CN113687382A - Internal measuring robot for foundation pit - Google Patents
Internal measuring robot for foundation pit Download PDFInfo
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- CN113687382A CN113687382A CN202110944819.3A CN202110944819A CN113687382A CN 113687382 A CN113687382 A CN 113687382A CN 202110944819 A CN202110944819 A CN 202110944819A CN 113687382 A CN113687382 A CN 113687382A
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- 238000005259 measurement Methods 0.000 claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000000034 method Methods 0.000 claims description 17
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
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- 239000007787 solid Substances 0.000 claims 2
- 238000010276 construction Methods 0.000 abstract description 12
- 230000008569 process Effects 0.000 description 9
- 238000012544 monitoring process Methods 0.000 description 8
- 239000002689 soil Substances 0.000 description 7
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- 238000013461 design Methods 0.000 description 4
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- 238000012360 testing method Methods 0.000 description 4
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- 238000003908 quality control method Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Electromagnetism (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses a foundation pit internal measuring robot which comprises a robot body and a sensing acquisition terminal, wherein the robot body is installed at the top of a flange plate, the sensing acquisition terminal is in threaded connection with the bottom end of a telescopic arm rod through a clamping control structure, the middle part of the flange plate is connected with an externally-connected turnbuckle head through an output end, a screw hole disc for balancing a tripod is sleeved on the outer surface of the turnbuckle head, and the outer surface of the turnbuckle head is in threaded connection with an adjustable telescopic arm rod, so that the interior of the turnbuckle head can be adjusted up and down through a data line. This inside measuring robot of foundation ditch, through the setting of flexible armed lever, sensing acquisition terminal, laser radar appearance and robot body, whole journey only needs APP to measure, and measured data is accurate, can replace manual measurement completely, effectively promotes in the aspect of precision and security moreover, and the scene on probation is abundant, but wide application is measured and is concealed engineering measurement and three-dimensional modeling work in electric power deep basal pit hole detection and capital construction real estate to this has realized the function of following summary.
Description
Technical Field
The invention relates to the technical field of foundation pit measurement, in particular to a robot for measuring the interior of a foundation pit.
Background
The foundation pit monitoring is the work of inspection and monitoring implemented on the building foundation pit and the surrounding environment in the construction and service life, the foundation pit safety is the key of the foundation pit construction, various relevant factors exist in the foundation pit safety, and the safety of the foundation pit not only depends on scientific and reasonable foundation pit design, detailed and thorough geological survey and meticulous construction operation, but also is closely related to the influence of the external environment on the foundation pit soil body.
In the process of excavation of foundation ditch, the soil body inside and outside the foundation ditch is changed to main power soil pressure form by original static soil pressure state, and the deformation that the change of stress state arouses even take the support measure, and certain quantity of deformation is always difficult to avoid, and these deformations include: the uplift of the soil body in the deep foundation pit, the settlement and the lateral displacement of the foundation pit supporting structure and the surrounding soil body cause damage to the foundation pit supporting structure no matter the displacement exceeds a certain allowable range, therefore, in the process of foundation pit construction, only the foundation pit supporting structure and the soil body around the foundation pit are comprehensively and systematically monitored, the engineering condition can be comprehensively known, the engineering is ensured to be carried out smoothly, and the current foundation pit monitoring and engineering design and construction are listed as three basic elements for guaranteeing the engineering quality of the deep foundation pit.
The foundation pit monitoring is influenced by a plurality of factors, the current foundation pit monitoring work mainly stays in an artificial stage, namely, data are acquired on the foundation pit engineering site through a certain frequency, industry processing is carried out, then a paper or electronic data report is provided, the application of the domestic foundation pit monitoring technology is wide, most of the deep foundation pit engineering is monitored in the construction period at present, the safety of the foundation pit construction and the surrounding environment is monitored and guaranteed through setting the control value of a monitoring project, however, the problem still exists in use, if the control value of the monitoring project is set, the situation of manual control processing of equipment cannot be avoided, and under the condition that the traditional equipment is not networked, the problem of data tampering easily exists, and the problem that certain loopholes exist in the work of later-stage combined data completion is caused.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides the measuring robot in the foundation pit, which has the advantages of being accurate in measured data, preventing data from being distorted and the like, and solves the problems.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an inside measuring robot of foundation ditch, is including installing the robot at ring flange top and the sensing acquisition terminal in flexible armed lever bottom through card accuse structure threaded connection, the middle part of ring flange is connected with the external cover spiral shell head of usefulness through the output, the screw dish that is used for balanced tripod has been cup jointed to the surface of cover spiral shell head, the surface threaded connection of cover spiral shell head has adjustable flexible armed lever, makes its inside data line through adjust from top to bottom to the robot, the bottom fixedly connected with at sensing acquisition terminal is used for detecting the laser radar appearance of usefulness for flexible armed lever can carry out data scanning when moving down certain degree of depth.
Preferably, the top of the robot body is provided with a groove ring opening capable of being in threaded sleeve joint, the internal thread of the groove ring opening is in sleeve joint with a light box for protection, and a light plate for supplementing light is arranged inside the light box.
Preferably, the outer surface of the robot body is fixedly connected with a light reflecting strip for visual warning, and the upper surface of the robot body is fixedly connected with a supportable middle fixing lath.
Preferably, a plurality of screws that are used for the screw thread to adjust are seted up to the upper surface of ring flange, and is wherein a plurality of the screw from top to bottom through connection has and is used for the spacing long-foot bolt to the robot body, and is a plurality of in addition the screw from bottom to top through connection has and is used for the knob bolt of being connected the laminating of screw flange.
Preferably, the outer surface of the flange plate is connected with an annular handle which can be held through a rivet in a penetrating mode, and the surface of the annular handle is sleeved with an anti-slip silica gel pad.
Preferably, the bottom of the flange plate is fixedly connected with a hoop ring capable of assisting in fixing the screw head, and the middle of the hoop ring is fixedly connected with a rubber layer pad for cushioning and attaching.
Preferably, the inner bottom wall fixedly connected with of screw dish is used for spacing fixed circle of accomodating, the latch closure hole that is used for the joint is all seted up to the both sides of screw dish upper surface.
Preferably, the tripod consists of three support rods, wherein a bandage strip for winding and binding is fixedly connected to the surface of one support rod, one end of the bandage strip is sleeved inside a buckle block on the surface of the other support rod, and foot nails for binding the ground are in threaded connection with the bottoms of the three support rods.
Preferably, the clamping control structure comprises a bolt rod arranged at the top of the sensing acquisition terminal, and a fixable lantern ring pad is fixedly connected to the surface of the bolt rod.
A use method of a measuring robot in a foundation pit comprises the following steps:
assembling a robot: the robot is designed in a detachable mode, the device is convenient to carry, a user can easily carry the mountain climbing robot under severe environments such as mountains and the like, the device is convenient to assemble, and equipment assembly can be completed within 5 minutes without depending on external tools;
and (3) moving an APP operation instruction: a worker sends a detection instruction by moving the APP end, and the robot automatically descends slowly by the telescopic boom to start scanning;
the sensor realizes the scanning of the foundation pit: the robot locally receives the command and then drives the sensing acquisition terminal to descend through the telescopic arm rod, and a laser radar instrument at the bottom of the sensing acquisition terminal scans data for 360 degrees;
and after detection is finished, uploading data, moving the APP to issue a command to stop or automatically stopping the ultrasonic obstacle avoidance, and uploading the data to the APP end and the foundation pit cloud.
(III) advantageous effects
Compared with the prior art, the invention provides a foundation pit internal measuring robot, which has the following beneficial effects:
according to the robot for measuring the interior of the foundation pit, only APP measurement is needed in the whole process through the arrangement of the telescopic arm rod, the sensing acquisition terminal, the laser radar instrument and the robot body, the measured data are accurate, manual measurement can be completely replaced, the precision and the safety are effectively improved, the trial scenes are rich, and the robot can be widely applied to basic pit hole measurement, concealed engineering measurement and three-dimensional modeling work in electric deep foundation pit detection and capital construction real estate, so that the functions summarized below are realized; the utility model discloses a foundation ditch excavation quality control method, including the first, adopt 360 degrees laser scanning, 1800 groups of point cloud data are produced every second, guarantee measurement accuracy, its two, the server is uploaded to every measuring result, prevent data tampering, and file the management to data at every turn, can trace to the source to data at every turn, its three, it is visual to conceal the engineering, can obtain the three-dimensional model of whole foundation ditch through three-dimensional modeling, its four, foundation ditch quality management, through three-dimensional model and design model stack, can the visual display foundation ditch excavation quality qualified, its five, equipment slowly falls the technique: through the flexible arm of carbon alloy who independently develops, realize equipment steady decline, reduce the measuring error that equipment rocked and brought, its six, the automatic barrier function of keeping away of equipment can realize that check out test set keeps away the barrier automatically, effectively ensures construction equipment self safety, reachs bottom automatic stop, accomplishes the detection, realizes the automatic completion measurement under the dark environment.
Drawings
FIG. 1 is a schematic view of an explosive structure of a measuring robot in a foundation pit according to the present invention;
FIG. 2 is a schematic structural diagram of a measuring robot in a foundation pit according to the present invention;
FIG. 3 is a schematic structural view of a flange of a measuring robot in a foundation pit according to the present invention;
FIG. 4 is a schematic structural diagram of a robot body of a measuring robot in a foundation pit according to the present invention;
FIG. 5 is a schematic structural diagram of a sensing acquisition terminal of a measuring robot in a foundation pit according to the present invention;
fig. 6 is a schematic view of a screw hole plate structure of a measuring robot in a foundation pit according to the present invention.
In the figure: 1. a flange plate; 2. a robot body; 3. a telescopic arm lever; 4. a sensing acquisition terminal; 5. sleeving a screw head; 6. a tripod; 7. a screw hole disc; 8. a laser radar instrument; 9. a groove ring opening; 10. a light box; 11. a light plate; 12. a light-reflecting strip; 13. a middle fixing lath; 14. a screw hole; 15. a long leg bolt; 16. a bolt; 17. an annular handle; 18. a silica gel pad; 19. a hoop ring; 20. a rubber layer pad; 21. a storage ring; 22. a ring buckling hole; 23. binding the tape; 24. foot nails; 25. a bolt shank; 26. a collar pad.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, a foundation pit internal measurement robot comprises a robot body 2 installed on the top of a flange plate 1, wherein a groove ring opening 9 capable of being in threaded sleeve connection is formed in the top of the robot body 2, a light box 10 for protection is in threaded sleeve connection with the inner portion of the groove ring opening 9, a light plate 11 for supplementing light is installed inside the light box 10, a light reflecting strip 12 for visual warning is fixedly connected to the outer surface of the robot body 2, the light reflecting strip 12 is arranged on the surface of the robot body 2 in a sticking mode and can achieve a light reflecting visual effect, the position of the device can be conveniently and conveniently checked by workers, and a supportable middle fixing strip 13 is fixedly connected to the upper surface of the robot body 2;
in order to enable the device to be operated conveniently in outdoor use, a light plate 11 for supplementing light is arranged inside a light box 10, the light box 10 arranged on a robot body 2 can play a top protection effect, the light plate 11 arranged inside the light box can provide a certain bright irradiation effect under the power-on condition, and an effective auxiliary effect is provided conveniently in the time with poor light conditions, the upper surface of a flange plate 1 is provided with a plurality of screw holes 14 for thread adjustment, wherein the plurality of screw holes 14 are connected with long-foot bolts 15 for limiting the robot body 2 in a penetrating manner from top to bottom, in addition, the plurality of screw holes 14 are connected with screw knobs 16 for attaching and connecting the screw hole plate 7 in a penetrating manner from bottom to top, and the outer surface of the flange plate 1 is connected with a ring-shaped handle 17 which can be held in a penetrating manner through rivets;
in order to facilitate the portable operation of the device on the robot body 2 after the device is disassembled, the outer surface of the flange plate 1 is connected with a grippable annular handle 17 through a rivet in a penetrating way, so that the annular handle 17 is externally installed on the premise that the surface of the flange plate 1 does not influence the use of the device, the robot body 2 can be carried and carried after the device is disassembled, the situation that the holding of the flange plate affects the operation of workers is saved, the surface of the annular handle 17 is sleeved with an anti-skidding silica gel pad 18, the bottom of the flange plate 1 is fixedly connected with a hoop ring 19 capable of assisting in fixing the sleeve screw head 5, so that the surface position of the sleeve screw head 5 can obtain an effective and stable protection effect, the telescopic arm rod 3 installed at the bottom of the ring 17 is further connected with an assisting in fixing, the middle part of the hoop ring 19 is fixedly connected with a rubber layer pad 20 for cushioning and attaching, and the sensing acquisition terminal 4 is connected to the bottom end of the telescopic arm rod 3 through a clamping control structure, the clamping control structure comprises a bolt rod 25 arranged at the top of the sensing acquisition terminal 4, the surface of the bolt rod 25 is fixedly connected with a fixable lantern ring pad 26, and the surface of the bolt rod 25 is fixedly connected with a lantern ring pad 19 in combination with a matched use mode of the lantern ring 19, so that the sleeving limiting effect of the two on the screw heads 5 can be more ideal, and the unnecessary overlarge shaking problem caused by the telescopic arm rod 3 is avoided, the middle part of the flange plate 1 is connected with the external screw head 5 through an output end, the outer surface of the screw head 5 is sleeved with a screw plate 7 for balancing a tripod 6, the inner bottom wall of the screw plate 7 is fixedly connected with a containing ring 21 for limiting and fixing, the two sides of the upper surface of the screw plate 7 are both provided with ring buckling holes 22 for clamping, when the flange plate 1 and the screw plate 7 are overlapped and butted, the ring buckling holes 22 can play a basic and effective limiting effect on the butt joint mode between the flange plate 1 and the screw plate 7, and the time for the long-leg bolt 15 to find the screw hole 14 in a counterpoint mode is saved, the tripod 6 is composed of three support rods, wherein the surface of one support rod is fixedly connected with a binding strip 23 for winding and binding, and one end of the binding strip 23 is sleeved inside a ring buckle block on the surface of the other support rod;
in order to realize the portability of the tripod 6 after the disassembly of the tripod device by a worker, a bandage strip 23 for winding and binding is fixedly connected to the surface of one support rod, and a buckle block arranged on the surface of the other support rod is matched, the bandage strip 23 circularly winds the surfaces of the three support rods, so that the three support rods can be prevented from being unfolded when combined, the convenience and the safety of the worker in carrying the tripod 6 in the later period are facilitated, the penetration adjustment of the buckle block on the bandage strip 23 enables the bandage strip 23 to effectively control the surface winding and tightening force of the tripod 6, foot nails 24 for binding the ground are in threaded connection with the bottoms of the three support rods, the foot nails 24 are arranged in a threaded penetration manner at the bottoms of the three support rods, the effect of auxiliary fixing can be achieved when the tripod 6 is used for binding and supporting the ground, and the stability of the tripod device in data acquisition and use is ensured, and the screw thread mode of running through can dismantle the processing to foot nail 24 in the later stage, for the device is carrying to tripod 6's safety after dismantling, avoid causing the potential safety hazard problem to the staff when carrying it, the surface threaded connection of cover spiral shell head 5 has adjustable telescopic boom 3, make its inside adjust robot body 2 from top to bottom through the data line, the bottom fixedly connected with of sensing acquisition terminal 4 is used for detecting laser radar appearance 8 of usefulness, make telescopic boom 3 move down and can carry out data scanning when certain degree of depth.
Wherein, regularly to cell-phone APP passback height after the module starts in the pit, the ultrasonic wave, data such as infrared sensor, read well head position after GPS location completion through cell-phone APP again, time, and can dispose more mark information to the current well with cell-phone APP, and mark information, the position, information such as time is sent to module in the pit, send the order and start the scanning, afterwards, module storage position in the pit, time, mark information etc. read laser radar 360 degrees scanning data, control motor drive module in the pit rises to next height, again to module storage position in the pit, time, mark information etc. read laser radar 360 degrees scanning data, finally, cell-phone APP sends the order and stops the test, after equipment got back to there being the internet environment, module accessible in the pit gives data center to the point cloud point data, data of data center is handled the model.
A use method of a measuring robot in a foundation pit comprises the following steps:
1. assembling a robot: the robot is designed in a detachable mode, the device is convenient to carry, a user can easily carry the mountain climbing robot under severe environments such as mountains and the like, the device is convenient to assemble, and equipment assembly can be completed within 5 minutes without depending on external tools;
2. and (3) moving an APP operation instruction: a worker sends a detection instruction by moving the APP end, and the robot automatically descends slowly by the telescopic boom to start scanning;
3. the sensor realizes the scanning of the foundation pit: the robot locally receives the command and then drives the sensing acquisition terminal to descend through the telescopic arm rod, and a laser radar instrument at the bottom of the sensing acquisition terminal scans data for 360 degrees;
4. and after detection is finished, uploading data, moving the APP to issue a command to stop or automatically stopping the ultrasonic obstacle avoidance, and uploading the data to the APP end and the foundation pit cloud.
The electrical components presented in the document are all electrically connected with an external master controller and 220V mains, and the master controller can be a conventional known device controlled by a computer or the like.
When the underground module is used, 1, after the underground module is started, data such as height, ultrasonic waves and infrared sensors are regularly transmitted back to a mobile phone APP, and functions of the underground module comprise (the laser radar scans size data in the horizontal direction by 360 degrees, the distance between obstacles below the module is detected when the module approaches the bottom of a well by the ultrasonic waves and the infrared sensors, collision is prevented, an SD card is used for storing measurement data, and a motor drives the control module to move in the vertical direction);
2. reading the position and time of a wellhead by a mobile phone APP after GPS positioning is completed;
3. the mobile phone APP can configure more marking information for the current well, send the marking information, the position, the time and other information to the underground module, and issue a command to start scanning;
4. the underground module stores position, time, marking information and the like, and reads 360-degree scanning data of the laser radar;
5. controlling the motor to drive the underground module to ascend to the next height, and repeating the step 4;
6. the mobile phone APP issues a command to stop testing, and the mobile phone APP comprises a function (position and time data of a mobile phone or a GPS module are sent to an underground module, a measurement process is controlled, ultrasonic sensor data, infrared sensor data and the like returned by the underground module are monitored in real time, and parameter configuration is carried out);
7. after the equipment returns to the internet environment, the underground module can transmit the point cloud data to the data center through WIFI. And the data center processes and models point cloud data.
To sum up, the foundation pit internal measuring robot only needs APP measurement in the whole process through the arrangement of the telescopic arm rod 3, the sensing acquisition terminal 4, the laser radar instrument 8 and the robot body 2, has accurate measurement data, can completely replace manual measurement, effectively improves the precision and the safety, has rich trial scenes, can be widely applied to basic pit hole measurement, hidden engineering measurement and three-dimensional modeling work in electric deep foundation pit detection and capital construction real estate, and realizes the following summarized functions; the utility model discloses a foundation ditch excavation quality control method, including the first, adopt 360 degrees laser scanning, 1800 groups of point cloud data are produced every second, guarantee measurement accuracy, its two, the server is uploaded to every measuring result, prevent data tampering, and file the management to data at every turn, can trace to the source to data at every turn, its three, it is visual to conceal the engineering, can obtain the three-dimensional model of whole foundation ditch through three-dimensional modeling, its four, foundation ditch quality management, through three-dimensional model and design model stack, can the visual display foundation ditch excavation quality qualified, its five, equipment slowly falls the technique: through the flexible arm of carbon alloy who independently develops, realize equipment steady decline, reduce the measuring error that equipment rocked and brought, its six, the automatic barrier function of keeping away of equipment can realize that check out test set keeps away the barrier automatically, effectively ensures construction equipment self safety, reachs bottom automatic stop, accomplishes the detection, realizes the automatic completion measurement under the dark environment.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an inside measuring robot of foundation ditch, is including installing robot body (2) at ring flange (1) top and through sensing acquisition terminal (4) of card accuse structure threaded connection in flexible armed lever (3) bottom, its characterized in that: the utility model discloses a robot with adjustable, including ring flange (1), set spiral shell head (5) of external usefulness is connected with through the output in the middle part of ring flange (1), the surface of set spiral shell head (5) has cup jointed screw dish (7) that are used for balanced tripod (6), the surface threaded connection of set spiral shell head (5) has adjustable telescopic boom (3), makes its inside adjust from top to bottom robot body (2) through the data line, the bottom fixedly connected with of sensing acquisition terminal (4) is used for detecting laser radar appearance (8) of usefulness for telescopic boom (3) can carry out data scanning when moving certain degree of depth down.
2. The foundation pit internal measurement robot according to claim 1, wherein: but the top of robot body (2) is seted up groove ring mouth (9) that the screw thread cup jointed, the inside screw thread of groove ring mouth (9) cup joints light box (10) that are used for the protection, the internally mounted of light box (10) has light board (11) that are used for replenishing light.
3. The foundation pit internal measurement robot according to claim 1, wherein: the outer fixed surface of robot body (2) is connected with reflection of light strip (12) that are used for visual warning, the upper surface fixed connection of robot body (2) has well solid lath (13) that can support.
4. The foundation pit internal measurement robot according to claim 1, wherein: a plurality of screw holes (14) that are used for the screw thread to adjust are seted up to the upper surface of ring flange (1), and is wherein a plurality of screw hole (14) from top to bottom through connection have be used for spacing long-foot bolt (15) to robot body (2), and is a plurality of in addition screw hole (14) from bottom to top through connection have be used for laminating screw bolt (16) of connecting to screw hole dish (7).
5. The foundation pit internal measurement robot according to claim 1, wherein: the outer surface of the flange plate (1) is connected with an annular handle (17) which can be held through a rivet in a penetrating mode, and the surface of the annular handle (17) is sleeved with an anti-slip silica gel pad (18).
6. The foundation pit internal measurement robot according to claim 1, wherein: the bottom fixedly connected with of ring flange (1) can assist fixedly set cover hoop ring (19) of cover spiral shell head (5), the middle part fixedly connected with of cover hoop ring (19) is used for cushioning rubber layer pad (20) of laminating.
7. The foundation pit internal measurement robot according to claim 1, wherein: interior diapire fixedly connected with of screw hole dish (7) is used for spacing fixed circle (21) of accomodating, the latch closure hole (22) that are used for the joint are all offered to the both sides of screw hole dish (7) upper surface.
8. The foundation pit internal measurement robot according to claim 1, wherein: the tripod (6) comprises three cradling pieces, and the fixed surface of one of them cradling piece is connected with and is used for twining the strap (23) of binding, the one end of strap (23) cup joints inside the latch closure piece on another cradling piece surface, and the equal threaded connection in bottom of three cradling pieces has and is used for pricking foot nail (24) on ground.
9. The foundation pit internal measurement robot according to claim 1, wherein: the clamping control structure comprises a bolt rod (25) arranged at the top of the sensing acquisition terminal (4), and a solid collar pad (26) is fixedly connected to the surface of the bolt rod (25).
10. Use method of a foundation pit internal measuring robot according to claims 1-9, characterized by comprising the following steps:
1. assembling a robot: the robot is designed in a detachable mode, the device is convenient to carry, a user can easily carry the mountain climbing robot under severe environments such as mountains and the like, the device is convenient to assemble, and equipment assembly can be completed within 5 minutes without depending on external tools;
2. and (3) moving an APP operation instruction: a worker sends a detection instruction by moving the APP end, and the robot automatically descends slowly by the telescopic boom to start scanning;
3. the sensor realizes the scanning of the foundation pit: the robot locally receives the command and then drives the sensing acquisition terminal to descend through the telescopic arm rod, and a laser radar instrument at the bottom of the sensing acquisition terminal scans data for 360 degrees;
4. and after detection is finished, uploading data, moving the APP to issue a command to stop or automatically stopping the ultrasonic obstacle avoidance, and uploading the data to the APP end and the foundation pit cloud.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110944819.3A CN113687382A (en) | 2021-08-17 | 2021-08-17 | Internal measuring robot for foundation pit |
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| CN115045346A (en) * | 2021-11-29 | 2022-09-13 | 国网浙江省电力有限公司衢州供电公司 | Line foundation pit detection equipment |
| CN115183694A (en) * | 2022-09-09 | 2022-10-14 | 北京江河惠远科技有限公司 | Power transmission line foundation digital measurement system and control method thereof |
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