Three-dimensional laser scanning measurement robot for historic building protection

Abstract

The utility model relates to a three-dimensional laser scanning and measuring robot, belongs to the technical field of ancient building protection, and particularly relates to a three-dimensional laser scanning and measuring robot for ancient building protection, which comprises a mobile station base, a track plate, a measuring end, an aerial measuring end, a mobile track mechanism and the like. According to the utility model, four groups of measuring ends capable of rotating horizontally are used for synchronous scanning, so that omnibearing data acquisition is realized; the aerial measuring end is used for making up for a high-altitude measuring short plate; a unique moving track mechanism adapts to complex terrains, and vibration interference is reduced in cooperation with a shock-proof mechanism; and detachable connection is adopted, so that transportation and maintenance are facilitated. The effects of comprehensive and accurate measurement, adaptability to complex environments and convenience in equipment transportation and maintenance are achieved, and the problems that existing equipment is not comprehensive in measurement, cannot measure high-altitude structures, is difficult to operate in complex terrains, is inconvenient to transport and maintain and the like are solved.

Description

Technical Field

[0001] This utility model relates to the field of ancient building protection technology, and in particular to a three-dimensional laser scanning and measuring robot for the protection of ancient buildings. Background Technology

[0002] In the field of ancient building preservation, 3D laser scanning measurement technology is crucial. It can accurately acquire structural information of ancient buildings, providing key data support for their restoration, maintenance, and research. Through 3D laser scanning measurement, the overall structure and local details of ancient buildings can be digitally recorded, helping to preserve their historical features and cultural value.

[0003] A search revealed Chinese patent CN221860407U, which discloses a scanning device for measuring the tilt of ancient building walls, relating to the field of architectural measurement technology. The device includes a base and a lifting mechanism. The lifting mechanism is located on top of the base and comprises a drive motor, a rotating shaft, a first gear, a second gear, a threaded rod, a first bearing, a mounting bracket, a slide rail, a slider, and a limiting block. The drive motor is fixedly mounted on the top of the base, and the rotating shaft is fixedly connected to the output end of the drive motor. The first gear is fixedly mounted on the top of the first rotating shaft. This scanning device for measuring the tilt of ancient building walls, through the lifting mechanism, allows a laser rangefinder to move up and down for scanning, measuring the tilt of the wall surface based on distance and position, thus improving measurement accuracy and expanding the working area. The rotating mechanism allows the fourth gear plate to be rotated by turning the handle, thereby adjusting the direction of the laser rangefinder. This patent possesses basic scanning and measurement functions, enabling a certain degree of data collection from the surface of objects.

[0004] Based on the above research and existing technologies, it was found that current 3D laser scanning measurement equipment has significant shortcomings when applied to the preservation of ancient buildings. Firstly, most equipment has a single measurement end design, failing to achieve comprehensive scanning. When faced with the complex internal structures of ancient buildings, it is difficult to collect data from various angles and locations, resulting in the loss of a large amount of crucial data and failing to provide a comprehensive and accurate data foundation for the research and preservation of ancient buildings. Secondly, traditional equipment lacks effective means of measuring at heights. For high-altitude structures in ancient buildings, such as tall beams, columns, and roofs, precise measurement is impossible, severely limiting the analysis of the overall structure and preventing a complete reconstruction of the building's appearance. This not only affects the scientific assessment of ancient buildings but also brings great difficulties to subsequent preservation and restoration work. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a three-dimensional laser scanning and measuring robot for the protection of ancient buildings. It is equipped with an aerial measuring end and consists of a drone body, supporting legs, a second control console, a second measuring probe, and flight wings, in conjunction with a support platform and positioning bracket for the flight stage. It can scan and measure the high parts of ancient buildings, overcoming the limitations of ground-based measurements, obtaining more comprehensive data on ancient buildings, and breaking through the bottleneck of existing ground-based measuring equipment being unable to measure the structure of high-rise buildings, thus enabling a more complete analysis of the overall structure of ancient buildings.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] A three-dimensional laser scanning and measuring robot for the protection of ancient buildings includes a mobile platform base, and also includes;

[0008] The support frame includes two parallel track plates arranged on both sides of the bottom of the mobile platform base. A fixing component is provided between the top of the two track plates and the bottom of the mobile platform base, and the fixing component is used for the detachable connection between the track plates and the mobile platform base.

[0009] The measuring end is located at the top of the four corners of the support frame, and each measuring end is equipped with a motor component that can be driven to rotate horizontally.

[0010] An aerial measurement terminal is installed on the top of the mobile platform base, and a flight platform for lifting and lowering the aerial measurement terminal is installed between the control measurement terminal and the top of the mobile platform base.

[0011] The mobile track mechanism has two sets of drive ends at the bottom of the two track plates. Each drive end has a mobile track mechanism with a triangular shape that is narrow at the top and wide at the bottom on both sides of the output shaft. A shock-absorbing mechanism is provided between the mobile track mechanism and the bottom of the corresponding track plate to buffer the vibration damage caused by the movement of the mobile track mechanism.

[0012] Preferably, the four corners of the mobile platform base are provided with mounting grooves, and the fixing component includes fixing hexagonal bolts provided on the inner bottom surface of each mounting groove. The fixing hexagonal bolts are threadedly connected to the inner bottom surface of the mounting groove, and the top of the track plate is provided with two sets of threaded holes corresponding to the two mounting grooves. The bottom of the mobile platform base is threadedly connected to the threaded holes on the top of the corresponding track plate by four fixing hexagonal bolts.

[0013] Preferably, the drive end includes a first drive motor installed on the front and rear sides of the two track plates, and the moving track mechanism includes three sets of track strips located on one side of the first drive motor and metal gear tires that are connected to the three sets of track strips in transmission. Three sets of auxiliary wheels are arranged parallel to the lower two sets of track strips. The bottom of the three sets of auxiliary wheels and the lower two sets of track strips are flush and all mesh with the corresponding wall surface of the metal gear tires.

[0014] Preferably, the shock absorption mechanism includes connecting blocks one located on both sides of the top of the first drive motor housing and connecting blocks two located on the bottom of the track plate corresponding to connecting blocks one. The bottom of connecting blocks two and the bottom of connecting blocks one are connected to shock-absorbing spring columns that can be elastically extended and retracted. The shock absorption mechanism is provided with at least three sets on the corresponding moving track mechanism.

[0015] Preferably, the measuring end includes a control console located on the track plate and a measuring probe on one side of the control console. A rotating disk is connected to the bottom of the control console. The motor component includes a first motor vertically mounted on the top of the track plate. The top of the output shaft of the first motor is fixedly connected to the bottom of the rotating disk. The motor component drives the measuring end to rotate horizontally for detection.

[0016] Preferably, the aerial measurement terminal includes the UAV body and support feet on both sides of the bottom of the UAV body. The bottom of the UAV body is provided with a control console 2 located between the two sets of support feet. Measurement probes 2 for shooting and data acquisition are installed at both the front and rear ends of the control console 2. The top of the UAV body is provided with at least four sets of flight wings.

[0017] Preferably, the flight platform includes a support platform for mounting the top of the mobile platform base and two sets of parallel positioning brackets on the top of the support platform. The positioning brackets are concave structures adapted to the outer side of the support feet.

[0018] Preferably, at least two sets of searchlights for lighting are provided at both the front and rear ends of the track slab.

[0019] Preferably, at least two sets of anti-collision sensors are provided at the ends of the two track plates that are far apart from each other.

[0020] The beneficial effects of this utility model are:

[0021] This invention features four horizontally rotatable measuring ends mounted on top of two sets of track slabs, including a first motor, a rotating disk, a control console, and a measuring probe. During movement inside the ancient building, the four measuring ends rotate synchronously to scan, achieving comprehensive data acquisition of the building's internal structure. This significantly improves accuracy, effectively avoids blind spots, and solves the problem of traditional measurement methods failing to comprehensively obtain data on the internal structure of ancient buildings, providing a more detailed and accurate data foundation for the research and protection of ancient buildings. The invention also includes an aerial measuring end, consisting of a drone body, support legs, a second control console, a second measuring probe, and flight wings, working in conjunction with a flight platform and positioning bracket. This allows for scanning and measuring high sections of ancient buildings, overcoming the limitations of ground-based measurements, acquiring more comprehensive data, and breaking through the bottleneck of existing ground-based measuring equipment's inability to measure high-altitude building structures, thus enabling a more complete analysis of the overall structure of ancient buildings. Finally, the invention features four sets of triangular moving track mechanisms at the bottom of the track slabs, along with auxiliary wheels. This unique mobile structure enables the robot to move freely in complex environments with numerous steps within ancient buildings, overcoming the difficulty of traditional surveying equipment operating in complex terrain. It facilitates mobile surveying within complex sections of ancient buildings, broadening the application scenarios of the surveying equipment and ensuring smooth surveying work in various complex ancient architectural environments. This invention incorporates at least three sets of retractable shock-absorbing mechanisms between the mobile track mechanism and the bottom of the track plate, consisting of connecting block one, connecting block two, and shock-absorbing spring columns. When moving on complex sections with multiple steps in ancient buildings, these mechanisms effectively reduce vibration, protecting the precision components inside the equipment, extending its service life, ensuring the accuracy of measurement data, avoiding measurement errors caused by vibration, and solving the problem of data interference from vibration when moving in complex terrain, thus ensuring the reliability of the measurement data. This invention adopts a design where the mobile platform base and track plate are detachably connected by fixed hexagonal bolts. During equipment transportation, the upper and lower parts of the equipment can be separated, greatly reducing transportation difficulty and cost, and solving the problem of inconvenient transportation of large surveying equipment. At the same time, this design facilitates the assembly and disassembly of the equipment, and makes it easy to repair or replace each component individually when the equipment malfunctions, thereby improving the ease of equipment maintenance and reducing maintenance costs and time costs. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the three-dimensional laser scanning and measuring robot for the protection of ancient buildings provided in one embodiment of the present invention;

[0023] Figure 2 This is a three-dimensional structural diagram of the aerial measurement end in takeoff state of the three-dimensional laser scanning measurement robot for the protection of ancient buildings provided in one embodiment of the present invention;

[0024] Figure 3This is a top view of a three-dimensional laser scanning measurement robot provided in one embodiment of the present invention;

[0025] Figure 4 This is a three-dimensional structural diagram of the measuring end provided in one embodiment of the present invention;

[0026] Figure 5 This is a structurally disassembled view of the flight platform and airborne measurement terminal provided in one embodiment of the present invention;

[0027] Figure 6 This is a front view of a three-dimensional laser scanning measurement robot provided in one embodiment of the present invention;

[0028] Figure 7 This is a side view of a three-dimensional laser scanning measurement robot provided in one embodiment of the present invention;

[0029] Explanation of reference numerals in the attached figures:

[0030] 1. Track plate; 2. Mobile platform base; 201. Mounting groove; 202. Fixing hexagonal bolt; 3. First drive motor; 301. Metal gear tire; 302. Track strip; 303. Auxiliary wheel; 4. Connecting block one; 401. Connecting block two; 402. Shock-absorbing spring column; 5. First motor; 501. Rotary disk; 502. Control console one; 503. Measuring probe one; 6. Support platform; 601. Positioning bracket; 7. UAV body; 701. Support foot; 702. Flight wing; 703. Control console two; 704. Measuring probe two; 8. Searchlight; 9. Collision avoidance sensor. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0032] This utility model provides an improved three-dimensional laser scanning and measuring robot for the protection of ancient buildings. The technical solution of this utility model is as follows:

[0033] Appendix Figures 1-7 This is the preferred embodiment of the present invention, which is described below in conjunction with the appendix. Figures 1-7 The present invention will be further described below.

[0034] like Figures 1-2As shown, this utility model provides a three-dimensional laser scanning and measuring robot for the protection of ancient buildings, including a mobile platform base 2, a support frame, a measuring end, an aerial measuring end, and a mobile track mechanism. The support frame includes two parallel track plates 1 arranged on both sides of the bottom of the mobile platform base 2, and a fixing component is provided between the top of the two track plates 1 and the bottom of the mobile platform base 2; the measuring end is provided at the top of the four corners of the support frame, and each measuring end is provided with a motor component that can be driven to rotate horizontally; the aerial measuring end is located on the top of the mobile platform base 2, and a flight platform for lifting the aerial measuring end is provided between the control measuring end and the top of the mobile platform base 2; the bottom of the two track plates 1 is provided with two sets of front and rear drive ends, and each drive end has a mobile track mechanism with a triangular shape that is narrower at the top and wider at the bottom on both sides of the output shaft, and a shock absorption mechanism is provided between the mobile track mechanism and the bottom of the corresponding track plate 1.

[0035] like Figures 2-3 As shown, in one embodiment, mounting grooves 201 are provided at each of the four corners of the mobile platform base 2. The fixing components include fixing hexagonal bolts 202 disposed on the bottom surface inside each mounting groove 201. The fixing hexagonal bolts 202 are threadedly connected to the bottom surface inside the mounting groove 201. The top of the track plate 1 has two sets of threaded holes corresponding to the top and bottom of the two mounting grooves 201. The bottom of the mobile platform base 2 is threadedly connected to the threaded holes on the top of the corresponding track plate 1 by four fixing hexagonal bolts 202. By connecting the mobile platform base 2 and the two sets of parallel track plates 1 at the bottom in a detachable manner, the upper and lower parts of the equipment can be separated during transportation, which is convenient for transportation. At the same time, this detachable connection method also facilitates the repair and replacement of the mobile platform base 2 and the track plate 1 separately when the equipment fails, reducing maintenance costs.

[0036] like Figure 1 , Figure 2 as well as Figure 7As shown, in one embodiment, the drive end includes a first drive motor 3 installed on the front and rear sides of the two track plates 1. The moving track mechanism includes three sets of track strips 302 located on one side of the first drive motor 3 and metal gear tires 301 that are connected to the three sets of track strips 302. Three sets of auxiliary wheels 303 are arranged parallel to the two sets of track strips 302 below. The bottoms of the three sets of auxiliary wheels 303 and the two sets of track strips 302 below are flush and all mesh with the corresponding wall surfaces of the metal gear tires 301. By setting four sets of moving track mechanisms in a triangular overall shape at the bottom of the track plate 1, in the complex road environment of ancient buildings where steps are everywhere, the four sets of triangular moving track mechanisms can move on the stepped road sections, facilitating moving measurements in the complex road sections inside ancient buildings. Furthermore, among the three sets, three sets of auxiliary wheels 303 are arranged in parallel between the two lower sets of track strips 302, which are connected to the inner side of the metal gear tires 301 for transmission. This further enhances the movement support effect at the bottom of the mobile track mechanism, making the robot more stable during movement, adapting to different road conditions, and reducing measurement errors caused by complex road conditions.

[0037] like Figure 1 , Figure 2 , Figure 6 and Figure 7 As shown, in one embodiment, the shock absorption mechanism includes connecting blocks 4 on both sides of the top of the housing of the first drive motor 3 and connecting blocks 401 on the bottom of the track plate 1, which are vertically corresponding to the connecting blocks 4. A retractable shock-absorbing spring column 402 is connected between the bottom of the connecting blocks 401 and the bottom of the connecting blocks 4. At least three sets of shock absorption mechanisms are provided on each corresponding moving track mechanism. By providing at least three sets of retractable shock absorption mechanisms between the moving track mechanism and the bottom of the track plate 1, the vibration generated during movement on complex sections with multiple steps in ancient buildings is reduced by the shock absorption mechanisms. When the entire device moves and measures around the ancient building, the shaking during movement is reduced, which protects the precision components inside the device, extends the service life of the device, and also ensures the accuracy of the measurement data, avoiding errors caused by the displacement of the measuring probe position due to shaking.

[0038] like Figure 4As shown, in one embodiment, the measuring end includes a control console 502 located on the track plate 1 and a measuring probe 503 on the side of the control console 502. A rotating disk 501 is connected to the bottom of the control console 502. The motor component includes a first motor 5 vertically mounted on the top of the track plate 1. The top of the output shaft of the first motor 5 is fixedly connected to the bottom of the rotating disk 501. The motor component drives the measuring end to rotate horizontally for detection. By setting four sets of horizontally rotatable measuring ends on the top of the two sets of track plates 1, the device moves inside the ancient building, and all four sets rotate synchronously to scan the internal structural data features of the ancient building. This allows for a comprehensive scan of the internal equipment or facilities of the ancient building, improving the accuracy of data acquisition and avoiding blind spots that may affect the data acquisition of various parts of the internal structure of the ancient building. Moreover, the simultaneous operation of multiple measuring ends can speed up data acquisition and improve work efficiency.

[0039] like Figure 5 As shown, in one embodiment, the aerial measurement terminal includes a drone body 7 and support feet 701 on both sides of the bottom of the drone body 7. A control console 703 is located between the two sets of support feet 701 at the bottom of the drone body 7. Measurement probes 704 for image acquisition are installed at both the front and rear ends of the control console 703. At least four sets of flight wings 702 are installed on the top of the drone body 7. The flight platform includes a support platform 6 mounted on the top of the mobile platform base 2 and two sets of parallel positioning brackets 601 on the top of the support platform 6. The positioning brackets 601 are concave structures adapted to the outer side of the support feet 701. The aerial measurement terminal can ascend to a certain height via the flight platform to scan and measure the upper parts of ancient buildings, overcoming the limitations of ground-based measurements and obtaining more comprehensive data on ancient buildings. For example, for some tall ancient building beams, columns, roofs, and other parts, the drone can fly to a suitable position for close-range scanning to obtain more accurate data. Simultaneously, the positioning brackets 601 of the flight platform are adapted to the drone support feet 701, facilitating the parking and positioning of the drone when not in use and ensuring the stability of the drone during movement.

[0040] like Figure 6 and Figure 7 As shown, in one embodiment, at least two sets of searchlights 8 are provided at both the front and rear ends of the track slab 1. In areas that may be dimly lit inside ancient buildings, the searchlights 8 provide sufficient illumination for the measurement work, ensuring that the measuring probe can clearly acquire data and avoiding inaccurate measurement data due to insufficient light, thus further improving the accuracy and reliability of the measurement.

[0041] like Figure 1 , Figure 2 and Figure 3As shown, in one embodiment, at least two sets of anti-collision sensors 9 are provided at the ends of the two track plates 1 that are far apart from each other. When moving inside the ancient building, the anti-collision sensors 9 can sense the surrounding environment in real time. When the robot approaches an obstacle, it will issue an alarm in time or automatically adjust its movement direction to avoid collisions between the robot and the walls, pillars, etc. of the ancient building, thereby protecting the ancient building and the robot itself and reducing the damage caused by collisions.

[0042] The working principle and usage process of this utility model are as follows: First, the track plate 1 is connected and fixed to the mobile platform base 2 by fixing hexagonal bolts 202. The equipment is moved to the ancient building measurement site, and the first drive motor 3 is started, driving the metal gear tire 301 to rotate, thereby causing the track strips 302 and auxiliary wheels 303 to work together to drive the robot to move inside the ancient building. During the movement, the shock-absorbing spring column 402 of the shock-absorbing mechanism buffers the vibration generated by the movement. At the same time, the first motor 5 at the measuring end drives the rotating disk 501 and the first measuring probe 503 to rotate horizontally to scan and measure the internal structure of the ancient building. When it is necessary to measure high-altitude parts, the UAV body 7 takes off from the flight platform and uses the second measuring probe 704 to perform aerial scanning and measurement. The searchlight 8 on the track plate 1 provides illumination, and the anti-collision sensor 9 avoids collisions. After the measurement is completed, the track plate 1 and the mobile platform base 2 can be separated by removing the fixing hexagonal bolts 202 for easy equipment transportation.

[0043] This utility model has been described with reference to the above-described embodiments and accompanying drawings. However, the above embodiments are merely examples for implementing this utility model. It must be noted that the disclosed embodiments do not limit the scope of this utility model. On the contrary, modifications and equivalent provisions included in the spirit and scope of the claims are all included within the scope of this utility model.

Claims

1. A three-dimensional laser scanning and measuring robot for the protection of ancient buildings, comprising a mobile platform base, characterized in that: Also includes; The support frame includes two parallel track plates arranged on both sides of the bottom of the mobile platform base. A fixing component is provided between the top of the two track plates and the bottom of the mobile platform base, and the fixing component is used for the detachable connection between the track plates and the mobile platform base. The measuring end is located at the top of the four corners of the support frame, and each measuring end is equipped with a motor component that can be driven to rotate horizontally. An aerial measurement terminal is located on the top of the mobile platform base, and a flight platform for lifting and lowering the aerial measurement terminal is provided between the control measurement terminal and the top of the mobile platform base. The mobile track mechanism has two sets of drive ends at the bottom of the two track plates. Each drive end has a mobile track mechanism with a triangular shape that is narrow at the top and wide at the bottom on both sides of the output shaft. A shock-absorbing mechanism is provided between the mobile track mechanism and the bottom of the corresponding track plate to buffer the vibration damage caused by the movement of the mobile track mechanism.

2. The three-dimensional laser scanning and measuring robot for the protection of ancient buildings according to claim 1, characterized in that: The four corners of the mobile platform base are provided with mounting grooves. The fixing component includes fixing hexagonal bolts set on the inner bottom surface of each mounting groove. The fixing hexagonal bolts are threaded to the inner bottom surface of the mounting groove. The top of the track plate is provided with two sets of threaded holes corresponding to the two mounting grooves. The bottom of the mobile platform base is threaded to the threaded holes on the top of the corresponding track plate by four fixing hexagonal bolts.

3. The three-dimensional laser scanning and measuring robot for the protection of ancient buildings according to claim 1, characterized in that: The drive end includes a first drive motor installed on the front and rear sides of the two track plates. The moving track mechanism includes three sets of track strips located on one side of the first drive motor and metal gear tires that are connected to the three sets of track strips. Three sets of auxiliary wheels are arranged parallel to the two sets of track strips below. The bottom of the three sets of auxiliary wheels and the two sets of track strips below are flush and all mesh with the corresponding wall surface of the metal gear tires.

4. A three-dimensional laser scanning and measuring robot for the protection of ancient buildings according to claim 1, characterized in that: The shock absorption mechanism includes connecting blocks 1 located on both sides of the top of the first drive motor housing and connecting blocks 2 located on the bottom of the track plate, which are vertically corresponding to connecting blocks 1. The bottom of connecting blocks 2 and the bottom of connecting blocks 1 are connected to shock-absorbing spring columns that can be elastically extended and retracted. The shock absorption mechanism is provided with at least three sets on the corresponding moving track mechanism.

5. A three-dimensional laser scanning and measuring robot for the protection of ancient buildings according to claim 1, characterized in that: The measuring end includes a control console on the track plate and a measuring probe on one side of the control console. A rotating disk is connected to the bottom of the control console. The motor component includes a first motor that is vertically mounted on the top of the track plate. The top of the output shaft of the first motor is fixedly connected to the bottom of the rotating disk. The motor component drives the measuring end to rotate horizontally for detection.

6. A three-dimensional laser scanning and measuring robot for the protection of ancient buildings according to claim 1, characterized in that: The aerial measurement terminal includes the UAV body and the support feet on both sides of the bottom of the UAV body. The bottom of the UAV body is equipped with a control console 2 located between the two sets of support feet. The front and rear ends of the control console 2 are equipped with measurement probes 2 for shooting and data acquisition. The top of the UAV body is equipped with at least four sets of flight wings.

7. A three-dimensional laser scanning and measuring robot for the protection of ancient buildings according to claim 1, characterized in that: The flight platform includes a support platform for mounting the top of the mobile platform base and two sets of parallel positioning brackets on the top of the support platform. The positioning brackets are concave structures adapted to the outer side of the support feet.

8. A three-dimensional laser scanning and measuring robot for the protection of ancient buildings according to claim 1, characterized in that: At least two sets of searchlights for lighting are installed at both the front and rear ends of the track slab.

9. A three-dimensional laser scanning and measuring robot for the protection of ancient buildings according to claim 1, characterized in that: At least two sets of anti-collision sensors are provided at the ends of the two track slabs that are far apart from each other.

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