CN217331071U

CN217331071U - Sensing device for measuring ground fluctuation and floor flatness measuring robot

Info

Publication number: CN217331071U
Application number: CN202220824811.3U
Authority: CN
Inventors: 郭成昊; 史运泽; 徐奕飞
Original assignee: Laisai Optoelectronics Technology Co ltd
Current assignee: Laisai Optoelectronics Technology Co ltd
Priority date: 2022-04-11
Filing date: 2022-04-11
Publication date: 2022-08-30
Anticipated expiration: 2032-04-11

Abstract

The utility model relates to a sensing device for measuring ground undulation and a floor flatness measuring robot, wherein the sensing device comprises a movable walking chassis and a measuring rod, the upper end of the measuring rod is provided with a laser receiver, the bottom end of the measuring rod is provided with a ball or a universal wheel, the measuring rod is connected with the walking chassis in a sliding way, and the measuring rod can slide up and down along an unthreaded hole in the middle of the walking chassis; under the action of the dead weight of the measuring rod, the ball or the universal wheel is always in contact with the ground, and when the walking chassis moves, the ball or the universal wheel rolls along the ground. The measuring robot realizes the automatic measuring function of the floor flatness and improves the measuring efficiency.

Description

Sensing device for measuring ground fluctuation and floor flatness measuring robot

Technical Field

The utility model relates to a building appliances technical field, concretely relates to measure sensing device and terrace roughness measuring robot of ground undulation.

Background

With the rise of the intelligent warehousing industry and the fact that the hardcover house becomes the mainstream of the commodity house, the flatness requirement of the building floor by the industry owner is higher and higher, and the detection means of the floor flatness also needs to develop towards mechanization and refinement. At present, terrace roughness detects mostly manual operation, mainly adopts sopwith staff and surveyor's level to measure. The detection result is easily influenced by the level difference of the detection personnel, the quality of the personnel and even the mood of the detection personnel. And the erection and the adjustment of the level are complex processes, skilled professional skills are needed, and repeated focusing is needed when data of all points are collected, so that the working efficiency is influenced.

Therefore, the automatic and rapid measurement by adopting the measuring robot is a technical development direction; how to manufacture a sensing device for measuring the ground relief is a basic component for realizing the measurement robot.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a sensing device and terrace roughness measuring robot of measurement ground undulation that the degree of accuracy is high, the operation degree of difficulty is lower to improve terrace roughness measurement mode, improve measurement of efficiency.

In order to solve the technical problem, the utility model provides a sensing device for measuring ground undulation, which comprises a movable walking chassis and a measuring rod, wherein the upper end of the measuring rod is provided with a laser receiver, the bottom end of the measuring rod is provided with a ball or a universal wheel, the measuring rod is connected with the walking chassis in a sliding way, and the measuring rod can slide up and down along an unthreaded hole in the middle of the walking chassis; under the action of the dead weight of the measuring rod, the ball or the universal wheel is always in contact with the ground, and when the walking chassis moves, the ball or the universal wheel rolls along the ground.

The utility model also provides a terrace roughness inspection robot, including above-mentioned sensing device.

The measuring robot further comprises positioning beacons and a laser swinger, wherein the positioning beacons provide position references for path planning of the measuring robot; the laser swinger provides a reference for the measuring robot to measure the flatness of the floor; the chassis is provided with: the obstacle avoidance system comprises a controller, an obstacle avoidance sensor and an antenna, wherein the obstacle avoidance sensor and the antenna are connected with the controller; the controller is in wireless communication with the positioning beacon through the antenna, controls the walking chassis to move on the ground and reads a laser signal of the laser swinger received by the laser receiver; when the measuring robot moves, the fluctuation of the ground can drive the measuring rod to drive the laser receiver to move up and down, and the laser receiver measures elevation data and sends the elevation data to the controller.

Furthermore, an inclination sensor T is arranged in the laser receiver and used for measuring the angle error of the laser receiver in the vertical direction due to the fact that the ground undulation is measured, and the measured elevation data are corrected.

The working method of the measuring robot comprises the following steps: placing a measuring robot on a terrace to be measured, starting the robot, placing a beacon at each of four corners of a region to be measured of the robot, and establishing a navigation coordinate network with the robot; and (3) setting a laser swinger, moving the laser plane swept out by the laser swinger to the middle of a receiving window of a laser receiver to be used as an initial reference, and ensuring that the laser swinger is always in a starting state in the working process.

The robot automatically walks along a planned path in an area to be measured, the bottom of a measuring rod on the robot is in direct contact with the ground in the walking process, the measuring rod can move up and down along with the fluctuation of the ground, and the elevation data received by the laser receiver can also change. The laser receiver is internally provided with an inclination angle sensor which is used for measuring the angle error of the laser receiver in the vertical direction due to the ground fluctuation and correcting the measured elevation data. If the robot meets an obstacle in the area to be detected, the obstacle avoidance sensor of the robot can help the robot to bypass the obstacle, and the robot is prevented from being damaged.

The controller of the robot records the coordinates and the elevation data of the measuring points, counts out the elevation error after the measurement is finished, and draws an equal-height map for visually representing the flatness condition of the terrace, so that the coordinate and the elevation data can be used as important basis for acceptance and follow-up reworking.

The utility model has the advantages that: (1) the bottom end of the measuring rod is provided with a ball or a universal wheel, the measuring rod is connected with the walking chassis in a sliding manner, and the measuring rod can slide up and down along a light hole in the middle of the walking chassis to drive the laser receiver to move up and down, so that the function of the ground fluctuation sensing device is realized; (2) the working method of the measuring robot realizes the automatic measuring function of the floor flatness and improves the measuring efficiency.

Drawings

In order to clarify the explanation of the innovative principles of the utility model and its advantages compared to the existing floor flatness measuring devices, a possible embodiment is explained below by way of non-limiting example applying said principles with the aid of the attached drawings. In the figure:

fig. 1 is a schematic view of a robot for measuring flatness of a floor according to the present invention;

FIG. 2 is a schematic diagram of the actual operation of the robot of FIG. 1;

fig. 3 is a schematic diagram of the robot shown in fig. 2 and positioning beacons disposed around the robot.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Example 1

As shown in fig. 1-3, the robot for measuring the flatness of a terrace of the present embodiment includes a walking chassis 1 and a measuring rod 2, the walking chassis 1 is provided with an obstacle avoidance sensor 3, a controller 4, an antenna 5, two driving wheels 6 and universal wheels 7, the two driving wheels are distributed on the left and right sides of the walking chassis, and each driving wheel 6 is powered by a driving motor 8; the upper end of the measuring rod 2 is provided with a laser receiver 9, the bottom of the measuring rod 2 is provided with a ball 10 or a universal wheel, the measuring rod 2 is connected with the walking chassis 1 in a sliding manner, and the measuring rod 2 can slide up and down along an unthreaded hole K in the middle of the walking chassis 1; the robot is also provided with positioning beacons 11 and a laser swinger 12, wherein four positioning beacons 11 are in a group and provide position reference for robot path planning; the laser swinger 12 provides a reference for the robot to measure the flatness of the floor.

The obstacle-measuring and avoiding sensor 3 can adopt a laser sensor and an ultrasonic sensor.

The controller 4 is electrically connected with the obstacle avoidance sensor 3, the antenna 5, the two driving motors 8 and the laser receiver 9. The controller 4 is in wireless communication with the positioning beacon 11 through the antenna 5; the controller 4 controls the speed and the direction of the driving motor 8, so that the driving wheel 6 rotates to drive the walking chassis 1 to move on the ground. The controller 4 reads the laser signal of the laser swinger 12 received by the laser receiver 9.

The communication mode between the positioning beacon 11 and the controller 4 may be UWB, WIFI, bluetooth, Zigbee, or the like.

Under the action of the dead weight of the measuring rod 2, the ball 10 or the universal wheel is always in contact with the ground, and when the walking chassis 1 moves, the ball 10 rolls along the ground; the laser receiver 9 on the measuring rod 2 is used for receiving laser signals scanned by the laser swinger 12, when the measuring robot moves, the measuring rod 2 can move up and down with the laser receiver 9 due to fluctuation of the ground, elevation data measured by the laser receiver 9 are sent to the controller 4, and the inclination sensor T is arranged in the laser receiver 9 and used for measuring fluctuation of the ground to enable the laser receiver 9 to have an angle error in the vertical direction so as to correct the measured elevation data.

In the floor flatness measuring robot of the embodiment, in operation, the robot is placed on a floor I to be measured, the robot is started, beacons 11 are respectively placed at four corners of a region to be measured of the robot, and a navigation coordinate network is established with the robot; and (3) setting a laser swinger 12, moving the laser swinger 12 out of a laser plane A to the middle of a receiving window of the laser receiver 9 as an initial reference, and ensuring that the laser swinger 12 is always in a starting state in the working process.

The robot automatically walks along a planned path in an area to be measured, the bottom of a measuring rod 2 on the robot is in direct contact with the ground in the walking process, the robot can move up and down along with the fluctuation of the ground, and the elevation data received by a laser receiver 9 can also change. The laser receiver 9 is internally provided with an inclination sensor T for measuring the angle error of the laser receiver 9 in the vertical direction due to the ground fluctuation and correcting the measured elevation data. If the robot meets an obstacle in the area to be detected, the obstacle avoidance sensor 3 of the robot can help the robot to bypass the obstacle, and the robot is prevented from being damaged.

The foregoing is a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a measure ground undulation's sensing device, includes walking chassis (1) and measuring stick (2) that can move, its characterized in that: the upper end of the measuring rod (2) is provided with a laser receiver (9), the bottom end of the measuring rod (2) is provided with a ball (10) or a universal wheel, the measuring rod (2) is connected with the walking chassis (1) in a sliding manner, and the measuring rod (2) can slide up and down along a unthreaded hole in the middle of the walking chassis (1); under the action of the self weight of the measuring rod (2), the ball (10) or the universal wheel is always in contact with the ground, and when the walking chassis (1) moves, the ball (10) or the universal wheel rolls along the ground.

2. The utility model provides a terrace roughness measurement robot which characterized in that: comprising the sensing device of claim 1.

3. The measurement robot of claim 2, wherein: the measuring robot further comprises positioning beacons (11) and a laser scanner (12), a plurality of the positioning beacons (11) providing position references for the measuring robot path planning; the laser swinger (12) provides a reference for measuring the floor flatness by the measuring robot; the chassis (1) is provided with: the device comprises a controller (4), an obstacle avoidance sensor (3) and an antenna (5), wherein the obstacle avoidance sensor (3) is connected with the controller (4); the controller (4) is in wireless communication with the positioning beacon (11) through the antenna (5), controls the walking chassis (1) to move on the ground and reads a laser signal of the laser swinger (12) received by the laser receiver (9); when the measuring robot moves, the fluctuation of the ground can enable the measuring rod (2) to drive the laser receiver (9) to move up and down, and the laser receiver (9) measures elevation data and sends the elevation data to the controller (4).

4. A measuring robot as claimed in claim 3, characterized in that the laser receiver (9) has an inclination sensor inside it for measuring the elevation of the ground and for correcting the elevation data measured by the laser receiver (9) for the angle error in the vertical direction.