Robot for measuring interior of foundation pit

Abstract

The present invention relates to the technical field of surveying and mapping devices. Disclosed is a robot for measuring the interior of a foundation pit. The present invention comprises a drive box. A measurement rod is arranged on one side of the drive box, a telescopic rod is mounted on a rear side of the measurement rod, and a scale is arranged on a rear side of the telescopic rod. A drive assembly is arranged in the interior of the drive box, and the height of the measurement rod is adjusted by means of the drive assembly. A surveying and mapping assembly is arranged on one side of the measurement rod, and the surveying and mapping assembly comprises a first laser rangefinder. According to the present invention, by means of the arrangement of the surveying and mapping assembly, when surveying and mapping a foundation pit, the drive assembly can be used to drive the measurement rod and an adjustment rod to be inserted into the interior of the foundation pit. When the adjustment rod comes into contact with the bottom of the foundation pit, the scale can be observed to preliminarily determine the depth of the foundation pit. At the same time, the first laser rangefinder is used to carry out contact surveying and mapping on the depth of the foundation pit, and a second laser rangefinder is used to carry out contact measurement on the diameter of the foundation pit, thereby improving the accuracy of surveying and mapping data.

Description

A foundation pit interior measurement robot TECHNICAL FIELD

[0001] The present application belongs to the technical field of surveying equipment, in particular relates to a foundation pit interior measurement robot. BACKGROUND

[0002] Foundation pit measurement is an important work in civil engineering construction, mainly used to ensure the safety and stability of the excavation and support structure of the foundation pit. The purpose of foundation pit measurement is to accurately obtain the geometric shape, depth, position and changes of the surrounding environment of the foundation pit, so as to provide reliable data support for subsequent construction, all measurement data need to be recorded in detail and analyzed to judge whether the construction of the foundation pit meets the design requirements, and problems can be found in time through data comparison and adjustment.

[0003] In the prior art, a line foundation pit intelligent measurement platform is disclosed in Chinese patent No. "CN216052197U", by setting the sensor terminal and the scanning head, the detection of the foundation pit is realized automatically, the device is integrated with a Bluetooth module, which can be connected with a mobile phone through Bluetooth, and remote measurement can be completed on the mobile phone. During the descent of the device in the foundation pit, one-key automatic measurement is realized by using the mobile phone APP, which solves the problem that after the current foundation pit excavation is completed, the site acceptance needs to be carried out by the supervisor. Currently, the aperture, hole depth, etc. can be completed on the ground, but the related data of hole expansion must be measured at the bottom of the foundation pit. For super deep foundation pit, there are problems such as toxic gas hazards and personnel falling risks.

[0004] However, the above device still has the following problems in the implementation process: in the detection process of the foundation pit, the scanning head is driven by the driving device to probe into the foundation pit for surveying and mapping to obtain the data inside the foundation pit. Non-contact measurement is adopted, but the internal environment of the foundation pit is relatively complex and there will be some impurities, which can easily shield and interfere with the surveying and mapping data of the scanning head. Once some relatively loose soil falls off, the internal diameter of the foundation pit will change, resulting in inaccurate surveying and mapping data.

[0005] Therefore, we provide a foundation pit interior measurement robot to solve the above problems.

[0006] SUMMARY

[0007] The purpose of the present application is to provide a foundation pit interior measurement robot, which solves the problem of lack of contact measurement function in the prior art foundation pit surveying and mapping equipment, and the scanning head is easily disturbed during surveying and mapping, resulting in inaccurate measurement data.

[0008] To solve the above technical problems, the present application is realized by the following technical scheme:

[0009] The application is a kind of inside foundation pit measuring robot, including drive box, the detection rod is arranged on one side of the drive box, the telescopic rod is installed on the rear side of the detection rod, the scale is arranged on the rear side of the telescopic rod, the drive assembly is arranged in the drive box, the height of the detection rod is adjusted by the drive assembly;

[0010] The detection rod is provided with a surveying and mapping assembly on one side, the surveying and mapping assembly comprises a first laser range finder, the first laser range finder is installed on the rear side of the detection rod, an adjusting rod is arranged through the bottom of the detection rod, a first light emitter is fixedly connected to the rear side of the adjusting rod, a moving plate is arranged on both sides of the detection rod, a second laser range finder and a second light emitter are respectively fixedly connected to the rear side of the moving plate, an inclination detector is installed on the front side of the detection rod, and the environment in the foundation pit is detected by the surveying and mapping assembly.

[0011] The detection rod is provided with an adjusting assembly on both sides, the adjusting assembly comprises a first adjusting frame, the first adjusting frame is movably connected to both sides of the detection rod, and a second adjusting frame is movably connected to the front side of the first adjusting frame, the positions of the second laser range finder and the second light emitter are adjusted by the adjusting assembly.

[0012] The moving plate is provided with a soil detection assembly on the front side, the soil detection assembly comprises a support pipe, and a soil detection probe is arranged through one side of the support pipe, and the soil is detected by the soil detection assembly.

[0013] The application further comprises a drive motor, the drive motor is installed in the drive box, a threaded rod is fixedly connected to the output end of the drive motor, a moving sleeve is threadedly connected to the surface of the threaded rod, and the moving sleeve is fixedly connected to the detection rod through the drive box on one side.

[0014] The application further comprises a movable seat, the movable seat is movably connected to one end of the second adjusting frame, the other side of the movable seat is fixedly connected to the adjusting rod, a sliding rod is fixedly connected in the moving plate, a moving seat is slidingly connected to the surface of the sliding rod, and the other end of the first adjusting frame is movably connected to the moving seat.

[0015] The application further comprises a spring, the spring is fixedly connected to the moving seat on the surface of the sliding rod.

[0016] The application further comprises a sealing plug, the sealing plug is fixedly connected to the top of the adjusting rod, a three-way pipe is communicated on the front side of the detection rod, high-pressure pneumatic pipes are respectively communicated at both ends of the bottom of the three-way pipe, and the other end of the high-pressure pneumatic pipe is communicated with the support pipe.

[0017] The application further provides that the support pipe is internally slidably connected with a piston plate, the piston plate is internally mounted with a pressure sensor, and one end of the soil detection probe is fixedly connected with the pressure sensor.

[0018] The application further provides that the tee pipe is communicated with a gas conveying pipe on one side, the other end of the gas conveying pipe is communicated with a gas pressure pump, the surface of the gas conveying pipe is sleeved with a first electromagnetic valve, and the surface of the tee pipe is sleeved with a second electromagnetic valve.

[0019] The application further provides that the surface of the support pipe is fixedly connected with a support, and the rear side of the support is fixedly connected with a moving plate.

[0020] The application further provides that the front side of the adjusting rod is mounted with a drop-in water level sensor, and the two sides of the detection rod are both provided with a sliding groove.

[0021] The application further provides that the one side of the driving box is movably connected with a support rod, the bottom of the support rod is movably connected with a stabilizing plate, and the top of the stabilizing plate is mounted with a counterweight.

[0022] The application has the following beneficial effects:

[0023] 1、Through the setting of the surveying and mapping assembly, when the foundation pit is surveyed and mapped, the detection rod and the adjusting rod are inserted into the inside of the foundation pit by the driving assembly, when the adjusting rod contacts the bottom of the foundation pit, the depth of the foundation pit can be preliminarily judged by observing the scale, and the depth of the foundation pit can be contactively surveyed and mapped by the first laser range finder, and the diameter of the foundation pit can be contactively measured by the second laser range finder, so that the accuracy of the surveying and mapping data is improved.

[0024] 2、Through the setting of the adjusting assembly, after the depth of the foundation pit is surveyed and mapped, the detection rod is continuously moved downwards by the driving motor, at this time, the adjusting rod remains stationary, the position of the second adjusting frame is adjusted by the movable seat, the moving plate is pushed by the hinged action of the first adjusting frame and the second adjusting frame, the moving plate is in contact with the inner wall of the foundation pit, the diameter of the foundation pit is surveyed and mapped, and the accuracy of the surveying and mapping data is further improved.

[0025] 3、Through the setting of the soil detection assembly, when the moving plate moves, the support pipe is in contact with the inner wall of the foundation pit, then when the sealing plug is moved upwards by the adjusting rod, the air in the detection rod is compressed, the soil detection probe is inserted into the soil inside the inner wall of the foundation pit, the tightness of the soil is judged by the pressure value fed back by the pressure sensor, and detection data is provided for the reinforcement of the foundation pit.

[0026] Of course, any product implementing the present application does not necessarily need to achieve all the advantages mentioned above. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed for the description of the embodiments will be briefly introduced.

[0028] Fig. 1 is a structural perspective view of an inside foundation measuring robot;

[0029] Fig. 2 is a rear view of a detection rod in an inside foundation measuring robot;

[0030] Fig. 3 is a partial sectional view of a detection rod in an inside foundation measuring robot;

[0031] Fig. 4 is a schematic view of pipeline communication in an inside foundation measuring robot;

[0032] Fig. 5 is a rear partial sectional view of a drive box in an inside foundation measuring robot;

[0033] Fig. 6 is a sectional view of a moving plate in an inside foundation measuring robot;

[0034] Fig. 7 is a sectional view of a support pipe and a piston plate in an inside foundation measuring robot;

[0035] Fig. 8 is a mapping schematic view of a foundation in an inside foundation measuring robot.

[0036] In the drawings: 1, drive box; 2, detection rod; 3, telescopic rod; 4, scale; 5, first laser range finder; 6, adjusting rod; 7, first light emitter; 8, moving plate; 9, second laser range finder; 10, second light emitter; 11, inclination detector; 12, first adjusting bracket; 13, second adjusting bracket; 14, support pipe; 15, soil detection probe; 16, drive motor; 17, threaded rod; 18, moving sleeve; 19, movable seat; 20, sliding rod; 21, moving seat; 22, spring; 23, sealing plug; 24, tee pipe; 25, high-pressure pneumatic pipe; 26, piston plate; 27, pressure sensor; 28, gas conveying pipe; 29, gas pressure pump; 30, first electromagnetic valve; 31, second electromagnetic valve; 32, support; 33, immersion water level sensor; 34, support rod; 35, stabilizing plate; 36, counterweight. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be described below in combination with the drawings of the embodiments of the present application. The described embodiments are only some of the embodiments of the present application, not all the embodiments.

[0038] Embodiment One

[0039] Please refer to figures 1-8, the present application is a kind of inside foundation measuring robot, including drive box 1, drive box 1 side is provided with detection rod 2, detection rod 2 rear side is installed with telescopic rod 3, telescopic rod 3 rear side is provided with scale 4, drive box 1 is provided with drive assembly inside, the height of detection rod 2 is adjusted by drive assembly;Detection rod 2 side is provided with surveying and mapping component, surveying and mapping component includes first laser range finder 5, first laser range finder 5 is installed to detection rod 2 rear side, detection rod 2 bottom is provided with adjusting rod 6, adjusting rod 6 rear side is fixedly connected with first light emitter 7, detection rod 2 both sides are provided with moving plate 8, moving plate 8 rear side is fixedly connected with second laser range finder 9 and second light emitter 10 respectively, detection rod 2 front side is installed with inclination detector 11, and the environment in the foundation is detected by surveying and mapping component;Detection rod 2 both sides are provided with adjusting component, adjusting component includes first adjusting frame 12, first adjusting frame 12 is movably connected to detection rod 2 both sides respectively, first adjusting frame 12 front side is movably connected with second adjusting frame 13, and the position of second laser range finder 9 and second light emitter 10 is adjusted by adjusting component;Moving plate 8 front side is provided with soil detection component, and soil detection component includes support tube 14, and soil detection probe 15 is penetrated in the side of support tube 14, and the soil is detected by soil detection component.

[0040] Specifically: adjusting rod 6 and telescopic rod 3 rear side are provided with scale 4, the value of two groups of scales 4 is superimposed, can be inserted into the inside of foundation after adjusting rod 6, the depth of foundation is observed, first laser range finder 5 and first light emitter 7 are adapted, and are in the same horizontal position, by first laser range finder 5 receives the light of first light emitter 7, to judge the depth data of foundation, second laser range finder and second light emitter 10 are adapted, and are in the same horizontal position, by receiving the light of second light emitter 10, to judge the diameter data of foundation, inclination detector 11 can real-time monitor the inclination angle of foundation, and timely obtain data, ensure the safety in construction process.

[0041] Specific embodiment two

[0042] Please refer to FIG. 1-8, on the basis of the first embodiment, the driving assembly comprises a driving motor 16, the driving motor 16 is installed in the driving box 1, the output end of the driving motor 16 is fixedly connected with a threaded rod 17, the surface of the threaded rod 17 is threadedly connected with a moving sleeve 18, one side of the moving sleeve 18 penetrates through the driving box 1 and is fixedly connected with the detection rod 2, the adjusting assembly further comprises a movable seat 19, the movable seat 19 is movably connected to one end of the second adjusting frame 13, the other side of the movable seat 19 is fixedly connected with the adjusting rod 6, the inside of the moving plate 8 is fixedly connected with a sliding rod 20, the surface of the sliding rod 20 is slidingly connected with a moving seat 21, the other end of the first adjusting frame 12 is movably connected with the moving seat 21, the surface of the sliding rod 20 is sleeved with a spring 22, the bottom end of the spring 22 is fixedly connected with the moving seat 21, and the soil detection assembly further comprises a sealing plug 23, the sealing plug 23 is fixedly connected to the top of the adjusting rod 6, the front side of the detection rod 2 is communicated with a three-way pipe 24, the bottom of the three-way pipe 24 is communicated with two high-pressure pneumatic pipes 25, and the other end of the high-pressure pneumatic pipe 25 is communicated with the support pipe 14.

[0043] Specifically: the first adjusting frame 12 and the second adjusting frame 13 are movably connected through a pin shaft, the moving plate 8 can be pushed by using shear force, the soil detection probe 15 can be inserted into soil, the probe can measure the physical properties of soil, including density, porosity and permeability, these information helps to understand the water retention capacity and drainage capacity of soil, the probe has wireless transmission function, can transmit measurement results to computer or mobile device in real time, convenient for data analysis and long-term monitoring, the surface of the threaded rod 17 is provided with external threads, the height of the detection rod 2 can be adjusted under the drive of the driving motor 16.

[0044] Specific embodiment three

[0045] Please refer to FIG. 1-8, on the basis of the first embodiment, the support pipe 14 is slidingly connected with a piston plate 26 inside, the piston plate 26 is internally provided with a pressure sensor 27, one end of the soil detection probe 15 is fixedly connected with the pressure sensor 27, one side of the three-way pipe 24 is communicated with a gas conveying pipe 28, the other end of the gas conveying pipe 28 is communicated with a gas pressure pump 29, the surface of the gas conveying pipe 28 is sleeved with a first electromagnetic valve 30, the surface of the three-way pipe 24 is sleeved with a second electromagnetic valve 31, the surface of the support pipe 14 is fixedly connected with a support 32, the rear side of the support 32 is fixedly connected with the moving plate 8, the front side of the adjusting rod 6 is provided with a drop-in type water level sensor 33, both sides of the detection rod 2 are provided with sliding grooves, one side of the driving box 1 is movably connected with a support rod 34, the bottom of the support rod 34 is movably connected with a stabilizing plate 35, and the top of the stabilizing plate 35 is provided with a counterweight 36.

[0046] Specifically: the spring 22 is sleeved on the surface of the sliding rod 22, the spring 22 has the effect of compression energy storage, can be elastically reset to the moving seat 21, the sealing plug 23 is slidably connected with the inner wall of the detection rod 2, can be driven by the adjusting rod 6 to compress the air in the detection rod 2, the piston plate 26 is slidably connected with the inner wall of the supporting pipe 14, can inject high-pressure gas into the supporting pipe 14 to push the piston plate 26 when the second electromagnetic valve 31 is opened, and the pressure sensor 27 is installed on one side of the soil detection probe 15, which can detect the feedback pressure, and the drop-type water level sensor 33 can detect the water level in the foundation pit.

[0047] The working principle of the application is as follows: the staff moves the driving box 1 to one side of the foundation pit, and moves the detection rod 2 to the top of the foundation pit, then starts the driving motor 16 through the external controller, the driving motor 16 drives the moving sleeve 18 to move in cooperation with the threaded rod 17, the moving sleeve 18 drives the adjusting rod 6 to insert into the inside of the foundation pit in cooperation with the detection rod 2, at this time the distance between the first light emitter 7 and the first laser range finder 5 is fixed, when the adjusting rod 6 contacts the bottom of the foundation pit, the detection rod 2 will continue to move downward, at this time the distance between the first light emitter 7 and the first laser range finder 5 will change, so as to judge that the adjusting rod 6 contacts the bottom of the foundation pit, then the scale 4 is observed to preliminarily measure the height of the foundation pit, and the first laser range finder 5 is used for accurate measurement.

[0048] When the height of the foundation pit is measured and plotted, the detection rod 2 can be controlled to continue to move downward, at this time the adjusting rod 6 remains in position, then the movable seat 19 is pushed to move through the adjusting rod 6, the movable seat 19 pushes the second adjusting frame 13 to move, the second adjusting frame 13 and the first adjusting frame 12 move by utilizing the shearing force, the moving seat 21 is pushed to slide on the surface of the sliding rod 20, and the moving plate 8 is pushed, when the two groups of moving plates 8 respectively contact the inner wall of the foundation pit, the second light emitter 10 and the second laser range finder 9 are used for contact type measurement and plotting of the diameter of the foundation pit, which can improve the accuracy of the measurement data, and at the same time, when the adjusting rod 6 does not reach the bottom of the foundation pit, the air pressure pump 29 is started, the detection rod 2 is connected with the air outlet pipe 28, the air in the detection rod 2 is pumped out, the sealing plug 23 is driven to move, the position of the adjusting rod 6 is adjusted, and the position of the moving plate 8 can be adjusted in cooperation with the first adjusting frame 12 and the second adjusting frame 13 when the adjusting rod 6 is adjusted, so as to detect the diameters at different heights in the foundation pit;

[0049] When the adjusting rod 6 moves upward, the sealing plug 23 can compress the air in the detection rod 2, when the moving plate 8 contacts with the inner wall of the foundation pit, the supporting pipe 14 also contacts with the inner wall of the foundation pit, then the second electromagnetic valve 31 is controlled to open the three-way pipe 24, the compressed gas is injected into the supporting pipe 14 through the high-pressure pneumatic pipe 25, the piston plate 26 is pushed by the high-pressure gas, the piston plate 26 drives the soil detection probe 15 to insert into the soil, the pressure value fed back by the soil detection probe 15 to the pressure sensor 27 is used to judge the tightness of the soil, and detection data of the foundation pit is provided.

[0050] The standard parts used in the application can be purchased from the market, and can be ordered according to the description and drawings. The specific connection mode of each part adopts the conventional means such as bolt, rivet and welding in the prior art. The mechanical parts and equipment adopt the conventional type in the prior art. The control mode is automatically controlled by the control unit. The control circuit of the control unit can be realized by simple programming of the person skilled in the art, which belongs to the common knowledge in the art. Therefore, the control mode and circuit connection in the application will not be explained in detail.

[0051] The preferred embodiments of the application disclosed above are only used to help explain the application. The preferred embodiments do not describe all the details and limit the application to the specific embodiments. The embodiments are selected and described in the specification in order to better explain the principles and practical applications of the application, so that the person skilled in the art can well understand and utilize the application.

Claims

1. A robot for measuring inside a foundation pit, comprising a drive box (1), characterized in that: The driving box (1) is provided with a detection rod (2) on one side, a telescopic rod (3) is installed on the rear side of the detection rod (2), a scale (4) is arranged on the rear side of the telescopic rod (3), and a driving assembly is arranged inside the driving box (1); the height of the detection rod (2) is adjusted through the driving assembly; The detection rod (2) is provided with a surveying and mapping assembly on one side, the surveying and mapping assembly comprises a first laser range finder (5), the first laser range finder (5) is installed on the rear side of the detection rod (2), an adjusting rod (6) is arranged through the bottom of the detection rod (2), a first light emitter (7) is fixedly connected to the rear side of the adjusting rod (6), and a moving plate (8) is arranged on both sides of the detection rod (2); a second laser range finder (9) and a second light emitter (10) are respectively fixedly connected to the rear side of the moving plate (8), an inclination detector (11) is installed on the front side of the detection rod (2), and the environment in the foundation pit is detected through the surveying and mapping assembly; The detection rod (2) is provided with an adjusting assembly on both sides, the adjusting assembly comprises a first adjusting frame (12), the first adjusting frame (12) is movably connected to both sides of the detection rod (2), and a second adjusting frame (13) is movably connected to the front side of the first adjusting frame (12); the positions of the second laser range finder (9) and the second light emitter (10) are adjusted through the adjusting assembly. The moving plate (8) is provided with a soil detection assembly on the front side, the soil detection assembly comprises a supporting pipe (14), and a soil detection probe (15) is arranged through one side of the supporting pipe (14); the soil is detected through the soil detection assembly.

2. The pit interior measuring robot according to claim 1, characterized by: The driving assembly comprises a driving motor (16), the driving motor (16) is installed inside the driving box (1), a threaded rod (17) is fixedly connected to the output end of the driving motor (16), a moving sleeve (18) is threadedly connected to the surface of the threaded rod (17), and the moving sleeve (18) is fixedly connected to the detection rod (2) by penetrating the driving box (1) on one side.

3. The inside foundation pit measuring robot according to claim 1, characterized in that: The adjusting assembly further comprises a movable seat (19), the movable seat (19) is movably connected to one end of the second adjusting frame (13), the other side of the movable seat (19) is fixedly connected with the adjusting rod (6), a sliding rod (20) is fixedly connected inside the moving plate (8), a moving seat (21) is slidingly connected to the surface of the sliding rod (20), and the other end of the first adjusting frame (12) is movably connected with the moving seat (21).

4. The pit interior measuring robot according to claim 3, characterized by: The surface of the sliding rod (20) is sleeved with a spring (22), and the bottom end of the spring (22) is fixedly connected with the moving seat (21).

5. The interior foundation pit measuring robot according to claim 1, characterized in that: The soil detection assembly further comprises a sealing plug (23), the sealing plug (23) is fixedly connected to the top of the adjusting rod (6), a three-way pipe (24) is communicated on the front side of the detection rod (2), high-pressure pneumatic pipes (25) are respectively communicated at both ends of the bottom of the three-way pipe (24), and the other end of the high-pressure pneumatic pipe (25) is communicated with the supporting pipe (14).

6. The interior of foundation measuring robot according to claim 1, characterized in that: The support pipe (14) is slidably connected with a piston plate (26) inside, the piston plate (26) is internally provided with a pressure sensor (27), and one end of the soil detection probe (15) is fixedly connected with the pressure sensor (27).

7. The pit interior measuring robot according to claim 5, characterized by: The three-way pipe (24) is communicated with a gas conveying pipe (28) on one side, the other end of the gas conveying pipe (28) is communicated with a gas pressure pump (29), the surface of the gas conveying pipe (28) is sleeved with a first electromagnetic valve (30), and the surface of the three-way pipe (24) is sleeved with a second electromagnetic valve (31).

8. The interior foundation pit measuring robot according to claim 1, characterized in that: The support pipe (14) is fixedly connected with a support (32) on the surface, and the rear side of the support (32) is fixedly connected with the moving plate (8).

9. The interior foundation pit measuring robot according to claim 1, characterized in that: The front side of the adjusting rod (6) is provided with a drop-in water level sensor (33), and the detection rod (2) is provided with a sliding groove on both sides.

10. The interior of foundation measuring robot according to claim 1, characterized in that: The driving box (1) is movably connected with a support rod (34) on one side, the bottom of the support rod (34) is movably connected with a stabilizing plate (35), and the top of the stabilizing plate (35) is provided with a counterweight (36).

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