Earthwork measuring device

Abstract

The utility model provides an earthwork measuring device which comprises a vehicle frame plate, a vehicle frame is arranged on the top of the vehicle frame plate, a machine base is arranged on the top of the vehicle frame, and a plurality of unmanned aerial vehicles are arranged on the top of the machine base. Each of the frame and the unmanned aerial vehicle is provided with a battery, a Bluetooth module, a probe, a storage module and a signal transmission module; a wheel set is arranged at the bottom of the frame plate and is used for moving; and a charging mechanism is arranged between the unmanned aerial vehicle and the base. A plurality of unmanned aerial vehicles are matched for use, the efficiency is higher, the detection result is more accurate, and the situation that the unmanned aerial vehicles fail and are not replaced can be avoided; the unmanned aerial vehicle can supplement electric quantity in time after working, detection in a larger range is more convenient, efficiency is higher, and the unmanned aerial vehicle can adapt to more use requirements.

Description

TECHNICAL FIELD

[0001] The utility model relates to earthwork measurement technical field, concretely relates to earthwork measurement device. BACKGROUND

[0002] As a key link of engineering construction, earthwork measurement has decisive influence on engineering cost budget and scheme optimization. Therefore, before construction activity, engineering unit must carry out accurate measurement to earthwork volume. How to obtain terrain data through measurement technology and realize rapid and accurate calculation of earthwork volume has become the core problem of engineering unit.

[0003] Traditional earthwork measurement method mainly relies on manual operation, such as using level, total station instrument and other equipment to carry out single point measurement, then obtains earthwork information through manual calculation and drawing.

[0004] With the development of technology, in current earthwork measurement practice, most construction units tend to adopt unmanned aerial vehicle or real-time kinematic (RTK) technology, wherein unmanned aerial vehicle measurement technology has attracted much attention in recent years, which can greatly save manpower by capturing terrain features through high-resolution camera and measuring earthwork volume through software analysis, and the unmanned aerial vehicle often cooperates with ground robot to carry out more accurate measurement.

[0005] However, in the process of actual use, the endurance of single unmanned aerial vehicle is limited, which is not applicable to large-area measurement, especially when cooperating with ground robot measurement, the ground robot can carry more power, but the unmanned aerial vehicle cannot use large-volume battery due to the influence of working mode and weight limit, so the ground robot continues to work while the unmanned aerial vehicle runs out of power, which brings inconvenience to actual measurement and affects efficiency. UTILITY MODEL CONTENTS

[0006] The main purpose of the utility model is to provide an earthwork measurement device, which solves the problems of insufficient endurance of unmanned aerial vehicle and low measurement efficiency.

[0007] To solve the above technical problems, the utility model adopts the following technical scheme:

[0008] An earthwork measurement device, comprising a frame plate, a frame is arranged on the top of the frame plate, a seat is arranged on the top of the frame, and a plurality of unmanned aerial vehicles are arranged on the top of the seat.

[0009] The frame and the unmanned aerial vehicles are each provided with a battery, a Bluetooth module, a probe, a storage module and a signal transmission module.

[0010] A wheel set is arranged on the bottom of the frame plate, and the wheel set is used for moving.

[0011] A charging mechanism is arranged between the unmanned aerial vehicles and the seat.

[0012] In the preferred scheme, the unmanned aerial vehicle is provided with a flight control system for controlling the unmanned aerial vehicle to fly in a fixed horizontal plane and always be above the frame;

[0013] The frame is provided with a control unit connected with the unmanned aerial vehicle and the wheel set for transmitting signals and controlling the wheel set and the flight control system.

[0014] In the preferred scheme, the frame plate is provided with a mechanical arm for multi-angle monitoring and obstacle removal.

[0015] In the preferred scheme, the wheel set comprises two support plates arranged at the bottom of the frame plate, and the support plates are provided with a plurality of first crawler wheels connected through a first crawler belt;

[0016] The side of the support plate away from the first crawler wheel is provided with a first motor, and the output shaft of the first motor is provided with a transmission shaft;

[0017] The transmission shaft is connected with the first crawler wheel.

[0018] In the preferred scheme, the transmission shaft connected with the outermost first crawler wheel passes through the first crawler wheel and is provided with a second crawler wheel;

[0019] The frame plate is provided with two wheel frames, and the wheel frame is provided with a third crawler wheel, and the third crawler wheel and the second crawler wheel are connected through a second crawler belt.

[0020] In the preferred scheme, the surfaces of the first crawler belt and the second crawler belt are provided with anti-skid protrusions;

[0021] The inner sides of the first crawler belt and the second crawler belt and the peripheral surfaces of the first crawler wheel, the third crawler wheel and the second crawler wheel are provided with anti-skid teeth.

[0022] In the preferred scheme, the charging mechanism comprises a fixing seat arranged on the base, and the fixing seat is provided with a plug-in block extending to the top surface of the base;

[0023] The side surface of the unmanned aerial vehicle is provided with a fixing plate;

[0024] The top of the plug-in block is provided with a magnet, and the bottom of the fixing plate is provided with an iron ring, and the magnet and the iron ring are in position correspondence;

[0025] The top of the plug-in block is provided with a first contact type charging head, and the bottom of the fixing plate is provided with a second contact type charging head, and the first contact type charging head and the second contact type charging head are matched;

[0026] The first contact type charging head is electrically connected with the battery in the frame through a connecting line;

[0027] The second contact type charging head is electrically connected with the battery in the unmanned aerial vehicle.

[0028] In the preferred scheme, the first contact charging head is slidingly connected to the inside of the plug block and extends to the top of the plug block.

[0029] The first contact charging head is provided with a movable column and a reset spring at the bottom;

[0030] The inside of the fixed seat is provided with a tactile sensor;

[0031] The inside of the fixed seat is provided with a control circuit board;

[0032] The control circuit board is electrically connected with the tactile sensor, the first contact charging head and the battery in the vehicle frame.

[0033] In the preferred scheme, when the magnet contacts the iron ring, the reset spring is compressed, and the tactile sensor contacts the movable column;

[0034] When the magnet does not contact the iron ring, there is a gap between the tactile sensor and the movable column.

[0035] The utility model provides a kind of earthwork measuring device, by using above scheme, with following beneficial effect:

[0036] 1, simple operation, robot is used with unmanned aerial vehicle, it is convenient to measure the earthwork information of measured area quickly, and measurement efficiency is higher.

[0037] 2, multiple unmanned aerial vehicles are used in cooperation, efficiency is higher, detection result is more accurate, and unmanned aerial vehicle failure without replacement situation can also be avoided.

[0038] 3, unmanned aerial vehicle can supplement power in time after working, it is more convenient to carry out detection of larger range, efficiency is higher, and more use requirements can be adapted. DETAILED DESCRIPTION

[0039] The utility model will be further described below in connection with the drawings and examples:

[0040] Figure 1 It is the structure diagram of the utility model;

[0041] Figure 2 It is the front view of the utility model;

[0042] Figure 3 It is the side view of the utility model;

[0043] Figure 4 It is the structure diagram of the charging mechanism of the utility model.

[0044] In the diagram: 1. Frame plate; 2. Frame; 3. Wheel set; 301. Support plate; 302. First track wheel; 303. First track; 304. Drive shaft; 305. Second track wheel; 306. Wheel frame; 307. Third track wheel; 308. Second track; 309. First motor; 4. Base; 5. Drone; 6. Robotic arm; 7. Charging mechanism; 701. Fixing seat; 702. Connecting wire; 703. Control circuit board; 704. Plug; 705. Magnet; 706. First contact charging head; 707. Fixing plate; 708. Second contact charging head; 709. Iron ring; 710. Tactile sensor; 711. Movable column; 712. Return spring. Detailed Implementation

[0045] In the embodiments of this application, such as Figure 1 , 2 As shown in Figures 3 and 4, an earthwork measuring device includes a frame plate 1, a frame 2 on the top of the frame plate 1, and the frame 2, the frame plate 1, the wheel set 3 and the robotic arm 6 constitute a robot. The frame 2 contains a structure including the battery, Bluetooth module, storage module, signal transmission module and control unit required by the robot. The specific structures can all adopt existing structures, such as a battery, Bluetooth transceiver module and WiFi signal transmission module.

[0046] The top of the frame 2 is equipped with a sensing module 201 and a base 4. The top of the base 4 is equipped with several drones 5; preferably two, which can be used alternately during detection, that is, one drone 5 works while the other replenishes power, thus ensuring detection efficiency.

[0047] Both the vehicle frame 2 and the drone 5 are equipped with batteries, Bluetooth modules, probes, storage modules, and signal transmission modules. The drone 5 is equipped with a gyroscope to maintain the stability and constant altitude of the drone 5.

[0048] The preferred probes are lidar sensors and multibeam echo sounders. Lidar can quickly acquire high-precision three-dimensional point cloud data of the terrain, while echo sounders can accurately measure underwater terrain. The combination of the two can comprehensively measure the terrain of earthwork areas, improving measurement accuracy and completeness.

[0049] The bottom of the frame plate 1 is equipped with a wheel set 3, which is used for movement.

[0050] A charging mechanism 7 is provided between the drone 5 and the base 4 to replenish the power of the drone 5.

[0051] During use, the robot's movement is controlled by the wheel set 3, and the drone 5 always flies above the frame 2. The distance between the drone 5 and the robot is measured in real time via Bluetooth module to obtain the height change of the ground path, and images and other information are recorded by the probe.

[0052] In a preferred solution, the UAV 5 is provided with a flight control system, which is an existing flight control system of a UAV, for controlling the UAV 5 to fly in a fixed horizontal plane and always above the frame 2.

[0053] The frame 2 is provided with a control unit, which is in signal connection with the UAV 5 and the wheel set 3, for transmitting signals and controlling the wheel set 3 and the flight control system. The control unit can be an existing one, such as a PLC, a control terminal, a WiFi module, a control chip, etc., which works, controls and transmits signals in an existing manner.

[0054] According to needs, the UAV 5 and the frame 2 are provided with a wireless charging connector, so that the UAV 5 can supplement power when stopping on the pedestal 4. The wireless charging connector can be an existing wireless charging structure, which is not described herein. The power supplemented by the UAV 5 comes from a battery in the frame 2. Whether to use and set the wireless charging connector depends on actual use.

[0055] In further embodiments, the frame plate 1 is provided with a mechanical arm 6 for multi-angle monitoring and obstacle removal.

[0056] In further embodiments, the wheel set 3 includes two support plates 301 arranged at the bottom of the frame plate 1, and the support plates 301 are provided with a plurality of first crawler wheels 302, which are drivingly connected through a first crawler belt 303.

[0057] The side of the support plate 301 away from the first crawler wheel 302 is provided with a first motor 309, and the output shaft of the first motor 309 is provided with a transmission shaft 304.

[0058] The transmission shaft 304 is connected with the first crawler wheel 302.

[0059] The transmission shaft 304 connected with the outermost first crawler wheel 302 penetrates through the first crawler wheel 302 and is provided with a second crawler wheel 305.

[0060] The frame plate 1 is provided with two wheel frames 306, and the wheel frames 306 are provided with third crawler wheels 307, which are drivingly connected with the second crawler wheels 305 through a second crawler belt 308.

[0061] The surfaces of the first crawler belt 303 and the second crawler belt 308 are preferably provided with anti-skid protrusions. The first crawler belt 303 and the first crawler wheel 302 are provided with an anti-skid structure, such as an anti-skid tooth. The second crawler belt 308 and the third crawler wheel 307 and the second crawler wheel 305 are provided with an anti-skid structure, such as an anti-skid tooth.

[0062] In the working process, the first motor 309 is started to drive the first track wheel 302 and the second track wheel 305 to rotate, thereby driving the first track 303 and the second track 308 to rotate, in the process, the robot can be mobilized to move along the road surface;

[0063] When turning is needed, the two first motors 309 connected by the two supporting plates 301 are controlled to have different rotating speeds or opposite rotating directions, so that the corresponding tracks have different rotating speeds or directions, thereby driving the robot to turn in the moving process.

[0064] In further embodiments, the charging mechanism 7 comprises a fixed seat 701 provided on the machine base 4, the fixed seat 701 is provided with a plug block 704 extending to the top surface of the machine base 4;

[0065] The side surface of the unmanned aerial vehicle 5 is provided with a fixed plate 707;

[0066] The top of the plug block 704 is provided with a magnet 705, the bottom of the fixed plate 707 is provided with an iron ring 709, the magnet 705 corresponds to the position of the iron ring 709, and the iron ring 709 can be replaced by another magnet matched with the magnet 705;

[0067] The top of the plug block 704 is provided with a first contact type charging head 706, the bottom of the fixed plate 707 is provided with a second contact type charging head 708, the first contact type charging head 706 and the second contact type charging head 708 are matched; the first contact type charging head 706 and the second contact type charging head 708 adopt existing wireless charging connectors and existing technologies.

[0068] The first contact type charging head 706 is electrically connected to the battery in the vehicle frame 2 through a connecting line 702;

[0069] The second contact type charging head 708 is electrically connected to the battery in the unmanned aerial vehicle 5.

[0070] When the unmanned aerial vehicle 5 needs to be charged after completing the flight task, the flight control system controls the unmanned aerial vehicle 5 to land slowly on the machine base 4. During the landing process, since the magnet 705 corresponds to the position of the iron ring 709, the two generate mutual attractive magnetic force, guiding the unmanned aerial vehicle 5 to accurately land at the designated position of the machine base 4, so that the first contact type charging head 706 and the second contact type charging head 708 can be smoothly docked. Once the docking is successful, the electric energy of the battery in the vehicle frame 2 is transmitted to the battery in the unmanned aerial vehicle 5 through the connecting line 702, the first contact type charging head 706, the second contact type charging head 708, and the charging of the unmanned aerial vehicle 5 begins.

[0071] In the preferred scheme, the first contact type charging head 706 is slidingly connected to the inside of the plug block 704 and extends to the top of the plug block 704;

[0072] The first contact charging head 706 is provided with a movable column 711 and a reset spring 712 at the bottom;

[0073] The inside of the fixed seat 701 is provided with a tactile sensor 710;

[0074] The inside of the fixed seat 701 is provided with a control circuit board 703; the control circuit board 703 can be an existing control circuit board, which has the functions of normally receiving signals and controlling current on-off, and is determined according to actual conditions.

[0075] The control circuit board 703 is electrically connected with the tactile sensor 710, the first contact charging head 706 and the battery in the vehicle frame 2. The tactile sensor 710 is preferably an existing contact sensor, which is connected in an existing manner to detect and transmit signals.

[0076] In the preferred scheme, when the magnet 705 contacts the iron ring 709, the reset spring 712 is compressed, and the tactile sensor 710 contacts the movable column 711;

[0077] When the magnet 705 does not contact the iron ring 709, there is a gap between the tactile sensor 710 and the movable column 711.

[0078] During the landing process of the unmanned aerial vehicle 5, when the magnet 705 approaches and starts to contact the iron ring 709, the fixed plate 707 presses down the first contact charging head 706, the first contact charging head 706 slides downward in the plug-in block 704, the reset spring 712 is compressed, and the movable column 711 moves downward with the first contact charging head 706 and contacts the tactile sensor 710. After the tactile sensor 710 detects the contact signal, the signal is transmitted to the control circuit board 703, and after the control circuit board 703 receives the signal, the control circuit board 703 controls the battery in the vehicle frame 2 to start supplying power to the first contact charging head 706, thereby charging the unmanned aerial vehicle 5. When the unmanned aerial vehicle 5 takes off and leaves the landing pad 4, the magnet 705 and the iron ring 709 are separated, the reset spring 712 rebounds, pushes the first contact charging head 706 to move upward to restore the original position, the movable column 711 is separated from the tactile sensor 710, and the control circuit board 703 receives the separation signal to stop supplying power to the first contact charging head 706 to ensure safety and avoid electric leakage.

[0079] The above embodiments are only preferred technical solutions of the present application, and should not be regarded as limiting the present application. The protection scope of the present application should be based on the technical solutions claimed in the claims, including equivalent replacement schemes of the technical features in the claimed technical solutions. That is, equivalent replacement improvements within this scope are also within the protection scope of the present application.

Claims

1. A device for surveying earthworks, characterised in that: The utility model relates to a kind of unmanned aerial vehicle charging device, including frame plate (1), the top of frame plate (1) is equipped with frame (2), the top of frame (2) is equipped with pedestal (4), and the top of pedestal (4) is equipped with several unmanned aerial vehicles (5); Frame (2) and unmanned aerial vehicle (5) are equipped with battery, bluetooth module, probe, storage module and signal transmission module; The bottom of frame plate (1) is equipped with wheel group (3), and wheel group (3) is used to move; Unmanned aerial vehicle (5) and pedestal (4) are equipped with charging mechanism (7).

2. The earth measuring device of claim 1, wherein: Unmanned aerial vehicle (5) is equipped with flight control system, for controlling unmanned aerial vehicle (5) to fly in fixed horizontal plane, and always located above frame (2); Frame (2) is equipped with control unit, control unit is signal connected with unmanned aerial vehicle (5) and wheel group (3), for transmitting signal and controlling wheel group (3) and flight control system work.

3. The earth measuring device of claim 1, wherein: Frame plate (1) is equipped with mechanical arm (6), for multi-angle monitoring and clearing obstacle.

4. The earth measuring device of claim 1, wherein: Wheel group (3) includes two support plates (301) arranged at the bottom of frame plate (1), the support plate (301) is rotatably provided with a plurality of first track wheels (302), and the first track wheels (302) are drivingly connected by a first track (303); The side, away from the first track wheel (302), of the support plate (301) is provided with a first motor (309), and an output shaft of the first motor (309) is provided with a transmission shaft (304); The transmission shaft (304) is connected with the first track wheel (302).

5. The earth measuring device of claim 4, wherein: The transmission shaft (304) connected with the first track wheel (302) at the outermost side penetrates through the first track wheel (302) and is provided with a second track wheel (305); The frame plate (1) is provided with two wheel frames (306), and the wheel frame (306) is provided with a third track wheel (307), and the third track wheel (307) and the second track wheel (305) are drivingly connected by a second track (308).

6. The earth measuring device of claim 5, wherein: The first track (303) and the second track (308) are provided with anti-skid protrusions on surfaces thereof. The inner sides of the first track (303) and the second track (308) and the circumferential surfaces of the first track wheel (302), the third track wheel (307) and the second track wheel (305) are provided with anti-skid teeth.

7. The earth measuring device of claim 1, wherein: The charging mechanism (7) includes a fixing seat (701) arranged on the pedestal (4), the fixing seat (701) is provided with a plug-in block (704), and the plug-in block (704) extends to the top surface of the pedestal (4); The side surface of the unmanned aerial vehicle (5) is provided with a fixing plate (707); The top of the plug-in block (704) is provided with a magnet (705), and the bottom of the fixing plate (707) is provided with an iron ring (709), and the magnet (705) corresponds to the position of the iron ring (709); The top of the plug-in block (704) is provided with a first contact type charging head (706), the bottom of the fixing plate (707) is provided with a second contact type charging head (708), and the first contact type charging head (706) and the second contact type charging head (708) are matched with each other; The first contact type charging head (706) is electrically connected with the battery in the frame (2) through a connecting line (702); The second contact type charging head (708) is electrically connected with the battery in the unmanned aerial vehicle (5).

8. The earth measuring device of claim 7, wherein: The first contact charging head (706) is slidingly connected to the inside of the plug block (704) and extends to the top of the plug block (704); The first contact charging head (706) is provided with a movable column (711) and a reset spring (712) at the bottom; The inside of the fixed seat (701) is provided with a tactile sensor (710); The inside of the fixed seat (701) is provided with a control circuit board (703); The control circuit board (703) is electrically connected with the tactile sensor (710), the first contact charging head (706) and the battery in the vehicle frame (2).

9. The device of claim 8 wherein the device is further characterized by When the magnet (705) contacts the iron ring (709), the reset spring (712) is compressed, and the tactile sensor (710) contacts the movable column (711); When the magnet (705) does not contact the iron ring (709), there is a gap between the tactile sensor (710) and the movable column (711).

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