Humanoid surveying and mapping robot

Abstract

The utility model provides a humanoid surveying and mapping robot (1) which can carry various surveying and mapping devices and replace manual work to complete surveying and mapping tasks in areas with complex terrains or limited spaces. The robot comprises a mounting platform (3) which is fixed at the neck of the robot and is used for carrying a total station, a 3D laser scanner or a level gauge; the support (7) is installed behind the neck, and the support is provided with a first laser radar (8), the scanning direction of the first laser radar (8) obliquely downwards points to the rear portion of the robot; the second laser radar (9) performs 360-degree all-round scanning along the horizontal direction; the panorama camera (10) faces the rear of the robot and is used for capturing 360-degree images; and the satellite navigation antenna (11) is used for receiving satellite signals and providing positioning data for the robot.

Description

Technical Field

[0001] This utility model relates to a humanoid surveying robot. Background Technology

[0002] Surveying equipment typically employs devices such as lidar and cameras to perform 3D scanning and modeling of the surrounding environment. Traditional surveying equipment is mostly mounted on airborne or vehicle-mounted platforms, enabling efficient operation in open areas. However, in complex environments and space-constrained scenarios (such as indoors, tunnels, or disaster sites), manual carrying of the equipment is still necessary for surveying. To improve worker comfort and measurement efficiency, various backpack-style surveying devices have emerged in recent years. For example, patent "CN112303454A" proposes a backpack-style surveying device that allows workers to complete scanning and surveying in confined spaces; patent "CN210069393U" designs a foldable backpack platform, enabling the equipment to operate in areas inaccessible to aircraft and vehicles. However, these solutions still suffer from the limitation of relying on manual operation, resulting in lower operational efficiency and higher safety risks. Utility Model Content

[0003] This invention provides a humanoid surveying robot that can be equipped with various surveying devices and can replace manual labor to complete surveying tasks in areas with complex terrain or limited space.

[0004] According to one aspect of the embodiments, a humanoid surveying robot includes: a mounting platform fixed to the robot's neck for carrying a total station, a 3D laser scanner, or a level; and a support mounted behind the neck, the support having mounted: a first lidar whose scanning direction is obliquely downward pointing towards the rear of the robot; a second lidar for performing a 360° panoramic scan in a horizontal direction; a panoramic camera facing the rear of the robot for capturing 360° images; and a satellite navigation antenna for receiving satellite signals to provide positioning data for the robot.

[0005] In some examples, the mounting platform has tilt sensors and drive units for detecting and adjusting its levelness.

[0006] In some examples, the mounting platform is detachably connected to the total station, 3D laser scanner, and level via a standardized interface, which includes at least one of threaded holes, snap-fit, or magnetic fastening structures.

[0007] In some examples, the scanning direction of the first lidar forms a downward angle of 30-60 degrees with the horizontal plane.

[0008] In some examples, the support is detachably connected to the robot's neck, a first lidar, and a panoramic camera.

[0009] In some examples, the bracket is an arc-shaped structure comprising: a vertical section extending upward from the neck and having a telescopic structure; an arc-shaped transition section connecting the vertical section and the horizontal section; and a horizontal section formed by bending forward through the arc-shaped transition section, wherein the horizontal section is located directly above the mounting platform.

[0010] In some examples, the first lidar is fixed to the vertical segment.

[0011] In some examples, the second lidar is fixed to the horizontal segment.

[0012] In some examples, the panoramic camera is fixed to the arc-shaped transition section.

[0013] In some examples, the satellite navigation antenna is positioned on top of the second lidar. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of a humanoid surveying robot provided in one embodiment of the present invention.

[0015] Figure 2 This is a schematic diagram of the mounting structure of the mounting platform on the robot's neck according to an embodiment of the present invention.

[0016] Figure 3 This is a partial structural schematic diagram of the head of a humanoid mapping robot provided in one embodiment of the present invention. Detailed Implementation

[0017] like Figure 1 , Figure 2 and Figure 3As shown, the humanoid robot 1 has an adjustable mounting platform 3 installed on its neck 2. This platform 3 is used to mount surveying equipment (such as a total station, 3D laser scanner, or level), and allows for quick selection and switching of equipment types via a quick-release interface. The platform 3 has a built-in tilt sensor and hydraulic drive unit 4, which can monitor the equipment's posture in real time and actively adjust it to a horizontal state to ensure measurement accuracy. If a simplified structure is required, the hydraulic drive unit 4 can be replaced with an electric push rod or other equivalent drive device. It should be noted that the platform itself with horizontal adjustment function is existing technology. The improvement of this invention lies in its integration design with the humanoid robot's neck and the standardization of the interface. Specifically, the platform 3 can have pre-set threaded holes 5, which are locked and fixed to the surveying equipment by screws 6; the surveying equipment body is correspondingly provided with matching threaded mounting holes to ensure compatibility. Furthermore, the interface can adopt any quick-release structure in the existing technology (such as quick-lock buckles or magnetic fixation). The specific implementation methods (such as buckle construction, magnetic strength, etc.) are all within the scope of existing technology known to those skilled in the art. This solution only achieves universal compatibility between the equipment and the platform through a standardized interface design.

[0018] A curved support 7 is connected to the rear of the neck 2 of the humanoid robot 1. This support 7 includes a vertical section 70, a curved transition section 72, and a horizontal section 71. The vertical section 70 extends upwards from the neck, bends forward through the curved transition section 72 to form the horizontal section 71, which is located directly above the mounting platform 3. Regarding the sensor layout, a first lidar 8 is mounted on the rear of the vertical section 70, its scanning direction pointing diagonally downwards towards the rear of the robot, forming a 30-60 degree depression angle with the horizontal plane, used to detect the low-altitude environment behind it; a second lidar 9 is fixed to the horizontal section 71, performing a 360° panoramic scan along the horizontal direction, covering the mid-to-long-range area around the robot; a panoramic camera 10 is mounted on the curved transition section 72, facing the rear of the robot, used to capture high-precision 360-degree images; a full-band satellite navigation antenna 11 is integrated on the top of the second lidar 9, capable of receiving full-band satellite signals to provide the robot with accurate positioning data.

[0019] Regarding the adjustable and detachable design, the arc-shaped bracket 7, the robot neck 2, and each mapping device (8, 9, 10) are all detachably assembled via threaded connections or quick-release interfaces, facilitating equipment replacement and maintenance. Quick-release interfaces can be any known structure in the art, such as quick-lock buckles or magnetic interfaces. The vertical section 70 adopts a telescopic structure, allowing for flexible adjustment of the installation height of the LiDAR and camera by adjusting its length to adapt to different scenario requirements. Furthermore, this invention does not limit the specific shape and details of the arc-shaped bracket 7; the core is the use of a single continuous arc-shaped structure, balancing structural simplicity with the aesthetic harmony of the robot body.

[0020] The robot's onboard surveying equipment (including a total station, 3D laser scanner, lidar, and camera) transmits the collected environmental data to an external computer in real time for storage and processing via a built-in data transmission module.

[0021] It should be noted that the core improvement of this utility model lies in the structural design of the humanoid robot's head: by optimizing the shape and structure of the head, a dedicated mounting platform and bracket are integrated into its neck and head areas to accommodate the fixation and angle adjustment of the aforementioned surveying equipment. The humanoid robot body (including the power system, motion control module, circuit architecture, etc.) all utilize existing mature technologies, and the transmission, storage, and post-processing of surveying data are also based on existing technical solutions.

[0022] In practical surveying, the humanoid surveying robot of this invention can replace surveyors in performing data collection tasks in dangerous or inaccessible environments, significantly reducing the risks faced by personnel. The humanoid surveying robot can reduce labor costs and is suitable for large-scale and repetitive tasks.

Claims

1. A humanoid mapping robot, characterized in that, include: An installation platform, fixed to the robot's neck, is used to mount a total station, a 3D laser scanner, or a level; and A support, which is mounted behind the neck, is provided with: The first lidar has its scanning direction pointing diagonally downwards towards the rear of the robot; The second lidar performs a 360° panoramic scan along the horizontal direction; A panoramic camera, facing the rear of the robot, is used to capture 360° images; as well as A satellite navigation antenna receives satellite signals to provide positioning data for the robot.

2. The anthropomorphic mapping robot of claim 1, wherein, The installation platform has a tilt sensor and a drive unit for detecting and adjusting its levelness.

3. The anthropomorphic mapping robot according to claim 1 or 2, characterized in that The installation platform is detachably connected to the total station, 3D laser scanner and level via a standardized interface, which includes at least one of threaded holes, snap-fit ​​or magnetic fixing structures.

4. The anthropomorphic mapping robot of claim 1, wherein, The scanning direction of the first lidar forms a downward angle of 30-60 degrees with the horizontal plane.

5. The humanoid surveying robot according to claim 1, characterized in that, The bracket is detachably connected to the robot's neck, the first lidar, the first lidar, and the panoramic camera.

6. The anthropomorphic mapping robot according to claim 1 or 4 or 5, characterized in that, The support has an arc-shaped structure and includes: The vertical section, which extends upward from the neck, has a retractable structure; An arc-shaped transition section connects the vertical section; and The horizontal section is formed by bending forward through the arc-shaped transition section, and the horizontal section is located directly above the mounting platform.

7. The anthropomorphic mapping robot of claim 6, wherein, The first lidar is fixed on the vertical section.

8. The anthropomorphic mapping robot of claim 6, wherein, The second lidar is fixed on the horizontal section.

9. The anthropomorphic mapping robot of claim 6, wherein, The panoramic camera is fixed to the arc-shaped transition section.

10. The anthropomorphic mapping robot of claim 1, wherein, The satellite navigation antenna is mounted on top of the second lidar.

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