Multifunctional surveying and mapping device of walking type engineering equipment

Abstract

The utility model relates to the technical field of engineering surveying and mapping, and discloses a multifunctional surveying and mapping device of walking type engineering equipment, which comprises a self-service walking four-wheeler for driving the device to walk, a surveying and mapping total station, a visual camera and a six-axis manipulator, the surveying and mapping total station is used for performing various orienting, distance measuring, angle measuring, height measuring, mapping and photographing works in engineering construction; the visual camera is used for automatically judging obstacles; a shovel for shoveling obstacles or collecting soil samples is arranged at the tail end of the six-axis manipulator, and the shovel is matched with the six-axis manipulator to automatically place the collected soil samples in the storage box. According to the automatic and integrated design, the requirement of manual operation is reduced, and the efficiency and the accuracy of surveying and mapping work are improved. The robot can walk autonomously and adjust the measuring position to adapt to different terrains and environments, the equipment is prevented from being damaged due to the automatic obstacle recognition capability of the visual camera, and the multi-stage requirements of engineering construction are met.

Description

Technical Field

[0001] This utility model belongs to the field of engineering surveying and mapping technology, and specifically relates to a multi-functional surveying and mapping device for mobile engineering equipment. Background Technology

[0002] In the field of engineering construction, surveying is a crucial link in ensuring project quality and safety. Traditional surveying techniques mainly rely on manual operation, such as using measuring rods, levels, and theodolites. With the development of technology, surveying techniques are gradually transforming towards automation, digitalization, and intelligence. Currently, modern surveying equipment such as total stations, drones, and laser scanners are widely used in topographic surveying, building surveying, road design, and other fields.

[0003] Existing surveying equipment typically includes fixed or vehicle-mounted total stations, which can achieve high-precision measurements, but often require manual on-site operation and are inconvenient to carry and transport. In addition, there is the technology of using drones for surveying. Drones have the advantages of being portable and allowing for rapid surveying, but their stability and measurement accuracy are limited in complex terrain or environments with many obstacles. Visual cameras and robotic arms are also used in automated equipment, but these devices are usually used independently and do not form an integrated surveying system.

[0004] Existing surveying equipment often has limited functionality, requiring multiple devices to work together to complete complex surveying tasks, which is detrimental to improving efficiency and reducing costs. Many devices require manual operation, which is not only time-consuming and labor-intensive but also poses potential safety hazards in complex environments. Fixed total stations have limited measurement ranges, and the measurement accuracy of UAVs is affected by the flight environment and equipment performance. Existing equipment typically lacks the ability to automatically identify obstacles and collect soil samples, requiring manual intervention.

[0005] In light of this, we propose a multifunctional surveying device for mobile engineering equipment, integrating a total station, a visual camera, and a six-axis robotic arm into a single unit to perform various surveying tasks. Through an electric four-wheeled vehicle and an intelligent control system, the device can autonomously navigate and position itself, improving the automation level of surveying work. The total station, combined with the robotic arm's automatic adjustment function, enables high-precision measurements in different terrains and environments. The visual camera's automatic obstacle recognition and the six-axis robotic arm's automatic sampling capabilities reduce manual operation, improving work efficiency and safety. Utility Model Content

[0006] The present invention aims to solve the technical problem that existing surveying equipment often has a single function and requires multiple devices to work together to complete complex surveying tasks, which is not conducive to improving efficiency and reducing costs.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A multi-functional surveying device for mobile engineering equipment includes:

[0009] Self-propelled four-wheeled vehicle, used for propulsion;

[0010] Total stations are used for various orientation, distance measurement, angle measurement, height measurement, mapping, and photography tasks in engineering construction.

[0011] Visual cameras are used to automatically detect obstacles;

[0012] The six-axis robotic arm has a shovel at its end to remove obstacles or collect soil samples. The shovel works in conjunction with the six-axis robotic arm to automatically place the collected soil samples into a storage box.

[0013] As a preferred option, the top of the self-propelled four-wheeled vehicle is fixedly equipped with an installation platform for carrying and installing a total station, a visual camera, a six-axis robotic arm, and a storage box.

[0014] Preferably, the six-axis robot is fixed at the center of the front side of the mounting platform, the total station is installed on the left side of the six-axis robot, and the vision camera is installed at the right end of the rear side of the mounting platform.

[0015] Preferably, the storage box is located at the center of the top of the installation platform.

[0016] Preferably, the storage box has several storage compartments separated by partitions. These partitions facilitate the classification and organization of collected soil samples, making subsequent sample analysis and management easier. The separate compartments also prevent cross-contamination between different samples, ensuring sample purity and the accuracy of experimental results.

[0017] Preferably, the top of the installation platform is equipped with a mounting base, the mounting base is equipped with an electric rotary table, the top of the electric rotary table is fixedly equipped with a mounting box, the mounting box is rotatably equipped with a vertical flip frame, and the vision camera is fixedly installed on the top of the vertical flip frame.

[0018] The horizontal angle of the vision camera is adjusted by rotating the vertical tilting frame horizontally using an electric rotary table, and the tilting angle of the vision camera is adjusted by rotating the vertical tilting frame vertically using a drive mechanism inside the mounting box.

[0019] Preferably, the drive mechanism includes a rotating shaft rotatably connected to the mounting box and fixedly connected to the vertical tilting frame at both ends, a worm gear fixed on the rotating shaft and located inside the mounting box, a mounting panel fixed inside the mounting box, a servo geared motor fixed to the bottom of the mounting panel, and a worm gear fixedly connected to the output end of the servo geared motor and cooperating with the worm gear for transmission.

[0020] The servo geared motor drives the worm gear transmission, which in turn drives the rotating shaft to rotate, causing the vertical tilting frame and vision camera to tilt.

[0021] The drive mechanism of the electric rotary table and the vertical tilting frame enables the horizontal and vertical angle adjustment of the visual camera to cover a wider observation range.

[0022] Compared with the prior art, the technical effects and advantages of this utility model are:

[0023] This mobile engineering equipment's multi-functional surveying device integrates a total station, a vision camera, and a six-axis robotic arm into a highly efficient and collaborative working system. The total station employs electronic surveying technology, transmitting and receiving light or electromagnetic waves to perform various surveying tasks based on triangulation principles, such as orientation, distance measurement, angle measurement, height measurement, and mapping. The vision camera utilizes image processing technology to analyze acquired images to identify and determine obstacles. The six-axis robotic arm achieves precise movement through servo motors and a transmission system, enabling it to perform complex tasks such as removing obstacles or collecting soil samples.

[0024] The device's design optimizes the operating space and work range, improving work efficiency. A six-axis robotic arm is fixed at the center of the front side of the mounting platform, making its operation more convenient and intuitive. A total station is mounted on the left side of the robotic arm, avoiding obstruction of the view during operation and ensuring the accuracy and comprehensiveness of measurements. A vision camera is mounted on the right side of the rear side of the platform, covering the front and side views, improving obstacle detection accuracy and operational safety. Furthermore, a storage box located at the center of the platform's top helps maintain the device's center of gravity stability and facilitates the loading and unloading of soil samples.

[0025] The motion control of the vision camera and six-axis robot in the device is achieved through the drive mechanism of the electric rotary table and the vertical tilting frame. The drive mechanism includes components such as a servo geared motor, a worm gear transmission mechanism, and a rotating shaft. The movement of the servo geared motor drives the worm gear transmission, which in turn drives the rotating shaft to rotate, thereby realizing the horizontal and vertical angle adjustment of the vertical tilting frame and the camera. This structural design makes the camera highly stable during movement, reducing image blurring caused by vibration. At the same time, the fast response and precise control capability of the servo motor ensures that the camera can accurately reach the set angle position.

[0026] The automated and integrated design of this device reduces the need for manual operation, improving the efficiency and accuracy of surveying work. The device can autonomously move and adjust its measurement position, adapting to different terrains and environments. The automatic obstacle recognition capability of the visual camera prevents equipment damage. Simultaneously, the six-axis robotic arm can safely collect soil samples. By integrating multiple surveying tools, the device can perform various surveying tasks, meeting the multi-stage needs of engineering construction. Attached Figure Description

[0027] Figure 1 This is a first-view diagram of the present invention;

[0028] Figure 2 This is a second-view diagram of the present invention;

[0029] Figure 3 This is a schematic diagram of the structure of this utility model;

[0030] Figure 4 This is a schematic diagram of the installation structure of the visual camera of this utility model;

[0031] Figure 5 This is a schematic diagram of the drive mechanism and vision camera of this utility model.

[0032] In the diagram: 1. Self-propelled four-wheeled vehicle; 2. Total station; 3. Visual camera; 4. Six-axis robot; 5. Mounting platform; 6. Partition; 7. Storage slot; 8. Storage box; 9. Mounting base; 10. Electric rotary table; 11. Mounting box; 12. Vertical tilting frame; 13. Shaft; 14. Worm gear; 15. Mounting panel; 16. Servo geared motor; 17. Worm; 18. Shovel. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] The following combination Figures 1 to 5 This application will be described in further detail.

[0035] This application discloses a multi-functional surveying device for mobile engineering equipment, including a self-driving four-wheeled vehicle 1 for driving the device, a total station 2, a visual camera 3, and a six-axis robotic arm 4.

[0036] The total station 2 is used for various orientation, distance measurement, angle measurement, height measurement, mapping and photography work in engineering construction; the visual camera 3 is used to automatically identify obstacles; the six-axis robot 4 is equipped with a shovel 18 at its end to remove obstacles or collect soil samples. The shovel 18 works with the six-axis robot 4 to automatically place the collected soil samples into the storage box 8.

[0037] The top of the self-propelled four-wheeled vehicle 1 is fixedly equipped with a mounting platform 5 for carrying and installing a total station 2, a visual camera 3, a six-axis robotic arm 4, and a storage box 8.

[0038] A platform 5 is fixedly installed on the top of the vehicle body, which can integrate various equipment and tools to form a multifunctional surveying system. The platform 5 provides a stable support structure, ensuring the stability and accuracy of equipment such as the total station 2, visual camera 3, and six-axis robotic arm 4 during operation. Centralized installation facilitates routine maintenance and repair of the equipment, reducing maintenance time and costs.

[0039] The six-axis robotic arm 4 is fixed at the center of the front side of the mounting platform 5. The total station 2 is installed to the left of the six-axis robotic arm 4, and the vision camera 3 is installed at the right end of the rear side of the mounting platform 5. The storage box 8 is located at the center of the top of the mounting platform 5.

[0040] Fixed at the front center of the mounting platform 5, the six-axis robot 4 has a larger operating space and work range, facilitating its tasks such as removing obstacles or collecting soil samples. The central position makes the robot's operation more convenient and intuitive, contributing to improved work efficiency. The total station 2 is mounted on the left side of the six-axis robot 4, helping to prevent the robot from obstructing its view during operation, ensuring the accuracy and comprehensiveness of measurements. This separate layout ensures that the robot's obstacle removal does not affect the total station's measurement work. The vision camera 3 is mounted at the rear right end of the mounting platform 5, allowing it to cover the front and side views, better detect obstacles, and assist the six-axis robot 4 in precise operation. The position of the vision camera 3 helps monitor the movement and operation of the entire device, improving operational safety. The storage box 8 is located at the top center of the mounting platform 5, helping to maintain the stability of the entire device's center of gravity and improving safety during movement. The central position makes it easier to pick up and put down soil samples, and also facilitates quick adjustment or replacement of the storage box 8 when needed.

[0041] The storage box 8 has several storage slots 7 separated by partitions 6. These compartments 7 facilitate the classification and organization of collected soil samples, making subsequent sample analysis and management easier. The separate compartments 7 also prevent cross-contamination between different samples, ensuring sample purity and the accuracy of experimental results.

[0042] The top of the mounting platform 5 is provided with a mounting base 9, the mounting base 9 is provided with an electric rotary table 10, the top of the electric rotary table 10 is fixedly provided with a mounting box 11, and a vertical flipping frame 12 is rotatably provided on the mounting box 11. The visual camera 3 is fixedly installed on the top of the vertical flipping frame 12.

[0043] The vertical tilting frame 12 is rotated horizontally by the electric rotary table 10 to adjust the horizontal angle of the visual camera 3, and the vertical tilting frame 12 is rotated vertically by the drive mechanism in the mounting box 11 to adjust the tilting angle of the visual camera 3.

[0044] The drive mechanism includes a rotating shaft 13 rotatably connected to the mounting box 11 and fixedly connected to the vertical tilting frame 12 at both ends, a worm gear 14 fixed on the rotating shaft 13 and located inside the mounting box 11, a mounting panel 15 fixed inside the mounting box 11, a servo geared motor 16 fixed at the bottom of the mounting panel 15, and a worm 17 fixedly connected to the output end of the servo geared motor 16 and cooperating with the worm gear 14 for transmission.

[0045] The servo geared motor 16 drives the worm gear 17 and worm wheel 14 to rotate, which in turn drives the rotating shaft 13 to rotate, causing the vertical tilting frame 12 and the vision camera 3 to tilt.

[0046] The horizontal rotation of the vertical tilting frame 12, driven by the electric rotary table 10, allows for adjustment of the horizontal angle of the visual camera 3, enabling it to cover a wider range and adapt to different observation needs. The vertical rotation of the vertical tilting frame 12, driven by the drive mechanism within the mounting box 11, adjusts the tilting angle of the visual camera 3, achieving vertical adjustment and ensuring the camera can capture images at different heights. Precise rotation control is provided by a servo geared motor 16 and a worm gear 17 and worm wheel 14 transmission mechanism. The servo motor has a fast response speed, enabling angle adjustment in a short time, improving real-time operation. It can precisely control the rotation angle and speed according to commands, achieving precise position control and ensuring the camera accurately reaches the set angle position. The worm gear 17 and worm wheel 14 transmission provides high torque and stable rotation. Since the camera is fixed to the top of the vertical tilting frame 12, this structural design provides good stability during camera movement, reducing image blurring caused by vibration and other factors.

[0047] The drive mechanism of the electric rotary table 10 and the vertical tilting frame 12 is used to adjust the horizontal and vertical angles of the visual camera 3 to cover a wider observation range.

[0048] The self-propelled four-wheeled vehicle 1 uses an electric motor to drive its four wheels (Mecanum wheels) for movement. A control system enables autonomous navigation and positioning, ensuring stability and mobility in complex terrain. The total station 2 employs electronic surveying technology, transmitting and receiving light or electromagnetic waves and utilizing triangulation principles for orientation, distance measurement, angle measurement, height measurement, and mapping. The visual camera 3 uses image processing technology to analyze acquired images to identify and determine obstacles. Its basic principle is image segmentation and feature extraction based on pixel grayscale values ​​or color information. The six-axis robot 4 achieves precise movement through servo motors and a transmission system. The six-axis robot 4 can perform complex movements, including rotation, pitch, and extension, to remove obstacles or collect soil samples.

[0049] The automated and integrated design of this mobile engineering equipment's multi-functional surveying device reduces the need for manual operation and improves the efficiency and accuracy of surveying work. It can autonomously move and adjust its measurement position, adapting to different terrains and environments. The visual camera 3 can automatically identify obstacles to prevent equipment damage, while the six-axis robotic arm 4 can safely collect soil samples. By integrating multiple surveying tools, the device can perform various surveying tasks to meet the needs of different stages of engineering projects. The high-precision measurement of the total station 2 provides accurate measurement data, contributing to improved quality and accuracy of engineering construction.

[0050] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multi-functional surveying device for mobile engineering equipment, characterized in that, include: Self-propelled four-wheeled vehicle (1), used for driving the device to move; Total station (2) is used for orientation, distance measurement, angle measurement, height measurement, mapping and photography in engineering construction; A visual camera (3) is used to automatically detect obstacles; The six-axis robotic arm (4) has a shovel (18) at its end for removing obstacles or collecting soil samples. The shovel (18) works with the six-axis robotic arm (4) to automatically place the collected soil samples into the storage box (8).

2. The multi-functional surveying device for mobile engineering equipment according to claim 1, characterized in that: The top of the self-propelled four-wheeled vehicle (1) is fixed with an installation platform (5) for carrying and installing a total station (2), a visual camera (3), a six-axis manipulator (4) and a storage box (8).

3. The multi-functional surveying device for mobile engineering equipment according to claim 2, characterized in that: The six-axis robot (4) is fixed at the center of the front side of the mounting platform (5), the total station (2) is installed on the left side of the six-axis robot (4), and the vision camera (3) is installed at the right end of the rear side of the mounting platform (5).

4. The multi-functional surveying device for mobile engineering equipment according to claim 1, characterized in that: The storage box (8) is located at the top center of the mounting platform (5).

5. The multi-functional surveying device for mobile engineering equipment according to claim 1, characterized in that: The storage box (8) is provided with several storage slots (7) separated by partitions (6).

6. The multi-functional surveying device for mobile engineering equipment according to claim 2, characterized in that: The top of the mounting platform (5) is provided with a mounting base (9), the mounting base (9) is provided with an electric rotary table (10), the top of the electric rotary table (10) is fixedly provided with a mounting box (11), the mounting box (11) is rotatably provided with a vertical flipping frame (12), and the visual camera (3) is fixedly installed on the top of the vertical flipping frame (12). The vertical rotating frame (12) is driven to rotate horizontally by the electric rotary table (10) to adjust the horizontal angle of the visual camera (3). The vertical rotating frame (12) is driven to rotate vertically by the drive mechanism in the mounting box (11) to adjust the rotation angle of the visual camera (3).

7. The multi-functional surveying device for mobile engineering equipment according to claim 6, characterized in that: The drive mechanism includes a rotating shaft (13) rotatably connected to the mounting box (11) and fixedly connected to the vertical tilting frame (12) at both ends, a worm gear (14) fixed on the rotating shaft (13) and located in the mounting box (11), a mounting panel (15) fixed in the mounting box (11), a servo geared motor (16) fixed at the bottom of the mounting panel (15), and a worm (17) fixedly connected to the output end of the servo geared motor (16) and cooperating with the worm gear (14) for transmission. The servo geared motor (16) drives the worm gear (17) and worm wheel (14) to rotate, which in turn drives the rotating shaft (13) to rotate, causing the vertical tilting frame (12) and the vision camera (3) to tilt.

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