The power supply is electrically connected to the main control chip and is used to supply power to the seismic leveling collaborative measurement device.

[0054] The wireless communication module is connected to the main control chip; the main control chip is configured to acquire the control signal of the remote control device through the wireless communication module, and to implement corresponding control based on the control signal;

[0055] The Hall sensor is configured to acquire the rotational speed of the walking wheel assembly and / or the drive wheel assembly; the motion measurement sensor is configured to acquire the motion data of the seismic leveling collaborative measurement device; the display screen is configured to display the display information sent by the main control chip; the main control chip is configured to control the on / off state of the buzzer;

[0056] The remote control device includes at least one of a remote control handle, a mobile phone, a tablet computer, and a computer;

[0057] The base plate is made of lightweight, high-strength aluminum alloy, and the outer protective housing of the control power supply component is made of steel plate.

[0058] The main beneficial effects of this invention are:

[0059] The seismic leveling collaborative measurement device provided by this invention uses a walking wheel assembly for steering and orientation, a drive wheel assembly for power, and a load-bearing assembly for loading and unloading the measuring rod at a preset position. This replaces the manual handling and placement of the measuring rod in traditional seismic leveling. A marking assembly allows for automatic marking at preset positions, replacing manual marking. This seismic leveling collaborative measurement device can replace personnel in performing a series of heavy and repetitive manual tasks such as measuring rod transportation, movement between points, precise placement, and marking. It frees surveyors from auxiliary work, allowing them to focus on instrument operation and data quality control. This effectively solves the technical problems of high labor costs, high labor intensity, low work efficiency, and susceptibility to human factors in measurement accuracy that exist in traditional manual seismic leveling methods.

[0060] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0061] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 A schematic diagram of the existing seismic leveling principle;

[0063] Figure 2 A first-view structural schematic diagram of the earthquake leveling collaborative measurement device provided in an embodiment of the present invention;

[0064] Figure 3 for Figure 2 Enlarged view of area A of the seismic leveling collaborative measurement device shown;

[0065] Figure 4 A second-view structural schematic diagram of the earthquake leveling collaborative measurement device provided in an embodiment of the present invention;

[0066] Figure 5 A third-view structural schematic diagram of the earthquake leveling collaborative measurement device provided in an embodiment of the present invention;

[0067] Figure 6 for Figure 5 The image shows a BB-direction cross-section of the seismic leveling cooperative measurement device.

[0068] Figure 7 for Figure 5The image shows a CC-direction cross-section of the seismic leveling cooperative measurement device.

[0069] Figure 8 for Figure 5 Right view of the seismic leveling collaborative measurement device shown;

[0070] Figure 9 for Figure 8 A bottom view of the seismic leveling collaborative measurement device shown;

[0071] Figure 10 A schematic diagram of the electrical principle of the earthquake leveling collaborative measurement device provided in an embodiment of the present invention.

[0072] Icons: 100-Base plate; 200-Walking wheel assembly; 210-Walking wheel; 220-Support base; 230-Wheel axle; 240-Wheel connector; 241-First pivot axle; 242-Second pivot axle; 250-Support connector; 251-First support connector; 252-Second support connector; 260-Elastic element; 270-Transmission connector; 271-Piston shaft; 280-Transmission rod; 281-Transmission groove; 290-Steering servo; 300-Drive wheel assembly; 310-Drive wheel; 320-Drive connector; 400-Control power supply Electrical components; 410-Power supply; 420-Controller; 430-Power supply bracket; 500-Bearing component; 510-Platform component; 511-First platform component; 512-Second platform component; 513-Gateway; 520-Platform driver; 530-Platform transmission mechanism; 540-Stop component; 550-Positioning component; 600-Marking component; 610-Marking base component; 620-Marking driver; 630-Gas injector; 640-Pigment injector; 641-Paint can; 642-Pigment air pressure spray gun; 650-Label card component; 660-Marking power supply. Detailed Implementation

[0073] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0074] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0075] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0076] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0077] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0078] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0079] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0080] This embodiment provides a seismic leveling collaborative measurement device, which can be used for collaborative seismic leveling measurements. It can load a measuring rod and unload it at a preset location (such as a turning point). It can also spray markings at preset locations (such as measuring points). It can replace personnel in transporting, moving, placing, and marking the measuring rod at preset locations, freeing surveyors from auxiliary work and allowing them to focus on instrument operation and data quality control.

[0081] See Figures 2-10 As shown, the seismic leveling collaborative measurement device (hereinafter referred to as the device) provided in this embodiment includes a base plate 100, a walking wheel assembly 200, a drive wheel assembly 300, a control power supply assembly 400, a load-bearing assembly 500, and a marking assembly 600.

[0082] The walking wheel assembly 200 and the drive wheel assembly 300 are both mounted on the lower surface of the base plate 100, and the control power supply assembly 400, the load-bearing assembly 500 and the marking assembly 600 are all mounted on the base plate 100.

[0083] The traveling wheel assembly 200 and the drive wheel assembly 300 are electrically connected to the control power supply assembly 400. The control power supply assembly 400 controls the traveling wheel assembly 200 to achieve steering and orientation, and controls the drive wheel assembly 300 to provide power. In this embodiment, the traveling wheel assembly 200, as the core mechanism for realizing the steering and orientation functions of this device, is designed to ensure accurate and reliable heading control even under complex road conditions. In this embodiment, the drive wheel assembly 300 is mainly used to provide power.

[0084] The load-bearing component 500 is electrically connected to the control power supply component 400. The load-bearing component 500 is configured as a loading platform, and the control power supply component 400 controls the unloading platform of the load-bearing component 500 to a preset position.

[0085] The marking component 600 is electrically connected to the control power supply component 400, and the control power supply component 400 controls the marking component 600 to spray markings at preset positions.

[0086] The seismic leveling collaborative measurement device described in this embodiment uses a walking wheel assembly 200 for steering and orientation, a drive wheel assembly 300 for power, and a load-bearing assembly 500 for loading and unloading the measuring rod at a preset position. This replaces the manual handling and placement of the measuring rod in traditional seismic leveling. A marking assembly 600 can spray markings at preset positions, replacing manual marking operations and achieving automatic marking. This seismic leveling collaborative measurement device can replace personnel in performing a series of heavy and repetitive physical tasks such as measuring rod transportation, movement between points, precise placement, and marking. It frees surveyors from auxiliary work, allowing them to focus on instrument operation and data quality control. This effectively solves the technical problems of high labor costs, high labor intensity, low work efficiency, and susceptibility to human factors in measurement accuracy that exist in traditional manual seismic leveling methods.

[0087] See Figures 2-8 As shown, in the optional embodiment, the walking wheel assembly 200 includes a walking wheel 210, a support base 220, a wheel axle 230, a wheel connector 240, a support connector 250, and an elastic member 260.

[0088] The traveling wheel 210 is rotatably connected to the wheel axle 230, and the traveling wheel 210 is configured to rotate about the axis of the wheel axle 230. The wheel connector 240 is rotatably connected to the wheel axle 230, and the axis of rotation of the wheel connector 240 is perpendicular to the axis of rotation of the wheel axle 230. The axis of rotation of the wheel connector 240 is the axis through which the wheel connector 240 rotates about the wheel axle 230.

[0089] The support base 220 is fixedly connected to the base plate 100; one end of the support connector 250 is hinged to the support base 220, and the other end of the support connector 250 is hinged to the wheel connector 240. The support base 220 is used to fix the walking wheel assembly 200 to the base plate 100, thus forming the main support for the walking wheel assembly 200.

[0090] One end of the elastic element 260 is fixedly connected to the base plate 100, and the other end of the elastic element 260 is hinged to the wheel connector 240. The elastic element 260 can effectively buffer road bumps and effectively isolate the direct impact of the walking wheel assembly 200 on the base plate 100, the load-bearing assembly 500, and the marking assembly 600.

[0091] The seismic leveling collaborative measurement device described in this embodiment includes a walking wheel assembly 200 comprising a walking wheel 210, a support base 220, a wheel axle 230, a wheel connector 240, a support connector 250, and an elastic element 260. It integrates suspension and steering functions, ensuring that the walking wheel 210 can buffer and reduce vibrations as the road surface undulates, improve driving smoothness and passability, while reliably completing steering actions. This helps to simplify the structure of the seismic leveling collaborative measurement device, reduce space occupation, and improve overall integration. It ensures the driving stability and operational flexibility of the seismic leveling collaborative measurement device, and facilitates assembly, debugging, and subsequent maintenance.

[0092] Optionally, the wheel connector 240 is U-shaped, with at least a portion of the wheel axle 230 located inside the U-shaped wheel connector 240. By employing a U-shaped wheel connector 240, the stability of the wheel connector 240 rotating around the wheel axle 230 can be effectively improved. In this embodiment, the wheel connector 240 can also adopt other shapes.

[0093] See Figures 2-8As shown, in the optional embodiment, the traveling wheel 210, wheel axle 230, wheel connector 240, support connector 250, and elastic member 260 form a partial structure of the traveling wheel; there are two partial structures of the traveling wheel; the two partial structures of the traveling wheel are symmetrically arranged about the support base 220. By symmetrically arranging the two partial structures of the traveling wheel about the support base 220, the force on the traveling wheel assembly 200 can be more evenly distributed, which can effectively ensure the stability of straight-line driving. At the same time, it can ensure that the two traveling wheels 210 move synchronously and have the same steering angle when turning, which can effectively improve steering accuracy and handling balance. It also helps to reduce tire wear on the traveling wheels 210, extend tire life, and make the overall structure of the device neat and easy to assemble and maintain.

[0094] Optionally, the wheel assembly 200 also includes a transmission connector 270, a transmission rod 280, and a steering servo 290 electrically connected to the control power supply assembly 400; the control power supply assembly 400 is electrically connected to the steering servo 290 so that the control power supply assembly 400 can control the steering servo 290, thereby controlling the steering of the wheel assembly 200.

[0095] Both ends of the transmission connector 270 are hinged to the corresponding wheel shafts 230, that is, the transmission connector 270 is connected between the wheel shafts 230 of the two walking wheel partial structures; the axial direction of the hinge axis of the transmission connector 270 is perpendicular to the axial direction of the wheel shaft 230, wherein the hinge axis of the transmission connector 270 is the hinge axis between the transmission connector 270 and the wheel shaft 230, that is, the rotation axis of the transmission connector 270 around the wheel shaft 230.

[0096] The steering servo 290 is fixedly connected to the support base 220. The drive end of the steering servo 290 is connected to the transmission rod 280 to drive the transmission rod 280 to swing. The transmission rod 280 is connected to the middle of the transmission connector 270.

[0097] In this embodiment, the seismic leveling collaborative measurement device, when a turn is required, controls the power supply component 400 to send a command to the steering servo motor 290, thereby controlling the drive end of the steering servo motor 290 to drive the transmission rod 280 to rotate, thereby driving the transmission connecting member 270 to move (e.g., Figure 7 As shown, the transmission connector 270 is moved laterally. The movement of the transmission connector 270 causes the wheel shafts 230 of the two traveling wheels to rotate simultaneously, thereby causing the two traveling wheels 210 to rotate synchronously. This enables precise and consistent changes in the steering angle of the two traveling wheels 210. The entire linkage mechanical structure of the traveling wheel assembly 200 ensures the synchronicity of the steering of the two wheels (two traveling wheels 210), providing a direct, reliable, and responsive directional control reference for this device, and ensuring the stability of the pointing and the accuracy of trajectory tracking when traveling on rough or sloping roads.

[0098] See Figure 7 As shown, in the optional embodiment, a convex shaft 271 is provided in the middle of the transmission connector 270, and a transmission groove 281 is provided at the end of the transmission rod 280 opposite to the steering servo 290. The convex shaft 271 is configured to slide within the transmission groove 281 in a direction perpendicular to the swing direction of the transmission rod 280. Through the cooperation of the convex shaft 271 and the transmission groove 281, it is easy to swing the transmission rod 280 to drive the transmission connector 270 to move. When the road surface is bumpy, the force transmitted from the travel wheel 210 can cause the transmission connector 270 to move up and down. By sliding the convex shaft 271 within the transmission groove 281 in a direction perpendicular to the swing direction of the transmission rod 280, that is, by sliding the convex shaft 271 approximately in the up and down direction within the transmission groove 281, it is beneficial to reduce the impact on the transmission rod 280 caused by the up and down movement of the transmission connector 270 due to road bumps, thereby effectively reducing the impact on the steering servo 290 and effectively protecting the steering servo 290.

[0099] See Figures 4-8 As shown, in an optional embodiment, the support connector 250 includes a first support connector 251 and a second support connector 252; one end of the first support connector 251 and the second support connector 252 are respectively hinged to the support base 220, and the other end of the first support connector 251 and the second support connector 252 are respectively hinged to the wheel connector 240, and the first support connector 251 and the second support connector 252 are arranged in parallel; the structural connection between the wheel connector 240 and the support base 220 is enhanced by the first support connector 251 and the second support connector 252. In this embodiment, there are two local structures for the walking wheel, that is, there are two support connectors 250, two first support connectors 251 and two second support connectors 252. The two first support connectors 251 and the two second support connectors 252 are hinged to both sides of the support base 220 and hinged to the two wheel connectors 240 to form a stable spatial linkage structure, which can significantly improve the integrity and torsional stiffness of the connection between the walking wheel assembly 200 and the base plate 100.

[0100] like Figure 7 and Figure 8As shown, optionally, a first pivot shaft 241 is provided at the top of the wheel connector 240, and a second pivot shaft 242 is provided at its bottom; the axial direction of the first pivot shaft 241 is parallel to the axial direction of the second pivot shaft 242, and the rotation axis of the wheel connector 240, the axial direction of the wheel shaft 230, and the axial direction of the first pivot shaft 241 are mutually perpendicular; the first support connector 251 and the elastic member 260 are both pivotally connected to the first pivot shaft 241, and the first support connector 251 and the elastic member 260 are located on both sides of the wheel connector 240; the second support connector 252 is pivotally connected to the second pivot shaft 242. Through the positional connection relationship of the first pivot shaft 241, the second pivot shaft 242, and the first support connector 251 and the elastic member 260, the overall structural stability of the walking wheel assembly 200 is improved, which is beneficial to improving the torsional stiffness of the connection between the walking wheel assembly 200 and the base plate 100.

[0101] Optionally, the second pivot shaft 242 is clamped on both sides of the wheel connector 240, that is, the second pivot shaft 242 has a groove to accommodate at least part of the wheel connector 240. For example, the second pivot shaft 242 is in the shape of a ladder, or the second pivot shaft 242 is in the shape of a plate with a groove at one end, or the second pivot shaft 242 is in other shapes.

[0102] Optionally, the elastic element 260 can be a telescopic rod or a shock-absorbing spring, or other elastic structure.

[0103] See Figure 2 , Figures 4-6 and Figure 9 As shown, in an optional embodiment, the supporting component 500 includes a platform component 510, a platform driver 520, and a platform transmission mechanism 530. The platform driver 520 is electrically connected to the control power supply component 400 so that the control power supply component 400 can control the platform driver 520. In this embodiment, the platform component 510 is used to support the scale; when the platform component 510 is opened, the scale falls from the unloading hole on the base plate 100 to unload the scale; when the platform component 510 is closed, it blocks the unloading hole of the base plate 100 to support the scale.

[0104] Specifically, the base plate 100 has an unloading hole, the platform driver 520 is fixed on the base plate 100, and the driving end of the platform driver 520 drives the platform component 510 through the platform transmission mechanism 530 to move the platform component 510 to close the unloading hole and carry the platform, or to open the unloading hole and unload the platform.

[0105] Optionally, the platform component 510 includes a first platform component 511 and a second platform component 512; the number of platform drivers 520 is two, one platform driver 520 is driven to connect to the first platform component 511 through the platform transmission mechanism 530, and the other platform driver 520 is driven to connect to the second platform component 512 through the platform transmission mechanism 530; by using the first platform component 511 and the second platform component 512, it is convenient to open and close the platform component 510, thereby facilitating the unloading platform and the carrying platform.

[0106] Optionally, the platform transmission mechanism 530 includes a gear and rack mechanism. The gear and rack mechanism features high transmission accuracy, compact structure, smooth transmission, and rapid response, enabling precise linear motion output and reliable power transmission. It also has small meshing clearance, high efficiency, long service life, and facilitates installation, debugging, and subsequent maintenance, effectively improving the overall control accuracy and operational stability of the load-bearing component 500. In this embodiment, the platform transmission mechanism 530 can also employ other transmission mechanisms, such as worm gear mechanisms or lead screw and nut mechanisms.

[0107] Optionally, the base plate 100 is provided with a sliding groove for sliding the first platform member 511 and the second platform member 512; the sliding groove restricts the sliding direction of the first platform member 511 and the second platform member 512, and also helps the base plate 100 to support the first platform member 511 and the second platform member 512.

[0108] Optionally, the base plate 100 is fixedly connected to a positioning member 550; when the unloading hole is opened to a preset position, the first platform member 511 and / or the second platform member 512 abut against the positioning member 550; the positioning member 550 is used to limit the sliding position of the first platform member 511 and the second platform member 512.

[0109] See Figure 9 As shown, in the optional solution of this embodiment, the first platform component 511 is provided with a relief groove 513 at one end near the second platform component 512, and / or the second platform component 512 is provided with a relief groove 513 at one end near the first platform component 511; the relief groove 513 is used to avoid some structures at the bottom of the ruler, which is conducive to the ruler being placed more stably on the platform component 510.

[0110] like Figure 2 As shown, optionally, a stop 540 is fixedly connected to the upper surface of the base plate 100, and the stop 540 is disposed around the unloading hole. The stop 540 forms a limiting barrier for the platform, which can effectively prevent the platform from sliding laterally or falling accidentally during the movement, turning or road bumps of the seismic leveling cooperative measurement device, and can ensure the safety and stability of the platform during continuous transportation.

[0111] In the seismic leveling collaborative measurement device described in this embodiment, when the measuring platform is in the supporting state, the first platform component 511 and the second platform component 512 are in the closed state, jointly supporting the measuring platform. When the measuring platform needs to be unloaded, the control power supply component 400 drives the two platform actuators 520 to rotate, which in turn drives the first platform component 511 and the second platform component 512 to move synchronously through the platform transmission mechanism 530. For example, the first platform component 511 and the second platform component 512 are driven to move in opposite directions to open the platform component 510, that is, to open the unloading hole. The measuring platform falls freely and quickly from the platform component 510 under its own weight, accurately reaching the preset point on the ground, completing the automated unloading of the measuring platform. The sliding groove and positioning component 550 set in the base plate 100 play a guiding, supporting and sliding limiting role, effectively ensuring the accurate movement trajectory of the first platform component 511 and the second platform component 512, preventing off-center slippage under long-term load or vehicle vibration, and maintaining the long-term stability of clamping. The stop 540 forms a limiting barrier for the platform on the upper surface of the base plate 100, which can effectively prevent the platform from sliding laterally or falling accidentally during the movement, turning or road bumps of the seismic leveling cooperative measurement device, and ensure the safety and stability of the platform during continuous transportation.

[0112] See Figure 2 , Figure 3 and Figure 9 As shown, in an optional embodiment, the marking component 600 includes a marking base 610, a marking driver 620, a gas injector 630, a pigment injector 640, and a tag card 650.

[0113] The marking base 610 is fixedly connected to the base plate 100; for example, the marking base 610 is fixedly connected to the base plate 100 by means of screws, welding or the like.

[0114] The marker driver 620, gas injector 630, and pigment injector 640 are electrically connected to the control power supply assembly 400 and are all fixedly connected to the marker base 610. The marker driver 620, gas injector 630, and pigment injector 640 are electrically connected to the control power supply assembly 400 so that the control power supply assembly 400 can control the corresponding actions of the marker driver 620, gas injector 630, and pigment injector 640.

[0115] The driving end of the label driver 620 is connected to the label holder 650, causing the label holder 650 to rotate about its own axis. The label holder 650 has several through holes for marking patterns. The gas injector 630 is configured to inject gas outward, and the nozzle of the gas injector 630 corresponds to the position of one of the through holes for marking patterns. By driving the label holder 650 with the label driver 620, the positions of different through holes for marking patterns on the label holder 650 can correspond to the positions of the nozzles of the gas injector 630, thereby providing labels of different shapes.

[0116] The pigment ejector 640 is configured to eject pigment outwards, and the direction in which the pigment ejector 640 ejects pigment forms an angle with the direction in which the gas ejector 630 ejects gas; optionally, the direction in which the pigment ejector 640 ejects pigment is perpendicular or approximately perpendicular to the direction in which the gas ejector 630 ejects gas.

[0117] The nozzle height of the pigment injector 640 is lower than that of the gas injector 630, so that the gas ejected by the gas injector 630 can propel the pigment ejected by the pigment injector 640 onto the label card 650 and through the through-hole of the marking pattern to form a mark. For example, the distance between the nozzle of the pigment injector 640 and the nozzle of the gas injector 630 is approximately 1 cm, and both are precisely aligned directly above the through-hole of the marking pattern corresponding to the target pattern on the label card 650.

[0118] Optionally, the nozzle of the pigment injector 640 or the nozzle of the gas injector 630 has a millimeter-level orifice. Optionally, the pigment injector 640 or the gas injector 630 can release a high-pressure gas flow instantaneously.

[0119] In this embodiment, the marker driver 620, gas injector 630, and pigment injector 640 can use the power supply of the seismic leveling collaborative measurement device or be powered independently. For example, the voltage required by the marker driver 620, gas injector 630, and pigment injector 640 of the marker assembly 600 may differ from the power supply of the seismic leveling collaborative measurement device; for instance, the operating voltage of the marker driver 620, gas injector 630, and pigment injector 640 of the marker assembly 600 may be higher. By using a separate power supply for the marker assembly 600, it can be physically isolated from the power supply of the seismic leveling collaborative measurement device, avoiding the impact of power fluctuations or drops in the power supply of the seismic leveling collaborative measurement device on the stability and reliability of the marker operation, and ensuring that the marker assembly 600 operates stably from start to finish.

[0120] For example, see Figure 2 , Figure 3 and Figure 9As shown, in an optional embodiment, the marking assembly 600 further includes a marking power supply 660 electrically connected to the control power supply assembly 400. The marking power supply 660 supplies power to the marking driver 620, the gas injector 630, and the pigment injector 640. That is, the marking driver 620, the gas injector 630, and the pigment injector 640 are powered by separate marking power supplies 660 to isolate them from the power supply of the seismic leveling collaborative measurement device. By using separate marking power supplies 660 to power the marking assembly 600, the structure of the seismic leveling collaborative measurement device is simplified to a certain extent, and the power requirements of the seismic leveling collaborative measurement device are reduced. By electrically connecting the marking power supply 660 to the control power supply assembly 400, the control power supply assembly 400 can easily control whether the marking power supply 660 supplies power to the marking driver 620, the gas injector 630, and the pigment injector 640, as well as the amount of power supplied.

[0121] Optionally, the pigment injector 640 includes a paint can 641 and a pigment air pressure spray gun 642, which are detachably connected to each other to facilitate the replacement of the paint can 641.

[0122] Optionally, the pigment pneumatic spray gun 642 is connected to the marking base 610 using a shock-absorbing bracket; the shock-absorbing bracket can effectively buffer the vibration of the seismic leveling cooperative measuring device during its movement, preventing accidental triggering and leakage of the pigment pneumatic spray gun 642.

[0123] Optionally, the label holder 650 is coaxially fixedly connected to the drive end output shaft of the marking driver 620. This coaxial fixed connection effectively ensures the rotational accuracy of the label holder 650 driven by the marking driver 620, facilitating the rapid positioning of the selected graphic on the label holder 650 to the spraying position.

[0124] Optionally, the gas injector 630 is at least one of an air gun, an air pump, a high-pressure gas cylinder, or an air bag, and the gas injector 630 may also be other gas injection devices.

[0125] Optionally, the label card 650 has a circular disc-shaped structure or other shapes; optionally, the marking graphic through-hole is at least one of a circle, triangle, pentagon, crescent, and cross. The marking graphic through-hole can also take other shapes. The marking graphic through-hole can be formed by etching or embedding.

[0126] The seismic leveling collaborative measurement device described in this embodiment features a marking component 600 that can automatically spray and mark at preset positions, offering ease of use and high marking accuracy. The marking base 610 can be designed with standardized, modular mounting holes and slots for precise positioning and fixing of components such as the marking driver 620, gas injector 630, pigment injector 640, and marking power supply 660, enabling rapid disassembly and replacement of each functional unit. In standby mode, the pigment in the pigment injector 640 is sealed in a container, for example, paint. When marking is required, the control power supply component 400 first instructs the marking driver 620 to drive the label card 650 to rotate, positioning the pre-selected marking pattern through hole below the nozzle of the paint injector 640 and the nozzle of the gas injector 630; then the gas injector 630 is triggered, and the high-speed airflow ejected by the gas injector 630 creates a negative pressure in front of the nozzle of the paint injector 640. The paint air pressure spray gun 642 of the paint injector 640 draws out the paint in the paint can 641 and atomizes it. The atomized paint is sprayed vertically downward under the action of the high-speed airflow ejected by the gas injector 630, passing through the corresponding marking pattern through hole on the label card 650, and finally forming a clear and standardized marking pattern on the ground.

[0127] See Figure 4 and Figure 5 As shown, in the optional embodiment, the drive wheel assembly 300 is mainly used for power supply and differential driving control. For example, the drive wheel assembly 300 includes a drive wheel 310, a drive connector 320, and a wheel driver electrically connected to the control power supply assembly 400. The drive connector 320 is fixedly connected to the lower surface of the base plate 100, and the drive wheel 310 is rotatably connected to the drive connector 320. The wheel driver is fixedly connected to the drive connector 320 or the base plate 100, and the drive end of the wheel driver is connected to the drive wheel 310 to drive the drive wheel 310 to rotate. The drive connector 320 connects the drive wheel 310 to the lower surface of the base plate 100. The wheel driver is electrically connected to the control power supply assembly 400 so that the control power supply assembly 400 can control the wheel driver, thereby controlling the drive wheel 310. In this embodiment, the wheel drive can integrate the FOC algorithm (field orientation control algorithm) and electronic brake control function, which can not only output torque efficiently and smoothly to adapt to the climbing requirements, but also achieve fast and controllable braking and energy recovery, thereby enhancing driving safety and energy utilization efficiency on steep slopes and complex terrain.

[0128] Optionally, there are two drive wheels 310 and two wheel drives, with each wheel drive connected to a single drive wheel 310; connecting a single drive wheel 310 to a single wheel drive facilitates differential travel control of the drive wheel assembly 300.

[0129] Optionally, the wheel drive includes a brushless DC motor and a rotary encoder electrically connected to the control power supply component 400. The brushless DC motor drives the drive wheel 310, and the rotary encoder is configured to detect the rotational speed of the drive wheel 310 and send the drive wheel speed information to the control power supply component 400. For example, the wheel drive is independently driven by a 24V brushless DC motor and integrates a high-precision rotary encoder for real-time feedback of wheel speed and rotational position, enabling steering and precise heading correction.

[0130] In this embodiment, the control power supply component 400 can integrate the energy supply and intelligent sensing core of this device, providing power assurance and data foundation for the stable operation and autonomous decision-making of this device. See also Figure 10 As shown, in the optional embodiment, the control power supply component 400 includes a power supply 410, a controller 420, a power supply bracket 430, and a remote control device. The power supply bracket 430 is fixedly connected to the upper surface of the base plate 100, the power supply 410 is fixedly connected to the power supply bracket 430, and the controller 420 is fixedly connected to either the base plate 100 or the power supply bracket 430. The power supply 410 can be stably and quickly fixedly connected to the base plate 100 via the power supply bracket 430. In this embodiment, the power supply 410, for example, uses a 24V / 20Ah lithium battery pack as the main power source for the device's power and control system. This battery pack has high energy density and stable discharge characteristics, providing continuous and stable power output to the walking wheel assembly 200, drive wheel assembly 300, control circuit, and sensors, ensuring the device's endurance requirements for long-term, continuous operation in the field.

[0131] Optionally, the controller 420 includes a main control chip, and also includes a voltage regulator module, a wireless communication module, a Hall sensor, a motion measurement sensor, a display screen, and a buzzer, all electrically connected to the main control chip. The motion measurement sensor may be, for example, an MPU6050.

[0132] Optionally, the power supply 410 is electrically connected to the main control chip to supply power to the seismic leveling collaborative measurement device; the voltage regulator module can be used to convert the input voltage of the power supply 410 into a stable and reliable operating voltage to provide stable power to the main control chip, sensors and various functional modules. It has the advantages of small voltage fluctuation, strong anti-interference ability and high operating stability, which can effectively avoid damage to the circuit caused by voltage change and help ensure the long-term reliable operation of the entire system.

[0133] Optionally, the wireless communication module is connected to the main control chip; the main control chip is configured to acquire control signals from the remote control device through the wireless communication module and implement corresponding control based on the control signals; by connecting the wireless communication module to the main control chip, the control signals and data information can be transmitted quickly and stably, reducing intermediate links, improving response speed and communication reliability, simplifying circuit structure, reducing interference risk, and helping to ensure the real-time performance and accuracy of remote control commands, thereby improving the overall stability of control.

[0134] Optionally, the Hall sensor is configured to collect the rotational speed of the walking wheel assembly 200 and / or the drive wheel assembly 300; the motion measurement sensor is configured to collect the motion data of the seismic leveling collaborative measurement device; the Hall sensor and the motion measurement sensor continuously collect the device's driving and attitude raw data, which, after being fused and calculated by the main control chip, can accurately obtain the device's position, speed, heading, and real-time slope information. This information can be used for local autonomous decision-making, such as positioning turning points at different slopes, releasing the measuring platform, and triggering the DC motor to mark predetermined points; on the other hand, it can be uploaded to the remote control device via the wireless communication module, forming the data foundation for remote monitoring and cluster scheduling.

[0135] Optionally, the display screen is configured to display information sent by the main control chip.

[0136] Optionally, the main control chip is configured to control the on / off state of the buzzer.

[0137] Optionally, the remote control device includes at least one of a remote control handle, a mobile phone, a tablet computer, and a computer; the remote control device may also include other remotely controlled devices.

[0138] Optionally, the base plate 100 is made of lightweight, high-strength aluminum alloy, or other materials. Optionally, the external protective housing of the control power supply component 400 is made of steel plate to ensure its rigidity and protective performance. In this embodiment, the control power supply component 400 may also be made of other materials.

[0139] The seismic leveling collaborative measurement device described in this embodiment features high integration and adaptability to field environments. Through an integrated and intelligent electromechanical system, it can achieve key field operation functions such as automatic and stable transportation of the leveling platform, precise positioning and vertical deployment of measurement points, and standardized automatic graphic marking. This device can establish a new mode of "human-machine collaboration and parallel operation," thereby significantly improving the overall accuracy and efficiency of seismic leveling measurements and greatly reducing reliance on manpower and long-term operating costs.

[0140] The seismic leveling collaborative measurement device described in this embodiment has the following functions and features:

[0141] 1. A high-precision positioning method for turning points in complex terrain. By collecting and processing road slope data through multiple sensors and combining it with the effective reading range requirements of the leveling rod in the leveling surveying specifications, the maximum effective sight distance under different slope conditions is dynamically determined. The control and measurement device is then precisely driven to the preset turning point position, triggering audible and visual alarm prompts, effectively replacing manual distance measurement and point finding operations.

[0142] 2. It enables automatic transport of the measuring platform and rapid, stable, and vertical unloading at the measurement point, effectively solving the problem of high physical exertion in manual handling and setting up of the platform in traditional leveling surveying, and significantly improving work efficiency. Specifically, through the mechanical constraints of the upper stop and lower clamp (the stop 540 on the upper surface of the base plate 100 forms a limiting barrier for the platform, and the platform 510 is closed to support the bottom of the platform) and the vertical gravity release mechanism, the shaking, tilting, and positional deviation caused by manual handling and placement of the platform are effectively solved, ensuring the physical accuracy of the measurement benchmark from the source.

[0143] 3. Enables automatic marking of multiple types of locations. By controlling the rotation of the tag card 650 (providing differentiated markings) through the marking driver 620 of the marking component 600 and the precise spraying of the gas injector 630 and pigment injector 640, highly reliable automatic marking can be achieved on demand, ensuring accurate and clear marking positions, and can replace manual marking operations.

[0144] 4. Significantly enhanced adaptability to complex terrain and operational reliability. The walking scheme, which combines the mechanical linkage orientation of the walking wheel assembly 200 with the electronic differential drive of the drive wheel assembly 300, enables this device to have both reliable directional control and highly flexible power distribution. Combined with real-time attitude perception and closed-loop control, this device can maintain stable driving and accurate trajectory tracking on non-standard road surfaces such as slopes and rugged terrain, greatly expanding the operational boundaries of automated measurement.

[0145] 5. Significantly reduced labor and operating costs. One unit can effectively replace multiple auxiliary workers, directly saving labor costs and reducing work interruptions caused by factors such as worker fatigue and weather. Long-term maintenance costs are far lower than continuous manual labor input, resulting in significant economic benefits. Simultaneously, it frees workers from high-risk, high-fatigue tasks such as long-distance heavy-duty walking and frequent bending over to place objects, reducing the risk of work-related injuries and occupational health hazards.

[0146] 6. Promote the standardization and intelligentization of measurement processes. The seismic leveling collaborative measurement device described in this embodiment provides a complete automated solution, offering replicable technical equipment for the standardization and streamlining of seismic leveling and even broader engineering surveying field operations. This helps to promote the upgrading of industry operating standards.

[0147] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A seismic leveling collaborative measurement device, characterized in that, It includes a base plate (100), a traveling wheel assembly (200), a drive wheel assembly (300), a control power supply assembly (400), a load-bearing assembly (500), and a marking assembly (600). The walking wheel assembly (200) and the drive wheel assembly (300) are both mounted on the lower surface of the base plate (100), and the control power supply assembly (400), the load-bearing assembly (500) and the marking assembly (600) are all mounted on the base plate (100); The walking wheel assembly (200) and the drive wheel assembly (300) are electrically connected to the control power supply assembly (400), respectively. The control power supply assembly (400) controls the walking wheel assembly (200) to achieve steering and orientation, and controls the drive wheel assembly (300) to provide power. The bearing component (500) is electrically connected to the control power supply component (400). The bearing component (500) is configured as a loading platform. The control power supply component (400) controls the bearing component (500) to unload the platform at a preset position. The marking component (600) is electrically connected to the control power supply component (400), and the control power supply component (400) controls the marking component (600) to spray markings at a preset position. The support component (500) includes a platform component (510), a platform driver (520), and a platform transmission mechanism (530); the platform driver (520) is electrically connected to the control power supply component (400); The base plate (100) has an unloading hole. The platform driver (520) is fixed on the base plate (100), and its driving end is connected to the platform component (510) through the platform transmission mechanism (530) so that the platform component (510) can move to close the unloading hole and carry the platform, or open the unloading hole and unload the platform. The platform component (510) includes a first platform component (511) and a second platform component (512); The number of platform drivers (520) is two. One platform driver (520) is driven to connect to the first platform component (511) through the platform transmission mechanism (530), and the other platform driver (520) is driven to connect to the second platform component (512) through the platform transmission mechanism (530). The platform transmission mechanism (530) includes a gear and rack mechanism; The base plate (100) is provided with a sliding groove for the first platform component (511) and the second platform component (512) to slide; The base plate (100) is fixedly connected to a positioning member (550); when the unloading hole is opened to the preset position, the first platform member (511) and / or the second platform member (512) abut against the positioning member (550). A stop (540) is fixedly connected to the upper surface of the base plate (100), and the stop (540) is disposed around the unloading hole.

2. The seismic leveling collaborative measurement device according to claim 1, characterized in that, The walking wheel assembly (200) includes a walking wheel (210), a support base (220), a wheel axle (230), a wheel connector (240), a support connector (250), and an elastic element (260). The walking wheel (210) is rotatably connected to the wheel axle (230), and the walking wheel (210) is configured to rotate about the axis of the wheel axle (230); the wheel connector (240) is rotatably connected to the wheel axle (230), and the axis of rotation of the wheel connector (240) is perpendicular to the axis of the wheel axle (230); The support base (220) is fixedly connected to the base plate (100); one end of the support connector (250) is hinged to the support base (220), and the other end is hinged to the wheel connector (240); One end of the elastic element (260) is fixedly connected to the base plate (100), and the other end is hinged to the wheel connector (240).

3. The seismic leveling collaborative measurement device according to claim 2, characterized in that, The walking wheel (210), the wheel axle (230), the wheel connector (240), the support connector (250), and the elastic member (260) form a partial structure of the walking wheel; there are two partial structures of the walking wheel; the two partial structures of the walking wheel are symmetrically arranged about the support base (220); The walking wheel assembly (200) further includes a transmission connector (270), a transmission rod (280), and a steering servo (290) electrically connected to the control power supply assembly (400); both ends of the transmission connector (270) are respectively hinged to the corresponding wheel axle (230); the axial direction of the hinge axis of the transmission connector (270) is perpendicular to the axial direction of the wheel axle (230); the steering servo (290) is fixedly connected to the support base (220), and the driving end of the steering servo (290) is connected to the transmission rod (280) to drive the transmission rod (280) to swing; The transmission connector (270) has a convex shaft (271) in the middle, and the transmission rod (280) has a transmission groove (281) at the end opposite to the steering servo (290); the convex shaft (271) is configured to slide in the transmission groove (281) in a direction perpendicular to the swing direction of the transmission rod (280).

4. The seismic leveling collaborative measurement device according to claim 2, characterized in that, The support connector (250) includes a first support connector (251) and a second support connector (252); one end of the first support connector (251) and the second support connector (252) are respectively hinged to the support base (220), and the other end of the first support connector (251) and the second support connector (252) are respectively hinged to the wheel connector (240), and the first support connector (251) and the second support connector (252) are arranged in parallel. The wheel connector (240) has a first pivot shaft (241) at its top and a second pivot shaft (242) at its bottom; the axial direction of the first pivot shaft (241) is parallel to the axial direction of the second pivot shaft (242), and the rotation axis of the wheel connector (240), the axial direction of the wheel shaft (230), and the axial direction of the first pivot shaft (241) are perpendicular to each other; the first support connector (251) and the elastic member (260) are both pivotally connected to the first pivot shaft (241), and the first support connector (251) and the elastic member (260) are located on both sides of the wheel connector (240); the second support connector (252) is pivotally connected to the second pivot shaft (242); The elastic element (260) is a telescopic rod or a shock-absorbing spring.

5. The seismic leveling collaborative measurement device according to claim 1, characterized in that, The first platform component (511) is provided with a clearance groove (513) at one end near the second platform component (512), and / or the second platform component (512) is provided with a clearance groove (513) at one end near the first platform component (511).

6. The seismic leveling collaborative measurement device according to claim 1, characterized in that, The marking assembly (600) includes a marking base (610), a marking driver (620), a gas injector (630), a pigment injector (640), and a label holder (650). The marking base (610) is fixedly connected to the base plate (100); The marker driver (620), the gas injector (630) and the pigment injector (640) are electrically connected to the control power supply assembly (400) respectively, and are all fixedly connected to the marker base (610); The driving end of the tag driver (620) is connected to the tag card (650) so that the tag card (650) rotates about its own axis; the tag card (650) has a plurality of through holes for tag patterns; The gas injector (630) is configured to inject gas outward, and the nozzle of the gas injector (630) corresponds to the position of one of the marked pattern through holes; The pigment injector (640) is configured to inject pigment outwards, the direction in which the pigment injector (640) injects pigment forms an angle with the direction in which the gas injector (630) injects gas, and the nozzle height of the pigment injector (640) is lower than the nozzle height of the gas injector (630) so that the gas injected by the gas injector (630) can propel the pigment injected by the pigment injector (640) onto the label card (650) and through the marking pattern through-hole to form a mark.

7. The seismic leveling collaborative measurement device according to claim 6, characterized in that, The marking assembly (600) further includes a marking power supply (660) electrically connected to the control power supply assembly (400); the marking power supply (660) supplies power to the marking driver (620), the gas injector (630), and the pigment injector (640). The pigment injector (640) includes a paint can (641) and a pigment air pressure spray gun (642), the paint can (641) and the pigment air pressure spray gun (642) are detachably connected; the pigment air pressure spray gun (642) is connected to the marking base (610) by a shock-absorbing bracket; The tag card (650) is coaxially and fixedly connected to the drive end output shaft of the tag driver (620); The gas injector (630) is at least one of an air gun, an air pump, a high-pressure gas cylinder, or an air bag; The label card (650) has a circular disc-shaped structure; the marking graphic through hole is at least one of the following: circular, triangular, pentagonal, crescent-shaped, and cross-shaped.

8. The seismic leveling collaborative measurement device according to claim 1, characterized in that, The drive wheel assembly (300) includes a drive wheel (310), a drive connector (320), and a wheel driver; the drive connector (320) is fixedly connected to the lower surface of the base plate (100), and the drive wheel (310) is rotatably connected to the drive connector (320); the wheel driver is fixedly connected to the drive connector (320) or the base plate (100), and the drive end of the wheel driver is connected to the drive wheel (310) to drive the drive wheel (310) to rotate; The number of drive wheels (310) and the number of wheel drivers are both two, with each wheel driver connected to a single drive wheel (310). The wheel drive includes a brushless DC motor and a rotary encoder electrically connected to the control power supply assembly (400). The brushless DC motor drives the drive wheel (310), and the rotary encoder is configured to detect the rotational speed of the drive wheel (310) and send drive wheel rotational speed information to the control power supply assembly (400).

9. The seismic leveling collaborative measurement device according to claim 1, characterized in that, The control power supply assembly (400) includes a power supply (410), a controller (420), a power supply bracket (430), and a remote control device; the power supply bracket (430) is fixedly connected to the upper surface of the base plate (100), the power supply (410) is fixedly connected to the power supply bracket (430), and the controller (420) is fixedly connected to the base plate (100) or the power supply bracket (430); The controller (420) includes a main control chip, and also includes a voltage regulator module, a wireless communication module, a Hall sensor, a motion measurement sensor, a display screen and a buzzer that are electrically connected to the main control chip; The power supply (410) is electrically connected to the main control chip and is used to supply power to the seismic leveling collaborative measurement device; The wireless communication module is connected to the main control chip; the main control chip is configured to acquire the control signal of the remote control device through the wireless communication module, and to implement corresponding control based on the control signal; The Hall sensor is configured to acquire the rotational speed of the walking wheel assembly (200) and / or the drive wheel assembly (300); the motion measurement sensor is configured to acquire the motion data of the seismic leveling collaborative measurement device; the display screen is configured to display the display information sent by the main control chip; the main control chip is configured to control the on / off state of the buzzer; The remote control device includes at least one of a remote control handle, a mobile phone, a tablet computer, and a computer; The base plate (100) is made of lightweight and high-strength aluminum alloy, and the outer protective shell of the control power supply component (400) is made of steel plate structure.

Images