CN113932090B - A surveying and mapping robot - Google Patents

Abstract

The application discloses a mapping robot which comprises a head device and a following device, wherein the head device drives the following device to operate, and the head device is connected with the following device through a joint bearing, so that the following device can rotate and swing at any angle along with the head device, and the influence of factors such as shaking, mechanical vibration and the like in the operation process of a device body on the detection effect of an inertial sensor is weakened as much as possible through the structural design of the following device, so that the detection result is more accurate. The walking wheel is installed for the slope of device body, and when the device body march in the pipeline, the teeth of a cogwheel on the walking wheel fully contact with the pipeline inner wall, have avoided encountering the phenomenon of toppling over that the insufficient easy emergence of contact was because of when the barrier for the operation of device body is more steady. The gear tooth end is designed to be in a pointed shape, so that the device is more suitable for a nonmetallic pipeline, the contact area between the device body and the inner wall of the pipeline is smaller, and the grabbing force is stronger.

Description

A surveying and mapping robot

Technical field

The invention relates to a surveying and mapping robot.

Background technique

With the rapid development of urbanization in China, more and more underground pipe networks are needed in cities. The underground pipe network is the "lifeline" of the city and the basis for its survival and development. It plays an important role in the high-quality development of urban infrastructure. However, the current construction level of underground pipeline networks in some cities in my country is relatively lagging behind and cannot meet the requirements of high-quality economic development. For example, during the pipeline construction process, it is necessary to record the geographical location of the pipeline in some way for later maintenance and upkeep. However, recording the geographical location of pipelines is a very complex and technically difficult project. For crossing pipes laid with the "pipe jacking and crossing" construction method in special environments, the laying is affected by the terrain or the actual environment, and the crossing pipes are often highly undulating. It is uncertain, and it is impossible to predict the direction of the pipeline underground when it is above the surface. In this case, other special equipment is needed to measure and map the outline direction of the pipeline underground.

Contents of the invention

The purpose of the present invention is to propose a surveying and mapping robot to survey and map the distribution direction of underground crossing pipes, and to achieve accurate surveying and mapping of the distribution direction of the crossing pipes.

This application discloses a surveying and mapping robot, which includes a head device and a following device. The head device is flexibly connected to the following device, and the head device drives the following device to run; the head device includes a device body and a device body arranged on the device body. A detection component, a power module and a controller; the detection component is electrically connected to the controller and is used to detect the pipeline environment and record the walking conditions of the surveying and mapping robot in the pipeline; the power module provides traveling power for the device body and provides power for the detection component and controller power supply; the controller is used to control the operation of the device body according to the signal detected by the detection component; the following device is used to carry an inertial sensor, and detects the walking posture of the surveying and mapping robot in the pipeline through the inertial sensor. The inertial sensor and control The device is electrically connected; the following device includes a connecting frame, the front end of the connecting frame is flexibly connected to the device body through a connecting component, and an inertial sensor is arranged on the connecting frame; the surveying and mapping robot is also equipped with a mileage sensor, and the mileage sensor is connected to the controller Electrical connection.

Preferably, the middle part of the connecting frame is also provided with a steering gear and a cradle frame for installing an inertial sensor. The steering gear is fixedly connected to the cradle frame; the steering gear is electrically connected to the controller; the controller is based on The detection signal received from the inertial sensor determines the twisting condition of the inertial sensor, and then outputs a control signal to the steering gear. The steering gear adjusts the rotation of the cradle to restore the balance of the inertial sensor.

Preferably, the connection component includes a cross-shaped bracket, and both ends of the cross-shaped bracket are connected to the device body and the connecting frame through spherical bearings respectively.

Preferably, a first bracket is fixedly provided on the upper surface of the connecting frame; a set of following wheels are provided at both ends of the connecting frame, and a first wheel frame for installing the following wheels is provided in front of the connecting frame. The first bracket and the first wheel frame are connected through an elastic member.

Preferably, the mileage sensor is arranged on the running wheel or the following wheel.

Preferably, the cross bar of the cross-shaped bracket is connected to the outer end surface of the first wheel frame through a first elastic member, and the first elastic member and the cross-shaped bracket are at the same horizontal position.

Preferably, the following wheel is installed tilted outward relative to the central axis of the connecting frame.

Preferably, the device body is provided with a set of running wheels on the left and right sides along the central axis. The running wheels are installed obliquely relative to the device body. The central axis of the running wheels and the central axis of the device body have a certain angle, so that the The running section of the running wheel relative to the inner wall of the pipe is vertical or nearly vertical.

Preferably, the running wheel includes a driving motor and a wheel body, and an umbrella-shaped wheel frame is provided on the outer side of the wheel body; the driving motor is fixedly connected to the mounting base of the device body through a fixed frame, and the driving motor is installed obliquely relative to the device body. ; The input end of the drive motor is connected to the controller, the output shaft of the drive motor is connected to the center of the wheel frame through a coupling, and the drive motor drives the wheel frame to rotate while driving the wheel body to rotate.

Preferably, the wheel body is equipped with pointed gear teeth in a circle.

Beneficial effects: The surveying and mapping robot proposed in this application connects the head device and the following device through a joint bearing, so that the following device can follow the head device to rotate and swing at any angle, and the structural design of the following device weakens the operation process of the device body as much as possible. The influence of factors such as jitter and mechanical vibration on the detection effect of the inertial sensor makes the detection results more accurate. The running wheel is installed obliquely relative to the device body, so that the running section of the running wheel relative to the inner wall of the pipe is vertical or approximately vertical. When the device body travels in the pipeline, the gear teeth on the running wheels are in full contact with the inner wall of the pipe, which avoids the tipping phenomenon that easily occurs due to insufficient contact when encountering obstacles, making the device body run more smoothly. The end of the gear teeth is designed in a pointed shape, which is more suitable for non-metallic pipes, making the contact area between the device body and the inner wall of the pipe smaller and providing stronger grip.

Description of the drawings

Figure 1 is the overall connection diagram of the surveying and mapping robot of this application;

Figure 2 is a connection diagram of the device body and the connecting frame;

Figure 3 is a schematic diagram of the position of the running wheel relative to the device body of the present application;

Figure 4 is a schematic diagram of the traveling wheel in Figure 3;

Figure 5 is a cross-sectional view along the B-B direction of Figure 4;

Figure 6 shows the wheel body (1) with gear teeth installed;

Figure 7 shows the wheel body (2) with gear teeth installed;

Figure 8 is a schematic diagram of the head device;

Figure 9 is a schematic diagram of the following device in Figure 1;

Figure 10 is the closed-loop design of inertial sensor swing adjustment;

Among them, the reference symbols are explained as follows:

1000. Head device; 1100. Controller; 500. Device body; 510. Hub; 520. Mounting seat; 190. Wheel plate; 100. Pipe; 200. Wheel body; 201. Mounting hole; 202. Gear teeth; 210 , wheel frame; 310, drive motor; 320, coupling; 410, fixed frame; 600, support wheel.

2000, following device; 2100, connecting frame; 2200, first wheel frame; 2300, wheel; 2400, second bracket; 2500, column; 2600, first bracket; 2700, cradle frame; 2800, inertial sensor; 2900, rudder machine;

3100. Spherical bearing; 3200. Cross-shaped bracket.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.

A surveying and mapping robot, as shown in Figure 1, includes a head device 1000 and a following device 2000. The head device 1000 is connected to the following device 2000. The head device drives the following device to run. The two are flexibly connected so that the following device can follow flexibly. The head unit runs inside the pipe.

The head device 2000 includes a device body 1200 and a detection component, a power module and a controller provided on the device body. The detection component is electrically connected to the controller and is used to detect the pipeline environment and record the walking conditions of the surveying and mapping robot in the pipeline. The power module provides traveling power for the device body and supplies power to the detection components and controller. The top of the head device is also provided with a support wheel 600. When the climbing angle is greater than 25°, the support wheel opens outward and offsets the top tube wall to ensure the smooth operation of the robot.

Among them, as shown in Figure 2, the device body 1200 adopts a four-wheel four-drive structure, with one running wheel 200 on the front, rear, left and right respectively. Four independent drive motors (also called reduction motors) drive the wheel body to run, and then carry the device body with it. Go forward or backward. It is worth noting that when installing ordinary wheels, it is customary to arrange the wheel plate and the device body in parallel in the radial direction and on the same central axis along the axial direction. When such a wheel runs in a pipe, the contact surface between the inner wall of the pipe and the wheel The force direction of the pipe is inconsistent with the gravity direction of the device body, which makes it very easy for the wheel to slip in the pipe, which can only be solved by increasing the friction on the wheel surface. Furthermore, if the wheel adopts a structure with gear teeth installed on the wheel disc, when the gear teeth have a certain width, there must be a part that cannot fully contact the inner wall of the pipe. Even if it uses pointed gear teeth, the gear will extend into the inner wall of the pipe. The direction is also deeper on one side and shallower on the other, which will weaken the grip during travel and is not conducive to the stability of the device body. In this regard, in this application, the running wheel 200 is installed obliquely relative to the device body. As shown in Figure 3, viewed from the front of the device body, the central axis of the running wheel 200 and the central axis of the device body have a certain angle a (not a right angle), and the angle b between the central axis of the running wheel 200 and the horizontal line is an acute angle. . Since the inner wall of the pipeline is arc-shaped, the structure of the running wheel 200 makes the running section of the running wheel 200 relative to the inner wall of the pipeline be vertical or nearly vertical, which makes the force direction of the running wheel 200 and the force on the inner wall of the pipeline The direction is the same, and the running wheel 200 can also be in complete contact with the inner wall of the pipeline to ensure the smooth operation of the device body.

The running wheel 200 includes a drive motor and a wheel body. The outer side of the wheel body is provided with an umbrella-shaped wheel frame; the drive motor is fixedly connected to the mounting base of the device body through a fixed frame, and the drive motor is installed obliquely relative to the device body; the input end of the drive motor and the control The output shaft of the drive motor is connected to the center of the wheel frame through the coupling, and the drive motor drives the wheel frame to rotate while driving the wheel body to rotate. In addition, because the inner wall of the pipe is very smooth and the terrain is undulating, uphill and downhill situations often occur, and ordinary wheels will slip and affect the operation of the robot. In order to solve this problem, this robot uses spiked (steel nail) wheels for non-metallic pipes, that is, pointed gear teeth are installed around the wheel body to improve the grip of the robot equipment and achieve efficient operation.

Specifically, the device body is provided with a mounting base 520 for fixed connection between the running wheel 200 and the device body, and each mounting seat 520 is equipped with two running wheels 200 on the left and right.

As shown in FIGS. 4 and 5 , the traveling wheel 200 includes a driving motor 310 , a hollow wheel body 200 , and an umbrella-shaped wheel frame 210 provided on the outer surface of the wheel body 200 . The driving motor 310 is fixedly connected to the device body mounting base 520 through the fixing bracket 410 . Specifically, the drive motor 310 is installed tilted relative to the device body. The central axis of the drive motor 310 forms an angle with the horizontal centerline of the device body mounting base 520. The tilt is such that the running section of the wheel body 200 relative to the inner wall of the pipe is vertical or vertical. Approximately vertical state is appropriate. The specific setting of the inclination angle is related to the axial length of the selected drive motor, the size of the wheel radius, the applicable inner diameter of the pipe, and the size of the device body. The first end (ie, the open end) of the wheel frame 210 is fixedly connected to the wheel body 200 in one circle. The wheel frame 210 and the wheel body 200 can also be configured as an integrated structure. A part of the driving motor 310 extends into the umbrella-shaped wheel frame 210, and the wheel frame 210 is located in the middle outer ring of the driving motor 310. The input end of the drive motor 310 is connected to the controller of the device body. The controller provides power and operating signals to the drive motor 310. The output shaft of the drive motor 310 is centrally connected to the wheel frame 210 through the coupling 320. The drive wheel frame 210 rotates simultaneously The wheel body 200 is driven to rotate, and then the device body is driven forward or backward. Specifically, an installation cavity is provided inside the second end of the wheel frame 210 for fixed connection with the first end of the coupling 320 , and the second end of the coupling 320 is connected to the output end of the driving motor 310 . Furthermore, the driving motor 310 can be arranged in an angle-adjustable structure relative to the device body mounting base 520 to adapt to pipes with different inner diameters.

The wheel body 200 is provided with a plurality of mounting holes 201 for mounting the gear teeth 202 in one circle. The end of the gear teeth 202 that contacts the inner wall of the pipe can be set in a flat shape, as shown in Figure 6. This type of running wheel 200 is suitable for both metal pipes and non-metal pipes. During the operation of the device body, the end of the gear teeth can be Full contact with the inner wall of the pipe to increase the friction of travel. In addition, for non-metallic pipes, the end of the gear teeth in contact with the inner wall of the pipe can be selected to be pointed, as shown in Figure 7. When this kind of running wheel 200 travels in the non-metallic pipe, the gear teeth are in vertical contact with the inner wall of the pipe, and the grip is Stronger and less prone to slipping or tipping.

As shown in Figure 8, the detection component includes a camera 300, an infrared ranging sensor 400 and a water measuring electrode (not shown in the figure). The camera 300, the infrared ranging sensor 400 and the water measuring electrode are all connected to the controller. The camera 300 is installed at the front end of the device body and is used for real-time shooting or video recording of the robot's operation process inside the pipeline for evidence collection, and for effective image recording when encountering emergencies such as masonry, mud and other obstacles. The infrared ranging sensors 400 are located on the left and right sides of the device body. When the surveying and mapping robot walks autonomously inside the pipeline, it judges the environment of the pipeline in real time through the infrared ranging sensors 400. For example, the controller collects the distance value between the infrared ranging sensor 400 and the pipe wall. changes, you can determine whether the head device encounters a "three-way joint" in the tube, and if so, choose to make changes to the movement line. The water measuring electrode can be installed at the bottom of the device body and extends downward. Applying the principle of "water has weak resistance", when water accumulates in the pipe, a weak current will flow at both ends of the electrode, and the water measuring motor is connected to the electrode. By monitoring the current at both ends of the water measuring electrode, the controller can control the device body to return to the starting point, and take photos to record the actual situation in the pipe. Of course, the head device of this application can also be selectively equipped with different detection equipment according to surveying and mapping needs.

Among them, the controller is used to record the operation of the surveying and mapping robot in the pipeline, and control the operation of the device body according to the signal detected by the detection component. The controller includes the upper computer main control board and the lower computer main board. The main control board of the host computer mainly uses the Ubuntu system as the carrier to develop intelligent robot autonomous control programs. It mainly performs calculations such as calculating the raw data collected by the robot equipment, data optimization and correction, data classification and archiving. The main control board of the lower computer mainly uses the STM32F407 series MCU as the core processor, which is mainly used for sensor data collection, drive wheel motion control, execution of host computer instructions, power management and other functions.

The following device is used to carry an inertial sensor, and the inertial sensor is used to detect the walking posture of the surveying and mapping robot in the pipeline. The inertial sensor is electrically connected to the controller. The inertial sensor is a sensor that detects and measures acceleration, tilt, impact, vibration, rotation and multiple free movements. In this application, the inertial sensor is used to sense the walking route and posture of the head device, and combined with the walking distance measured by the mileage sensor, Map the distribution of pipelines underground, such as where there are turns, where there are uphill slopes, where there are downhill slopes, etc. The surveying and mapping robot proposed in this application is mainly used to survey and map the crossing pipes laid by the "pipe jacking and crossing" construction method. The reason why the inertial sensor is mounted on the following device is to weaken the device body as much as possible through the structural design of the following device. The impact of factors such as jitter and mechanical vibration during operation on the detection effect of the inertial sensor includes the gradual increase in the cumulative error of the inertial measurement unit, and the final measurement results deviate greatly from the actual data.

The structural design of the following device 2000 is described in detail below. As shown in Figure 9, the following device 2000 includes a long connecting frame 2100. The front end of the connecting frame 2100 is flexibly connected to the device body through a connecting component. The so-called flexible connection means that the following device can follow the head device to rotate and swing at any angle. The inertial sensor 2800 is arranged in the middle of the connecting frame 2100; a set of follower wheels 2300 are provided at both ends of the connecting frame 2100. The following wheels 2300 are installed tilted outward relative to the central axis of the connecting frame 2100 to adapt to the arc-shaped inner wall in the pipeline. The mileage sensor can be installed on any follower wheel 2300 or on the running wheel 200 . In this embodiment, the mileage sensor is arranged on one of the follower wheels 2300 located at the front end of the connecting frame 2100.

Design 1: Design of the length of the connecting frame 2100. If the connecting frame 2100 is too long, it will make it inconvenient to work outside. If the connecting frame 2100 is too short, it is not enough to eliminate the impact of the jitter on the inertial sensor 2800 caused by the device body passing through pipe joints. According to many experiments, the length of the connecting frame 2100 is appropriate. Set between 0.7-1m, and the optimal length can be 0.8m. One of each set of following wheels 2300 is located on the left side of the connecting frame 2100 and the other is located on the right side of the connecting frame 2100 .

Design 2: Sliding conduction design for sports posture. The connection component includes a cross-shaped bracket 3200. Both ends of the cross-shaped bracket 3200 are connected to the device body and the connecting frame 2100 through spherical bearings 3100 (specifically, rod end spherical bearings 3100). The rod end joint includes a hole head with an integral rod end, which forms a rod end seat of a spherical sliding bearing. When the movement of the device body is turned or twisted, the spherical bearing 3100 slides , transmitting steering or twisting to the connecting frame 2100.

Design 3: Left and right swing range limit design. The following wheel 2300 is installed on the first wheel frame 2200. The middle part of the first wheel frame 2200 is hollow and has two poles for installing the following wheel 2300 extending to both sides. The first wheel frame 2200 also has a hollow shape. It includes a packaging plate fixedly connected to the first wheel frame 2200. The middle part of the first wheel frame 2200 passes through the spherical bearing 3100. One side of the packaging plate is connected to the spherical bearing 3100. The other side of the packaging plate is connected to the connecting frame through a stainless steel pulley bearing. 2100 fixed connection. The cross bar of the cross-shaped bracket 3200 is connected to the outer end surface of the first wheel frame 2200 through a first elastic member. The first elastic member is at the same horizontal position as the cross-shaped bracket 3200. Specifically, it includes two first elastic members, each of which is symmetrical. are arranged on the left and right sides of the cross-shaped bracket 3200, the first end of the first elastic member is connected to the hanging head provided on the cross bar, and the second end of the first elastic member is connected to the outer end surface of the first wheel frame 2200. Hanging head connection. The two first elastic members are provided to limit the left and right swing amplitude of the connecting frame 2100 and to act as a shock absorber.

Design 4: Twist quick return restriction design. A second bracket 2400 is located directly above the first wheel frame 2200. The left and right sides of the second bracket 2400 are fixedly connected to the outer sides of the following wheel 2300 (optional). The middle part of the second bracket 2400 is connected to the first wheel frame 2200 through a The column 2500 is fixedly connected. An L-shaped first bracket 2600 is fixed on the upper surface of the connecting frame 2100. The first bracket 2600 and the second bracket 2400 are connected through a second elastic member. The second elastic member is provided to suppress the twisting amplitude of the connecting frame 2100 and ensure timely return after twisting.

Design 5: Closed-loop design and cradle design of inertial sensor swing adjustment. The middle part of the connecting frame 2100 is also provided with a steering gear 2900 and a cradle frame 2700 for installing the inertial sensor 2800. The steering gear 2900 is fixedly connected to the cradle frame 2700; the steering gear 2900 is electrically connected to the controller 1100. As shown in Figure 10, the controller 1100 determines the twisting condition of the inertial sensor 2800 based on the detection signal received from the inertial sensor 2800, and then outputs a control signal to the steering gear 2900, and adjusts the rotation of the cradle frame 2700 through the steering gear 2900, so that Inertial sensor 2800 returns to a balanced state.

It should be understood that the disclosed embodiments of the present invention are not limited to the specific structures and processing steps disclosed here, but should be extended to equivalent substitutions of these features understood by those of ordinary skill in the relevant fields. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.

Although the disclosed embodiments of the present invention are as above, the disclosed contents are only used to facilitate understanding of the present invention and are not intended to limit the present invention. Anyone skilled in the technical field to which the present invention belongs can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope of the disclosure of the present invention. However, the patent protection scope of the present invention shall not The scope defined by the appended claims shall prevail.

Claims (8)

1. The surveying and mapping robot is characterized by comprising a head device and a following device, wherein the head device drives the following device to operate;

the head device comprises a device body, and a detection assembly, a power supply module and a controller which are arranged on the device body; the detection assembly is electrically connected with the controller and is used for detecting the pipeline environment and recording the walking condition of the mapping robot in the pipeline; the power module provides advancing power for the device body and supplies power for the detection assembly and the controller;

the following device is used for carrying an inertial sensor, detecting the walking gesture of the mapping robot in the pipeline through the inertial sensor, and the inertial sensor is electrically connected with the controller; the following device comprises a connecting framework, the front end of the connecting framework is connected with the device body through a connecting component, and the inertial sensor is arranged on the connecting framework; the connecting framework is in a strip shape, the front end of the connecting framework is flexibly connected with the device body through the connecting component, and the following device follows the head device to rotate and swing at any angle;

the surveying and mapping robot is also provided with a mileage sensor, and the mileage sensor is electrically connected with the controller;

a first wheel carrier for mounting a follower wheel is arranged in front of the connecting framework;

the connecting component comprises a cross-shaped support and two first elastic pieces, and two ends of the cross-shaped support are respectively connected with the device body and the connecting framework through joint bearings;

the two first elastic pieces are symmetrically arranged at the left side and the right side of the cross-shaped bracket respectively, the first ends of the first elastic pieces are connected with the hanging heads arranged on the cross rods between the cross shapes, and the second ends of the first elastic pieces are connected with the hanging heads arranged on the outer end surfaces of the first wheel frames;

the upper surface of the connecting framework is fixedly provided with a first L-shaped bracket, and the first bracket is connected with the second bracket through a second elastic piece.

2. The surveying and mapping robot according to claim 1, wherein a steering engine and a cradle rack for installing an inertial sensor are further arranged in the middle of the connecting framework, and the steering engine is fixedly connected with the cradle rack; the steering engine is electrically connected with the controller; the controller judges the twisting condition of the inertial sensor according to the received detection signal from the inertial sensor, then outputs a control signal to the steering engine, and adjusts the cradle frame to rotate through the steering engine, so that the inertial sensor is in a balanced state.

3. The surveying robot according to claim 1, wherein a first bracket is fixedly provided on an upper surface of the connection frame; the two ends of the connecting framework are respectively provided with a group of follower wheels, a first wheel frame for installing the follower wheels is arranged in front of the connecting framework, and the first support is connected with the first wheel frame through an elastic piece.

4. A mapping robot according to claim 3, characterized in that the mileage sensor is arranged on a follower wheel.

5. A mapping robot according to claim 3, wherein the follower wheel is mounted obliquely outwardly relative to the central axis of the connecting skeleton.

6. The surveying and mapping robot according to claim 1, wherein the device body is provided with a set of traveling wheels along left and right sides of the central axis, and the traveling wheels are installed obliquely relative to the device body, so that the traveling wheels are in a vertical state relative to a running tangent plane of the inner wall of the pipeline.

7. The mapping robot of claim 6, wherein the travelling wheels comprise a driving motor and a wheel body, and an umbrella-shaped wheel frame is arranged on the outer side surface of the wheel body;

the driving motor is fixedly connected with the device body mounting seat through the fixing frame and is obliquely mounted relative to the device body;

the input end of the driving motor is connected with the controller, the output shaft of the driving motor is connected with the center of the wheel frame through the coupler, and the driving motor drives the wheel frame to rotate and simultaneously drives the wheel body to rotate.

8. A mapping robot as claimed in claim 7, wherein the wheel body is provided with pointed gear teeth.