Surveying instrument for engineering surveying

Abstract

This invention discloses a surveying instrument for engineering surveying, relating to the field of surveying equipment technology. The surveying instrument includes a base, a walking mechanism, a protective frame, a gripper mechanism, a detection mechanism, an imaging module, an infrared imaging module, and a monitoring module. The walking mechanism is located at the bottom of the base for driving movement; the protective frame is mounted on the top of the base; the gripper mechanism is located at the front end of the top of the base, using multi-axis linkage to grip the instrument or actively clear obstacles; the detection mechanism is installed on the top of the base near the gripper for detection and surveying; the imaging module is mounted on the top of the protective frame for taking pictures; the infrared imaging module is located at the rear of the protective frame; and the monitoring module is located between the detection mechanism and the imaging module. This invention actively clears obstacles along the path through the gripper mechanism and achieves data fusion acquisition in conjunction with a multi-dimensional sensor layout, effectively solving the problems of existing equipment' inability to clear obstacles and its single data acquisition dimension, significantly improving surveying efficiency and environmental adaptability in complex terrains.

Description

Technical Field

[0001] This invention relates to the field of surveying equipment technology, and in particular to a surveying instrument for engineering surveying. Background Technology

[0002] Engineering surveying is a crucial foundational element in fields such as construction, geological exploration, and urban planning. The accuracy and efficiency of data acquisition directly impact the progress and quality of projects. With the development of automation technology, the traditional method of manual, instrument-carrying, fixed-point surveying is gradually being replaced by mobile surveying robots or automated surveying vehicles. These automated devices can carry various sensors to work in complex terrain areas that are difficult for personnel to access or that are dangerous (such as dense forests, ruins, or rugged mountains), greatly reducing the labor intensity of surveyors and improving operational safety. Therefore, they have found wide application prospects in modern engineering surveying.

[0003] However, existing related technologies still have certain limitations. Some engineering surveying instruments are equipped with a mobile base and a lifting and adjusting mechanism. They move by driving rollers with a motor and adjust the height of the surveying instrument using a hydraulic rod to adapt to different surveying needs. Although this device has achieved automated movement and height adjustment of the surveying instrument to a certain extent and solved the problem of time-consuming and laborious manual handling, its ability to cope with complex working conditions is still insufficient.

[0004] The aforementioned existing technologies have the following main drawbacks in practical applications: First, these devices typically only possess passive movement and observation functions, lacking the ability to actively clear obstacles. In complex environments such as the wild or building ruins, the ground is often scattered with branches, rubble, or construction debris. Once the surveying path is blocked or the surveying view is obstructed, existing equipment cannot remove obstacles on its own, leading to interruptions in the surveying task or requiring manual intervention for clearing, severely affecting the continuity of operations. Second, the sensor layout of existing equipment is relatively simple, often only collecting terrain data in a single dimension, lacking a comprehensive monitoring layout for infrared thermal imaging, environmental parameters, and high-definition images. This results in insufficient data dimensions collected under dim lighting or harsh environmental conditions, making it difficult to construct a comprehensive and accurate on-site geographic information model. Summary of the Invention

[0005] (a) Technical problems to be solved To address the technical problems of existing engineering surveying equipment lacking the ability to actively clear obstacles in complex field environments, resulting in obstructed surveying paths and poor operational continuity, as well as the low sensor integration of existing equipment and its inability to simultaneously collect multi-dimensional (visible light, infrared, environmental parameters) comprehensive data, making it difficult to construct a comprehensive and accurate geographic information model, this invention provides a surveying instrument for engineering surveying.

[0006] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: A surveying instrument for engineering surveying includes a base, a walking mechanism, a protective frame, a gripper mechanism, a detection mechanism, an imaging module, a monitoring module, and an infrared imaging module. The walking mechanism is located at the bottom of the base and is used to drive the surveying instrument to move through complex terrain. The protective frame is mounted on the top of the base, providing structural support and protection for the internal equipment. The gripper mechanism is located on the top of the base near the front end and is used to grip the surveying instrument or actively clear obstacles in the path during movement. The detection mechanism is mounted on the top of the base and located near the rear of the gripper mechanism, and is used for main surveying operations. The imaging module is mounted on the top of the protective frame and is used to acquire visible light surveying images from a high-angle perspective. The monitoring module is located between the detection mechanism and the imaging module and is used for auxiliary detection of the terrain and working environment. The infrared imaging module is located at the rear of the protective frame and is used for infrared thermal imaging detection, thereby achieving all-round, multi-dimensional automated surveying operations.

[0007] In a preferred embodiment of the present invention, the detection mechanism is designed as a dual-axis rotating structure, specifically including a mounting base, a movable base, a flip base, a servo motor A, a locking seat, a detector, and a servo motor B. The mounting base is mounted on the top of the base, and a servo motor B is located inside the mounting base to drive the movable base for horizontal rotation adjustment. A flip base is hinged to the movable base, and a servo motor A is located inside the movable base to drive the flip base for vertical pitch angle adjustment. A locking seat is located on the top of the flip base, and the detector is mounted within the locking seat, thereby enabling flexible adjustment of the detector's orientation.

[0008] In a preferred embodiment of the present invention, the gripper mechanism has an attitude adjustment function and includes a stabilizing base, a tilting frame, a front mounting base, a transmission disk, and a servo motor D. A stabilizing base is mounted on the top of the base near the front side. The tilting frame is hinged to the side wall of the stabilizing base, and a servo motor D is mounted inside the stabilizing base to drive the tilting frame to tilt up and down relative to the base. The end face of the tilting frame is connected to the front mounting base, and the transmission disk is connected to the front mounting base, providing a mounting foundation for the gripping action.

[0009] In a preferred embodiment of the present invention, the actuating part of the gripper mechanism adopts a gear linkage structure, and further includes gear rod A, gear rod B, gripper components, hinge rod, linkage rod, servo motor C, and drive gear. Gear rod A, gear rod B, and drive gear are rotatably mounted in a triangular distribution on the transmission disk. The drive gear is driven by the servo motor C and meshes with gear rod B. Gear rod B meshes with gear rod A, achieving synchronous reverse rotation. The ends of gear rod A and gear rod B are connected to the linkage rod via hinge rods, thereby driving the gripper components to open and close, achieving stable gripping of objects.

[0010] In a preferred embodiment of the present invention, the shooting module adopts a ball-head adjustment structure, including a support column, a ball-head support base, a ball-head seat, a positioning pin, a camera, a support frame, and a rotating disk. A support column is mounted on the top of the protective frame, and a ball-head support base is connected to the top of the support column. A ball-head seat is nested inside the support column, and the angle of the ball-head seat can be locked by the positioning pin on the side. A rotating disk is rotatably connected to the top of the ball-head seat, and a camera is detachably mounted on the rotating disk via the support frame, enabling the camera to have omnidirectional adjustment and horizontal rotation capabilities.

[0011] In a preferred embodiment of the present invention, the walking mechanism includes a transmission box, walking wheels, cantilever arms, shock absorbers, a drive motor, and anti-collision beams. The transmission box is mounted at the bottom of the base, and a shock absorber is installed between the transmission box and the walking wheels, with a cantilever arm hinged to it to adapt to bumpy road surfaces. The drive motor connects to the walking wheels to provide power, and anti-collision beams are connected to the front and rear sides to protect the vehicle body.

[0012] In a preferred embodiment of the present invention, the infrared imaging module adopts a sliding rail adjustment structure, including a mounting rod, a guide rail, a slide block, and an infrared camera. The mounting rod and coaxial guide rail are installed on the rear side of the protective frame, and the infrared camera is slidably mounted on the guide rail via the slide block, allowing adjustment of the infrared camera's lateral position as needed.

[0013] In a preferred embodiment of the present invention, the monitoring module includes a mounting pole, supporting legs, and an environmental monitoring instrument. The mounting pole is erected on top of the protective frame between the detection mechanism and the imaging module, and is reinforced to the outer wall of the protective frame by the supporting legs. An environmental monitoring instrument is installed at the top of the mounting pole for collecting on-site environmental data.

[0014] As a preferred embodiment of the present invention, the base is further equipped with a searchlight for illumination, a controller for data processing, and a power supply for power supply, and the protective frame is further equipped with an ultrasonic detector for close-range obstacle avoidance.

[0015] Compared with the prior art, the beneficial effects of the present invention are: First, this invention effectively solves the problem of existing surveying equipment lacking the ability to actively clear obstacles in complex field environments. By setting a multi-degree-of-freedom gripper mechanism at the front of the base, and using a servo motor D to drive the tilting frame to adjust the pitch angle, in conjunction with a servo motor C driving the gripper via a gear and linkage rod to open and close the gripper, this surveying instrument can not only stably hold portable surveying instruments for fixed-point deployment, but also actively grab and remove obstacles (such as branches, rubble, and construction waste) in the path. This active obstacle clearing function significantly improves the surveying instrument's passability and operational continuity in unstructured terrain such as ruins and dense forests, avoiding the predicament of surveying tasks being interrupted or requiring manual intervention due to path obstruction.

[0016] Secondly, this invention overcomes the shortcomings of existing equipment, such as a single sensor layout and insufficient data acquisition dimensions. By scientifically arranging the detection mechanism, imaging module, infrared imaging module, and monitoring module on the base and protective frame, it achieves the fusion acquisition of multi-source data. Specifically, the detection mechanism achieves omnidirectional terrain scanning driven by a dual-axis servo motor; the imaging module uses a ball joint and rotating disk to acquire visible light images from a high-angle perspective; the infrared imaging module, through guide rail sliding adjustment, supplements thermal imaging data in low-light or nighttime environments; and the monitoring module simultaneously collects on-site environmental parameters. This multi-module collaborative working mode enables the surveying instrument to construct on-site geographic information models around the clock and in multiple dimensions, greatly improving the comprehensiveness and accuracy of surveying data.

[0017] Finally, this invention significantly improves the stability and safety of the equipment under harsh working conditions through optimized walking mechanism and protective structure design. The coordinated use of the transmission box, shock absorbers, and cantilever in the walking mechanism effectively filters out vibration interference caused by ground bumps to precision surveying instruments, ensuring the accuracy of data acquisition; the anti-collision beam and protective frame provide physical protection for the core sensors. In addition, the combination of searchlights and ultrasonic detectors further enhances the equipment's environmental awareness and self-protection capabilities in complex terrain, thereby extending the equipment's service life and reducing maintenance costs. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a front perspective view of the present invention; Figure 2 This is a rear perspective view of the present invention; Figure 3 This is a rear bottom view A of the present invention; Figure 4 This is a structural diagram of the gripper mechanism of the present invention; Figure 5 This is a structural diagram of the imaging module of the present invention; Figure 6 This is a rear bottom view B of the present invention; Figure 7 This is a rear view of the present invention; Figure 8 This is a front view of the present invention.

[0019] Reference numerals: 1. Base; 2. Traveling mechanism; 21. Transmission box; 22. Traveling wheel; 23. Cantilever; 24. Shock absorber; 25. Drive motor; 26. Anti-collision beam; 3. Protective frame; 4. Detection mechanism; 41. Mounting base; 42. Movable base; 43. Tilting base; 44. Servo motor A; 45. Snap-fit ​​base; 46. Detector; 47. Servo motor B; 5. Grip mechanism; 51. Stabilizer; 52. Tilting frame; 53. Front mounting base; 54. Transmission plate; 55. Gear rod A; 56. Gear rod B; 57. Gripper; 58. Hinge 59. Linkage rod; 510. Servo motor C; 511. Servo motor D; 512. Drive gear; 6. Shooting module; 61. Support column; 62. Ball head support seat; 63. Ball head seat; 64. Positioning pin; 65. Camera; 66. Support frame; 67. Rotary disk; 7. Infrared shooting module; 71. Mounting rod; 72. Guide rail; 73. Slide seat; 74. Infrared camera; 8. Ultrasonic detector; 9. Monitoring module; 91. Mounting bracket rod; 92. Support foot; 93. Environmental monitor; 10. Searchlight; 11. Controller; 12. Power supply. Detailed Implementation

[0020] Please see Figures 1 to 8 The present invention provides a surveying instrument for engineering surveying, the main structure of which includes a base 1, a walking mechanism 2, a protective frame 3, a gripper mechanism 5, a detection mechanism 4, an imaging module 6, an infrared imaging module 7, and a monitoring module 9.

[0021] The base 1 serves as the supporting foundation for the entire device, and a traveling mechanism 2 is mounted on its bottom to drive the surveying instrument to move in complex terrain. The traveling mechanism 2 specifically includes a transmission box 21 fixedly mounted on the bottom of the base 1, with traveling wheels 22 on both sides of the transmission box 21. To adapt to rugged terrain, shock absorbers 24 are installed between the transmission box 21 and the traveling wheels 22, and a cantilever 23 is hinged to it. This suspension structure effectively buffers ground impacts, ensuring stable operation of the equipment. A drive motor 25 connected to the traveling wheels 22 is also installed at the bottom of the base 1 to provide power. Furthermore, anti-collision beams 26 are connected to the front and rear sides of the traveling mechanism 2 to protect the instrument from collision damage. The base 1 also integrates a searchlight 10 for nighttime illumination, a controller 11 for data processing and control, and a power supply 12 for power supply.

[0022] The protective frame 3 is mounted on top of the base 1 and has a cage-like structure to protect the internal precision instruments. An ultrasonic detector 8 is installed on the protective frame 3 for short-range obstacle detection.

[0023] A gripper mechanism 5 is located on the top of the base 1 near the front end, used to grip surveying instruments or clear obstacles. This mechanism includes a stabilizing base 51 mounted on the base 1, with a servo motor D511 mounted inside the stabilizing base 51. A tilting frame 52 is hinged to the side wall of the stabilizing base 51. The output shaft of the servo motor D511 is connected to the hinge shaft of the tilting frame 52 via a coupling, thereby driving the tilting frame 52 to tilt. A front mounting base 53 is connected to the end face of the tilting frame 52, and a transmission disk 54 is connected to the front mounting base 53. Gear rods A55, B56, and a drive gear 512 are rotatably mounted on the transmission disk 54 in a triangular arrangement. A servo motor C510 is mounted on the tilting frame 52 or the front mounting base 53 to drive the drive gear 512 to rotate. The drive gear 512 meshes with gear rod B56, and gear rod B56 meshes with gear rod A55, achieving synchronous reverse rotation. Both gear rods A55 and B56 are hinged to the ends of a hinge rod 58. The end of the hinge rod 58 furthest from the transmission disk 54 is hinged to a linkage rod 59. The hinged ends of the hinge rod 58 and the linkage rod 59 are connected to a gripper 57. Through the aforementioned gear and linkage transmission, the gripper 57 can be stably opened and closed.

[0024] The detection mechanism 4 is mounted on the top of the base 1 and located behind the gripper mechanism 5. This mechanism includes a mounting base 41 fixed to the base 1, with a servo motor B47 mounted inside the mounting base 41. A movable base 42 is rotatably mounted on the top of the mounting base 41, and the output shaft of the servo motor B47 drives the movable base 42 to rotate horizontally via a coupling. A tilting base 43 is hinged to the movable base 42, and a servo motor A44 is mounted inside the movable base 42. The output shaft of the servo motor A44 drives the tilting base 43 to tilt vertically via a coupling. A locking base 45 is mounted on the top of the tilting base 43, and a detector 46 is vertically mounted inside the locking base 45, thereby enabling omnidirectional angle adjustment of the detector 46.

[0025] The imaging module 6 is mounted on top of the protective frame 3 to acquire images from a high-angle perspective. This module includes a support column 61 mounted on top of the protective frame 3, with a ball joint support 62 connected to the top of the support column 61. A ball joint seat 63 is nested within the ball joint support 62. A locating pin 64 is threaded onto the side of the ball joint support 62 to abut and lock the angle of the ball joint seat 63. A rotating disk 67 is rotatably connected to the top end face of the ball joint seat 63. A support frame 66 is mounted on the rotating disk 67, and a camera 65 is detachably mounted on the support frame 66.

[0026] The monitoring module 9 is located between the detection mechanism 4 and the imaging module 6, and includes a mounting rod 91 erected on top of the protective frame 3. Support legs 92 are installed between the outer wall of the mounting rod 91 and the protective frame 3, forming a stable support structure. An environmental monitoring instrument 93 is installed at the top of the mounting rod 91 for collecting environmental data.

[0027] An infrared imaging module 7 is located at the rear of the protective frame 3 and is used for infrared thermal imaging detection. This module includes a mounting rod 71 mounted on the rear side of the protective frame 3, with a guide rail 72 coaxially mounted on the mounting rod 71. A slide block 73 is slidably mounted on the guide rail 72, and an infrared camera 74 is mounted on the slide block 73, allowing the infrared camera 74 to be adjusted laterally along the guide rail 72.

[0028] In practical use, the controller 11 coordinates the operation of each component. During movement, the power supply 12 provides power, the drive motor 25 drives the walking wheels 22 to rotate, the cantilever 23 and the shock absorber 24 work together to filter ground bumps, the anti-collision beam 26 provides physical protection, and the searchlight 10 and the ultrasonic detector 8 assist in environmental perception.

[0029] When it is necessary to clear obstacles or clamp equipment, servo motor D511 drives the tilting frame 52 to tilt downwards to a suitable height. Then, servo motor C510 drives the drive gear 512 to rotate, which, through gear rods B56 and A55, causes the gripper 57 connected to the ends of the hinge rod 58 and the linkage rod 59 to close, gripping the target object. Subsequently, the tilting frame 52 returns to its original position or adjusts its angle to complete the cleaning or handling task.

[0030] During surveying operations, the detection mechanism 4 uses servo motor B47 to drive the movable base 42 to rotate horizontally, and servo motor A44 drives the tilting base 43 to adjust the pitch, enabling the detector 46 to scan the surrounding terrain without blind spots. The imaging module 6 determines the initial pitch angle by manually adjusting the ball joint 63 and locking it with the positioning pin 64, and then the rotating disk 67 drives the camera 65 to perform 360-degree panoramic imaging. The monitoring module 9 records meteorological data in real time through the environmental monitoring instrument 93. The infrared imaging module 7 captures thermal imaging data through the infrared camera 74 and can slide along the guide rail 72 to fine-tune the observation angle. All collected data is aggregated to the controller 11 for processing or transmission, realizing multi-dimensional engineering surveying.

Claims

1. A surveying instrument for engineering surveying, characterized in that, include: Base (1); The walking mechanism (2) is located at the bottom of the base (1) and is used to drive the surveying instrument to move. A protective frame (3) is mounted on top of the base (1); The gripper mechanism (5) is located on the top of the base (1) near the front end and is used to grip surveying instruments or clear obstacles. The detection mechanism (4) is installed on the top of the base (1) and located near the rear of the gripper mechanism (5) for detection and mapping; The shooting module (6) is installed on the top of the protective frame (3) and is used for taking pictures and mapping. A monitoring module (9) is disposed between the detection mechanism (4) and the shooting module (6) for terrain detection operations; An infrared imaging module (7) is located at the tail of the protective frame (3) and is used for infrared detection.

2. The surveying instrument for engineering surveying according to claim 1, characterized in that, The detection mechanism (4) includes a mounting base (41), a movable base (42), a flip base (43), a servo motor A (44), a snap-fit ​​base (45), a detector (46), and a servo motor B (47). The mounting base (41) is fixedly installed on the top of the base (1); the servo motor B (47) is installed inside the mounting base (41), and the output shaft of the servo motor B (47) is rotatably connected to the movable seat (42) through a coupling to drive the movable seat (42) to rotate horizontally relative to the mounting base (41); The movable seat (42) is rotatably mounted on the top of the mounting seat (41), and a servo motor A (44) is mounted on the inner side of the movable seat (42); the flip seat (43) is hinged to the movable seat (42), and the output shaft of the servo motor A (44) is connected to the hinge shaft of the flip seat (43) through a coupling to drive the flip seat (43) to flip. The card holder (45) is located on the top of the flip seat (43), and the detector (46) is erected and installed inside the card holder (45).

3. The surveying instrument for engineering surveying according to claim 1, characterized in that, The gripper mechanism (5) includes a stabilizing seat (51), a flipping frame (52), a front mounting seat (53), a transmission disk (54), and a servo motor D (511). The stabilizer (51) is installed on the top of the base (1) near the front side, and a servo motor D (511) is installed on the inner side of the stabilizer (51). One end of the flipping frame (52) is hinged to the side wall of the stabilizing seat (51), and the output shaft of the servo motor D (511) is connected to the hinge shaft of the flipping frame (52) through a coupling to drive the flipping frame (52) to flip. The front mounting base (53) is connected to the other end face of the tilting frame (52), and the transmission disk (54) is connected to the front mounting base (53).

4. The surveying instrument for engineering surveying according to claim 3, characterized in that, The gripper mechanism (5) also includes gear rod A (55), gear rod B (56), gripper (57), hinge rod (58), linkage rod (59), servo motor C (510) and drive gear (512). The servo motor C (510) is mounted on the tilting frame (52) or the front mounting base (53) and is used to drive the drive gear (512). The gear rod A (55), gear rod B (56) and drive gear (512) are all rotatably mounted on the transmission disk (54) and are arranged in a triangular pattern; the drive gear (512) meshes with the gear rod B (56) and the gear rod B (56) meshes with the gear rod A (55); The ends of gear rod A (55) and gear rod B (56) are both hinged to hinge rods (58). The end of the hinge rod (58) away from the transmission disk (54) is hinged to the transmission disk (54) and a linkage rod (59). The hinged ends of the hinge rod (58) and the linkage rod (59) are connected to the gripper (57) for performing the clamping action.

5. A surveying instrument for engineering surveying according to claim 1, characterized in that, The shooting module (6) includes a support column (61), a ball head support (62), a ball head seat (63), a positioning pin (64), a camera (65), a support frame (66), and a rotating disk (67). The support column (61) is installed on the top of the protective frame (3), and the ball head support seat (62) is connected to its top end; the ball head seat (63) is nested in the ball head support seat (62); the side of the ball head support seat (62) is threaded with a positioning pin (64) that can abut against the ball head seat (63) to lock the position of the ball head seat; The rotating disk (67) is rotatably connected to the top end face of the ball head seat (63), the support frame (66) is mounted on the rotating disk (67), and the camera (65) is detachably mounted on the support frame (66).

6. The surveying instrument for engineering surveying according to claim 1, characterized in that, The monitoring module (9) includes a mounting bracket (91), a support leg (92), and an environmental monitoring instrument (93); The mounting rod (91) is erected on the top of the protective frame (3) between the detection mechanism (4) and the shooting module (6); the support foot (92) is installed between the outer wall of the mounting rod (91) and the protective frame (3) for support and fixation; the environmental monitoring instrument (93) is installed on the top of the mounting rod (91).

7. A surveying instrument for engineering surveying according to claim 1, characterized in that, The infrared imaging module (7) includes a mounting rod (71), a guide rail (72), a slide (73), and an infrared camera (74). The mounting rod (71) is mounted on the rear side of the protective frame (3), and the guide rail (72) is coaxially mounted on the mounting rod (71); the slide block (73) is slidably mounted on the guide rail (72), and the infrared camera (74) is mounted on the slide block (73).

8. A surveying instrument for engineering surveying according to claim 1, characterized in that, The walking mechanism (2) includes a transmission box (21), a walking wheel (22), a cantilever (23), a shock absorber (24), a drive motor (25), and a crash beam (26). The transmission box (21) is installed at the bottom of the base (1); the walking wheel (22) is located below the base, and a shock absorber (24) is provided between the transmission box (21) and the walking wheel (22) and a cantilever (23) is hinged to it; the drive motor (25) is located at the bottom of the base (1) and connected to the walking wheel (22) to drive its operation; the anti-collision beam (26) is connected to the front and rear sides of the walking mechanism (2); In addition, a searchlight (10), a controller (11) and a power supply (12) are installed on the base (1), and an ultrasonic detector (8) is installed on the protective frame (3).

Images