CN113932090B - Surveying and mapping robot - Google Patents
Surveying and mapping robot Download PDFInfo
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- CN113932090B CN113932090B CN202111225613.1A CN202111225613A CN113932090B CN 113932090 B CN113932090 B CN 113932090B CN 202111225613 A CN202111225613 A CN 202111225613A CN 113932090 B CN113932090 B CN 113932090B
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- 238000013507 mapping Methods 0.000 title claims abstract description 32
- 238000001514 detection method Methods 0.000 claims abstract description 21
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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
Technical Field
The present application relates to a mapping robot.
Background
With the rapid development of the urban process of China, more underground pipe networks are required for cities. The underground pipe network is a life line of a city, is a foundation on which the city depends to survive and develop, and plays an important role in the high-quality development of urban infrastructure. However, the construction level of some urban underground pipe networks in China is relatively lagged, and the requirements of economic high-quality development cannot be met, for example, the geographical position of a pipeline can be recorded in a certain way in the pipeline construction process so as to facilitate later maintenance. However, the geographical position of the recorded pipeline is a very complex engineering project with technical difficulty, and aiming at the crossing pipe paved by a 'pipe jacking crossing' construction method under a special environment, the crossing pipe is often highly fluctuated and is positioned above the ground surface, the trend of the pipeline under the ground cannot be predicted, and then the profile trend of the pipeline under the ground needs to be mapped by other special equipment.
Disclosure of Invention
The application aims to provide a mapping robot which is used for mapping the distribution trend of an underground traversing pipe and realizing accurate mapping of the distribution trend of the traversing pipe.
The application discloses a mapping robot which comprises a head device and a following device, wherein the head device is flexibly connected with the following device, and 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 controller is used for controlling the operation of the device body according to the signal detected by the detection component; 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 flexibly connected with the device body through a connecting component, and the inertial sensor is arranged on the connecting framework; the surveying and mapping robot is further provided with a mileage sensor, and the mileage sensor is electrically connected with the controller.
Preferably, 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.
Preferably, the connecting component comprises a cross-shaped support, and two ends of the cross-shaped support are respectively connected with the device body and the connecting framework through joint bearings.
Preferably, a first bracket is fixedly arranged on the upper surface of the connecting framework; 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.
Preferably, the mileage sensor is provided on a running wheel or a follower wheel.
Preferably, the cross rod of the cross-shaped support is connected with the outer end face of the first wheel frame through a first elastic piece, and the first elastic piece and the cross-shaped support are positioned at the same horizontal position.
Preferably, the follower wheel is mounted obliquely outward relative to the central axis of the connecting skeleton.
Preferably, the device body is respectively provided with a group of travelling wheels along the left side and the right side of the central axis, the travelling wheels are obliquely installed relative to the device body, and the central axis of the travelling wheels and the central axis of the device body have a certain included angle, so that the travelling wheels are in a vertical or approximately vertical state relative to the running tangent plane of the inner wall of the pipeline.
Preferably, the travelling wheel comprises 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.
Preferably, the wheel body is provided with pointed gear teeth.
The beneficial effects are that: according to the surveying and mapping robot provided by the application, the head device and the following device are connected through the 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 running process of the device body on the detection effect of the 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 travelling wheel is obliquely arranged relative to the device body, so that the travelling wheel is vertical or approximately vertical relative to the running tangent plane of the inner wall of the pipeline. When the device body advances in the pipeline, the gear teeth on the travelling wheels are fully contacted with the inner wall of the pipeline, so that the phenomenon of toppling due to insufficient contact when encountering obstacles is avoided, and the operation of the device body is more stable. 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.
Drawings
FIG. 1 is an overall connection diagram of a mapping robot of the present application;
FIG. 2 is a connection diagram of the device body and the connection framework;
FIG. 3 is a schematic view of the position of the traveling wheel relative to the device body;
FIG. 4 is a schematic view of the travel wheel of FIG. 3;
FIG. 5 is a cross-sectional view taken along the direction B-B of FIG. 4;
FIG. 6 shows a wheel body (1) with gear teeth mounted thereon;
FIG. 7 shows a wheel body (2) with gear teeth mounted thereon;
FIG. 8 is a schematic view of a head unit;
FIG. 9 is a schematic diagram of the follower device of FIG. 1;
FIG. 10 is a closed loop design of inertial sensor swing adjustment;
wherein reference numerals are as follows:
1000. a head unit; 1100. a controller; 500. a device body; 510. a hub; 520. a mounting base; 190. a wheel disc; 100. a pipe; 200. a wheel body; 201. a mounting hole; 202. gear teeth; 210. a wheel carrier; 310. a driving motor; 320. a coupling; 410. a fixing frame; 600. and (5) supporting wheels.
2000. A follower; 2100. connecting a framework; 2200. a first wheel frame; 2300. a wheel; 2400. a second bracket; 2500. a column; 2600. a first bracket; 2700. cradle rack; 2800. an inertial sensor; 2900. steering engine;
3100. a knuckle bearing; 3200. a cross-shaped bracket.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The mapping robot comprises a head device 1000 and a following device 2000, wherein the head device 1000 is connected with the following device 2000, and drives the following device to operate, and the head device and the following device are flexibly connected, so that the following device can flexibly follow the head device to operate in a pipeline.
The head device 2000 includes a device body 1200 and a detection assembly, a power module, and a controller disposed on the device body. The detection component 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 top end of the head device is also provided with a supporting wheel 600, when the climbing angle is larger than 25 degrees, the supporting wheel is outwards supported to prop against the pipe wall at the top end, so that the stable operation of the robot is ensured.
As shown in fig. 2, the device body 1200 adopts a four-wheel drive structure, and is provided with a travelling wheel 200 respectively at the front, rear, left and right, and the wheel body is driven to run by four independent driving motors (also called gear motors), so as to drive the device body to advance or retreat. It is worth noting that when a common wheel is installed, the wheel disc and the device body are arranged in parallel along the radial direction and are positioned on the same central shaft along the axial direction, and when the wheel runs in a pipeline, the stress direction of the contact surface of the inner wall of the pipeline and the wheel is inconsistent with the gravity direction of the device body, so that the phenomenon that the wheel slips in the pipeline is very easy to occur, and the problem can be solved only by increasing the friction force of the surface of the wheel. Furthermore, if the wheel adopts a structure that the wheel disc is provided with the wheel teeth, when the wheel teeth have a certain width, a part of the wheel teeth cannot be completely contacted with the inner wall of the pipeline, and even if the pointed wheel teeth are adopted, the direction of the wheel extending into the inner wall of the pipeline is also deep on one side and shallow on one side, so that the grabbing force in the advancing process can be weakened, and the advancing stability of the device body is not facilitated. In contrast, the traveling wheel 200 is mounted obliquely to the device body in the present application. As shown in fig. 3, when seen from the front of the device body, the central axis of the travelling wheel 200 has a certain included angle a (not right angle) with the central axis of the device body, and the included angle b between the central axis of the travelling wheel 200 and the horizontal line is an acute angle. Because the inner wall of the pipeline is arc-shaped, the running section of the running wheel 200 relative to the inner wall of the pipeline is vertical or approximately vertical due to the structure of the running wheel 200, so that the force application direction of the running wheel 200 is the same as the stress direction of the inner wall of the pipeline, the running wheel 200 can be completely contacted with the inner wall of the pipeline, and the running stability of the device body is ensured.
The travelling wheel 200 comprises 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. In addition, because the inner wall of the pipeline is very smooth and has topography fluctuation, the condition of ascending and descending slopes can often occur, and the running of the robot can be influenced by the common wheels due to slipping. In order to solve the problem, the robot adopts barbed (steel nail) wheels aiming at a nonmetallic pipeline, namely, a circle of pointed gear teeth are arranged on the wheel body, so that the grabbing force of the robot equipment is improved, and the efficient operation is realized.
Specifically, the device body is provided with mounting seats 520 for fixedly connecting the travelling wheels 200 with the device body, and each mounting seat 520 is provided with two travelling wheels 200 left and right.
As shown in fig. 4 to 5, the traveling wheel 200 includes a driving motor 310, a hollow wheel body 200, and an umbrella-shaped wheel frame 210 provided at an outer side surface of the wheel body 200. The driving motor 310 is fixedly connected with the device body mounting seat 520 through the fixing frame 410. Specifically, the driving motor 310 is obliquely installed relative to the device body, and an included angle is formed between a central axis of the driving motor 310 and a horizontal central line of the device body mounting seat 520, so that the inclination degree is suitable for making the wheel body 200 be in a vertical or approximately vertical state relative to a running section of the inner wall of the pipeline. The specific inclination angle is related to the axial length of the selected driving motor, the radius of the wheel body, the inner diameter of the applicable pipeline, the size of the device body and the like. The first end (i.e., the open end) of the wheel frame 210 is fixedly connected to the wheel body 200, and the wheel frame 210 and the wheel body 200 may be integrally formed. A part of the driving motor 310 extends into the umbrella-shaped wheel frame 210, and the wheel frame 210 is positioned on the outer ring of the middle part of the driving motor 310. The input end of the driving motor 310 is connected with a controller of the device body, the controller provides power and operation signals for the driving motor 310, an output shaft of the driving motor 310 is connected with the center of the wheel frame 210 through a coupler 320, the wheel frame 210 is driven to rotate and simultaneously drives the wheel body 200 to rotate, and then the device body is driven to move forwards or backwards. Specifically, a mounting cavity is disposed in the second end of the wheel frame 210 and is used for being fixedly connected with the first end of the coupling 320, and the second end of the coupling 320 is connected with the output end of the driving motor 310. Further, the driving motor 310 may be configured with an angle adjustable structure with respect to the device body mounting base 520, so as 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. The end of the gear teeth 202 contacting the inner wall of the pipeline can be provided in a plane shape, as shown in fig. 6, the travelling wheel 200 is suitable for both metal pipelines and nonmetal pipelines, and in the running process of the device body, the end of the gear teeth can be fully contacted with the inner wall of the pipeline, so that the travelling friction force is increased. In addition, for nonmetallic pipelines, the contact end of the gear teeth and the inner wall of the pipeline can be pointed, as shown in fig. 7, when the nonmetallic pipeline runs, the gear teeth are in vertical contact with the inner wall of the pipeline, the grabbing force is stronger, and the slipping or toppling phenomenon is less easy to occur.
As shown in fig. 8, the detection assembly includes a camera 300, an infrared ranging sensor 400, and a water measuring electrode (not shown in the drawing), where 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 shooting or video recording the operation process of the robot in the pipeline in real time and obtaining evidence, and recording effective images when emergency situations such as the blocking of masonry mud and the like are met. The infrared ranging sensor 400 is located at the left side and the right side of the device body, when the surveying and mapping robot walks independently in the pipeline, the environment of the pipeline is judged in real time through the infrared ranging sensor 400, for example, a controller can judge whether the head device meets a three-way joint in the pipeline or not by collecting the change of the distance value between the infrared ranging sensor 400 and the pipeline wall, and if so, the change of a motion line is selected. The water measuring electrode can be selectively arranged at the bottom of the device body and extends downwards, the principle of weak resistance of water is applied, when water in a pipeline is accumulated, weak current is conducted at two ends of the electrode, a controller connected with the water measuring motor can control the device body to return to a starting point when monitoring the current at two ends of the water measuring electrode, and the real condition in the pipe is recorded by photographing. Of course, the head device of the application can also be selectively provided with different detection devices according to mapping requirements.
The controller is used for recording the running condition of the mapping robot in the pipeline and controlling the running of the device body according to the signals detected by the detection component. The controller comprises an upper computer main control board and a lower computer main board. The upper computer main control board mainly uses a Ubuntu system as a carrier to develop an intelligent program for robot autonomous control, and mainly performs calculation works of original data collected by the computing robot equipment, data optimization correction, data classification, archiving and the like. The lower computer main control board mainly uses STM32F407 series MCU as a core processor, and is mainly used for the functions of sensor data acquisition, driving wheel motion control, execution of upper computer instructions, power management and the like.
The following device is used for carrying an inertial sensor, the walking gesture of the surveying and mapping robot in the pipeline is detected through the inertial sensor, and the inertial sensor is electrically connected with the controller. The inertial sensor is a sensor for detecting and measuring acceleration, inclination, impact, vibration, rotation and multiple free motions, and the inertial sensor senses the walking route and the walking gesture of the head device, and the walking distance measured by the mileage sensor is combined to map the distribution condition of the pipe under the ground, such as where a turn is arranged, where an ascending slope is arranged, where a descending slope is arranged, and the like. The surveying and mapping robot provided by the application is mainly used for surveying and mapping a traversing pipe paved by a 'pipe jacking traversing' construction method, and the inertial sensor is mounted on the following device so as to weaken the influence of factors such as shaking, mechanical vibration and the like on the detection effect of the inertial sensor in the running process of the device body as much as possible through the structural design of the following device, and the surveying and mapping robot comprises the problems that the accumulated error of an inertial measurement unit is gradually increased and the deviation between the finally obtained measurement result and actual data is larger.
The structural design of the follower 2000 is specifically described below. As shown in fig. 9, the following device 2000 includes an elongated connection skeleton 2100, and the front end of the connection skeleton 2100 is flexibly connected to the device body through a connection assembly, wherein the flexible connection means that the following device can rotate and swing at any angle along with the head device. The inertial sensor 2800 is disposed in the middle of the connection backbone 2100; the two ends of the connection framework 2100 are respectively provided with a group of follower wheels 2300, and the follower wheels 2300 are installed in an outward inclined manner relative to the central axis of the connection framework 2100 so as to be convenient for adapting to the arc-shaped inner wall in the pipeline. The mileage sensor may be mounted on either of the follower wheels 2300 or on the traveling wheel 200. The present embodiment provides a mileage sensor on one of the follower wheels 2300 located at the forefront of the connection skeleton 2100.
Design one: the length of the connecting skeleton 2100 is designed. The excessively long connecting skeleton 2100 may cause inconvenient outgoing operation, the excessively short connecting skeleton 2100 may not sufficiently eliminate the influence of shake generated when the device body passes through a pipeline seam or the like on the inertial sensor 2800, and according to multiple experiments, the length of the connecting skeleton 2100 is preferably set between 0.7 and 1m, and the optimal length may be 0.8m. Each set of follower wheels 2300 is positioned one on the left side of the linking frame 2100 and one on the right side of the linking frame 2100.
Designing II: sliding conduction design of motion gesture. The connecting assembly comprises a cross-shaped bracket 3200, and two ends of the cross-shaped bracket 3200 are respectively connected with the device body and the connecting framework 2100 through a joint bearing 3100 (specifically a rod end joint bearing 3100). The rod end joint includes a bore head with an integral rod end that forms a rod end seat for a spherical slide bearing that slidingly transmits steering or twisting motion to the connecting skeleton 2100 through the joint bearing 3100 when the motion of the device body is steered or twisted.
And (3) designing: the design of the limit of the left-right swing amplitude. The follower wheel 2300 is mounted on a first wheel frame 2200, the middle part of the first wheel frame 2200 is hollow in a shape of a Chinese character 'kou', two supporting rods for mounting the follower wheel 2300 extend out to two sides, the first wheel frame 2200 further comprises a packaging plate fixedly connected with the first wheel frame 2200, the middle part of the first wheel frame 2200 penetrates through a joint bearing 3100, one side of the packaging plate is connected with the joint bearing 3100, and the other side of the packaging plate is fixedly connected with the connecting framework 2100 through a stainless steel pulley bearing. The cross bar of the cross-shaped support 3200 is connected with the outer end face of the first wheel frame 2200 through a first elastic piece, the first elastic piece and the cross-shaped support 3200 are positioned at the same horizontal position, and specifically, the cross-shaped support 3200 comprises two first elastic pieces which are symmetrically arranged on the left side and the right side of the cross-shaped support 3200 respectively, the first end of each first elastic piece is connected with a hanging head arranged on the cross bar, and the second end of each first elastic piece is connected with a hanging head arranged on the outer end face of the first wheel frame 2200. The two first elastic members are provided to limit the amplitude of the left and right swing of the coupling skeleton 2100 and to play a role in shock absorption.
And (4) designing: and (5) twisting a quick return limiting design. A second bracket 2400 is arranged right above the first wheel frame 2200, the left side and the right side of the second bracket 2400 are fixedly connected with the outer side surface of the follower wheel 2300 (optional), and the middle part of the second bracket 2400 is fixedly connected with the first wheel frame 2200 through a stand column 2500. The upper surface of the connection frame 2100 is fixedly provided with a first bracket 2600 in an L shape, and the first bracket 2600 and the second bracket 2400 are connected by a second elastic member. The second elastic member is provided to suppress the twisting amplitude of the connection frame 2100, and to ensure timely homing after twisting.
Fifth design: closed loop design and cradle design of inertial sensor swing adjustment. A steering engine 2900 and a cradle 2700 for mounting an inertial sensor 2800 are also arranged in the middle of the connecting skeleton 2100, and the steering engine 2900 is fixedly connected with the cradle 2700; steering engine 2900 is electrically coupled to controller 1100. As shown in fig. 10, the controller 1100 determines the twisting condition of the inertial sensor 2800 according to the received detection signal from the inertial sensor 2800, and then outputs a control signal to the steering engine 2900, and adjusts the cradle 2700 to rotate through the steering engine 2900, so that the inertial sensor 2800 is restored to the balanced state.
It is to be understood that the disclosed embodiments are not limited to the specific structures, process steps, etc. disclosed herein, but are intended to extend to equivalents of these features as would be understood by one of ordinary skill in the relevant arts. 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.
While the embodiments of the present application have been described above, the embodiments are disclosed only for the convenience of understanding the present application, and are not to be construed as limiting the present application. Any person skilled in the art can make any modification and variation in form and detail without departing from the spirit and scope of the present disclosure, but the scope of the present disclosure is still subject to the scope of the appended claims.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111225613.1A CN113932090B (en) | 2021-10-21 | 2021-10-21 | Surveying and mapping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111225613.1A CN113932090B (en) | 2021-10-21 | 2021-10-21 | Surveying and mapping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113932090A CN113932090A (en) | 2022-01-14 |
| CN113932090B true CN113932090B (en) | 2023-12-12 |
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| CN114415588B (en) * | 2022-03-25 | 2022-07-08 | 山东硅步机器人技术有限公司 | Adjustable monitoring control system |
| CN114776936B (en) * | 2022-04-24 | 2023-11-24 | 杭州赫恩数字技术有限公司 | Pipeline robot with support wheels |
| CN115356349B (en) * | 2022-09-26 | 2023-05-02 | 湖南科天健光电技术有限公司 | Self-stabilizing pipeline inner wall detection robot |
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