CN113932090A - Surveying and mapping robot - Google Patents

Abstract

The application discloses surveying and mapping robot, including head device and following device, the head device drives and follows the device operation, and the head device passes through joint bearing with following the dress and connects for following the device and can follow the head device with arbitrary angle rotation swing, weaken the influence of factors such as shake, mechanical shock in the device body operation process as far as possible again through the structural design who follows the device to inertial sensor detection effect, thereby make the testing result more accurate. The walking wheel is installed for the slope of device body, and when the device body was marchd in the pipeline, the teeth of a cogwheel on the walking wheel and pipeline inner wall fully contacted, because the phenomenon of empting that the contact is not abundant takes place easily when having avoided meetting the barrier for the operation of device body is more steady. The design of teeth of a cogwheel tip is the cusp form, is applicable to non-metallic pipeline more for the area of contact of device body and pipeline inner wall is littleer, and the power of grabbing is stronger.

Description

Surveying and mapping robot

Technical Field

The invention relates to a surveying and mapping robot.

Background

With the rapid development of the urbanization process in China, more and more underground pipe networks are needed in cities. The underground pipe network is a life line of a city, is a foundation for the city to live 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 at present, and the requirements of economic high-quality development cannot be met, for example, the geographical position of a pipeline needs to be recorded in a certain mode in the pipeline construction process so as to facilitate later maintenance and repair. However, recording the geographical position of the pipeline is a very complicated and technically difficult engineering project, and for the crossing pipe which is laid by the construction method of 'pipe jacking crossing' in a special environment, the laying is affected by the terrain or the actual environment, the crossing pipe often has indefinite height fluctuation, the trend of the pipeline under the ground cannot be predicted when the crossing pipe is positioned on the ground surface, and at the moment, the profile trend of the pipeline under the ground needs to be mapped by other special equipment.

Disclosure of Invention

The invention aims to provide a surveying and mapping robot which is used for surveying and mapping the distribution trend of an underground crossing pipe and realizing accurate surveying and mapping of the distribution trend of the crossing pipe.

The application discloses a surveying and 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, a detection assembly, a power supply module and a controller, wherein the detection assembly, the power supply module and the controller are arranged on the device body; the detection assembly is electrically connected with the controller and used for detecting the pipeline environment and recording the walking condition of the surveying and 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, the walking posture 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 following device comprises a connecting framework, the front end of the connecting framework is flexibly connected with the device body through a connecting assembly, 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, the middle part of the connecting framework is also provided with a steering engine and a cradle frame for mounting an inertial sensor, and the steering engine is fixedly connected with the cradle frame; 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 restores to a balanced state.

Preferably, the connecting assembly comprises a cross-shaped support, and two ends of the cross-shaped support are connected with the device body and the connecting framework through joint bearings respectively.

Preferably, a first bracket is fixedly arranged on the upper surface of the connecting framework; the connecting framework is characterized in that a group of follow-up wheels are respectively arranged at two ends of the connecting framework, a first wheel carrier used for mounting the follow-up wheels is arranged in front of the connecting framework, and the first support is connected with the first wheel carrier through an elastic piece.

Preferably, the mileage sensor is provided on a traveling wheel or a following wheel.

Preferably, the cross rod of the cross-shaped bracket 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 bracket are located at the same horizontal position.

Preferably, the follower wheel is mounted obliquely outwardly with respect to the central axis of the connecting frame.

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 form a certain included angle, so that the travelling wheels are vertical or approximately vertical 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 carrier is arranged on the outer side surface of the wheel body; the driving motor is fixedly connected with the device body mounting seat through a fixing frame, and the driving motor 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 carrier through the coupler, and the driving motor drives the wheel carrier to rotate and simultaneously drives the wheel body to rotate.

Preferably, the wheel body is provided with a tip-shaped gear tooth in one circle.

Has the advantages that: the application provides a surveying and mapping robot passes through joint bearing with the head device with following the dress and connects for follow the device and can follow the head device with arbitrary angle rotation swing, weaken the influence of factors such as shake, mechanical vibrations in the device body operation process as far as possible again through the structural design who follows the device to inertial sensor detection effect, thereby make the testing result more accurate. The walking wheel is obliquely arranged relative to the device body, so that the walking wheel is vertical or approximately vertical relative to the running tangent plane of the inner wall of the pipeline. When the device body marchd in the pipeline, the teeth of a cogwheel on the walking wheel fully contacted with the pipeline inner wall, because the phenomenon of empting that the contact is not abundant takes place easily when having avoided meetting the barrier for the operation of device body is more steady. The design of teeth of a cogwheel tip is the cusp form, is applicable to non-metallic pipeline more for the area of contact of device body and pipeline inner wall is littleer, and the power of grabbing is stronger.

Drawings

FIG. 1 is an overall connection diagram of a surveying robot according to the present application;

FIG. 2 is a connection diagram of the device body and the connection frame;

fig. 3 is a schematic view of the position of the travelling wheel relative to the device body according to the present application;

FIG. 4 is a schematic view of the travel wheel of FIG. 3;

FIG. 5 is a cross-sectional view taken along line B-B of FIG. 4;

FIG. 6 shows a wheel body (1) with gear teeth mounted thereon;

FIG. 7 shows the wheel body (2) with the gear teeth mounted thereon;

FIG. 8 is a schematic view of a head set;

FIG. 9 is a schematic view of the follower of FIG. 1;

FIG. 10 is a closed loop design of inertial sensor oscillation adjustment;

wherein the reference numerals are as follows:

1000. a head device; 1100. a controller; 500. a device body; 510. a hub; 520. a mounting seat; 190. a wheel disc; 100. a pipeline; 200. a wheel body; 201. mounting holes; 202. gear teeth; 210. a wheel carrier; 310. a drive motor; 320. a coupling; 410. a fixed mount; 600. and (4) supporting the wheel.

2000. A following device; 2100. connecting the framework; 2200. a first wheel carrier; 2300. a wheel; 2400. a second bracket; 2500. a column; 2600. a first bracket; 2700. a cradle frame; 2800. an inertial sensor; 2900. a steering engine;

3100. a knuckle bearing; 3200. a cross-shaped bracket.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

A surveying and mapping robot, as shown in fig. 1, comprises ahead device 1000 and a followingdevice 2000, wherein thehead device 1000 is connected with the followingdevice 2000, the head device 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.

Head set 2000 includes adevice body 1200 and a detection assembly, a power module, and a controller disposed on the device body. The detection assembly is electrically connected with the controller and used for detecting the environment of the pipeline and recording the walking condition of the surveying and mapping robot in the pipeline. The power module provides the power of marcing for the device body, for detection subassembly and controller power supply. The top end of the head device is also provided with a supportingwheel 600, and when the climbing angle is larger than 25 degrees, the supporting wheel is outwards supported and is abutted against the pipe wall at the top end, so that the stable operation of the robot is ensured.

As shown in fig. 2, thedevice body 1200 is of a four-wheel drive structure, and the fourwheels 200 are respectively arranged on the front, the rear, the left, and the right, and drive the wheels to run through four independent driving motors (also called speed reduction motors), so as to drive the device body to move forward or backward. 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, 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 easy to occur, and the problem can be solved only by increasing the friction force on the surface of the wheel. Moreover, if the wheel adopts the structure of installing the teeth of a cogwheel on the rim plate, when the teeth of a cogwheel have certain width, must have partly can't be with pipeline inner wall complete contact, even if adopt the tip teeth of a cogwheel, the direction that the gear stretched into pipeline inner wall also is that one side is dark one side shallow, can weaken the land fertility of grabbing of the in-process of marcing like this, is unfavorable for the stability that the device body marchd. In this regard, the travelingwheels 200 are installed to be inclined with respect to the apparatus body in the present application. As shown in fig. 3, when viewed from the front of the apparatus body, the central axis of the travelingwheel 200 and the central axis of the apparatus body form a certain included angle a (non-right angle), and the central axis of the travelingwheel 200 and the horizontal line form an acute angle b. Because the pipeline inner wall is circular-arc, this kind of structure ofwalking wheel 200 makes the operation tangent plane ofwalking wheel 200 relative pipeline inner wall be perpendicular or approximate vertical state, and this application of force direction that just makeswalking wheel 200 is the same with the atress direction of pipeline inner wall, also can accomplish the complete contact ofwalking wheel 200 and pipeline inner wall, guarantees the stationarity of device body operation.

The travellingwheel 200 comprises a driving motor and a wheel body, and an umbrella-shaped wheel carrier is arranged on the outer side surface of the wheel body; the driving motor is fixedly connected with the device body mounting seat through a 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 carrier through the coupler, and the driving motor drives the wheel carrier to rotate and simultaneously drives the wheel body to rotate. In addition, because the inner wall of the pipeline is very smooth and has topographic relief, the condition of climbing up and down slopes can often occur, and the operation of the robot can be influenced by the slippage of the common wheels. In order to solve the problem, the robot adopts barbed (steel nail) wheels aiming at the non-metal pipeline, namely, a circle of wheel body is provided with a pointed wheel tooth, so that the ground gripping force of the robot equipment is improved, and the efficient operation is realized.

Specifically, the device body is provided with mountingseats 520 for fixedly connecting the travellingwheels 200 with the device body, and two travellingwheels 200 are mounted on the left and right of each mountingseat 520.

As shown in fig. 4 to 5, theroad wheel 200 includes a drivingmotor 310, ahollow wheel body 200, and an umbrella-shapedwheel frame 210 disposed on an outer side surface of thewheel body 200. The drivingmotor 310 is fixedly connected to the apparatusbody mounting seat 520 through the fixingframe 410. Specifically, the drivingmotor 310 is installed obliquely relative to the device body, and the central axis of the drivingmotor 310 forms an included angle with the horizontal central line of the devicebody installation seat 520, and the inclination degree is suitable for making thewheel body 200 be vertical or approximately vertical relative to the running tangent plane of the inner wall of the pipeline. The specific inclination angle is set in relation to the axial length of the selected driving motor, the radius of the wheel body, the applicable inner diameter of the pipeline, the size of the device body and the like. The first end (i.e. the opening end) of thewheel frame 210 is fixedly connected to thewheel body 200, and thewheel frame 210 and thewheel body 200 may be an integrated structure. A part of the drivingmotor 310 extends into the umbrella-shapedwheel frame 210, and thewheel frame 210 is located at the middle outer ring of the drivingmotor 310. The input end of the drivingmotor 310 is connected to the controller of the device body, the controller provides power and operation signals for the drivingmotor 310, the output shaft of the drivingmotor 310 is connected to the center of thewheel frame 210 through thecoupling 320, thedriving wheel frame 210 rotates and drives thewheel body 200 to rotate, and then the device body is driven to move forward or backward. Specifically, a mounting cavity is disposed inside the second end of thewheel frame 210, and is used for being fixedly connected with the first end of thecoupler 320, and the second end of thecoupler 320 is connected with the output end of the drivingmotor 310. Further, the drivingmotor 310 may be disposed in an angularly adjustable structure with respect to the devicebody mounting seat 520 to accommodate pipes with different inner diameters.

Thewheel body 200 is provided with a plurality of mountingholes 201 for mounting thegear teeth 202. The end of thegear teeth 202 contacting the inner wall of the pipeline can be arranged to be planar, as shown in fig. 6, thewalking wheel 200 is suitable for both metal pipelines and non-metal pipelines, and the end of the gear teeth can fully contact the inner wall of the pipeline in the operation process of the device body, so that the advancing friction force is increased. In addition, for non-metallic pipeline, the tip form can be selected to the tip of the teeth of a cogwheel and the contact of pipeline inner wall, as shown in fig. 7, and this kind ofwalking wheel 200 is when non-metallic pipeline is marchd, and the teeth of a cogwheel and the perpendicular contact of pipeline inner wall, and the grip is stronger, and the phenomenon of skidding or toppling over is more difficult to appear.

As shown in fig. 8, the detection assembly includes acamera 300, an infrareddistance measuring sensor 400, and a water measuring electrode (not shown), and thecamera 300, the infrareddistance measuring sensor 400, and the water measuring electrode are all connected to the controller.Camera 300 installs at device body front end for shoot in real time or video recording robot and carry out forensics in the inside operation process of pipeline, carry out effective image record when meetting emergency, barrier such as brick stone mud. Infrareddistance measuring sensor 400 is located the left and right sides of device body, and when mapping robot independently walked in the pipeline inside, judged the environment of pipeline in real time through infrareddistance measuring sensor 400, for example the controller is through gathering infrareddistance measuring sensor 400 and the change of pipe wall distance value, can judge whether the head device has met "three way connection" intraductally, if yes, then the selection makes the change of motion circuit. The water measuring electrode can be selectively installed at the bottom of the device body and extends downwards, the principle that 'water has weak resistance' is applied, when water is accumulated in a pipeline, weak current conduction can be realized at two ends of the electrode, the controller connected with the water measuring motor can control the device body to return to a starting point when the current at two ends of the water measuring electrode is monitored, and the real situation in the pipeline is recorded by photographing. Of course, the head device of the present application can also selectively carry different detection devices according to the mapping requirement.

Wherein, the controller is used for recording the operational aspect of mapping robot in the pipeline, according to the operation of the signal control device body that detection component detected. 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 autonomous control of the robot and mainly calculates the operation work of calculating the original data acquired by the robot equipment, optimizing and rectifying the data, classifying and filing the data and the like. The lower computer main control board mainly uses STM32F407 series MCU as a core processor and is mainly used for 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 posture 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 multi-free motion, in the application, the inertial sensor senses the walking route and the walking posture of the head device, and then the walking distance measured by the mileage sensor is combined to measure and draw the distribution condition of the pipeline under the ground, such as where the pipeline turns, where the pipeline goes up a slope, where the pipeline goes down a slope and the like. The surveying and mapping robot provided by the application is mainly used for surveying and mapping the crossing pipe laid by the construction method of 'pipe jacking crossing', so that the inertial sensor is carried on the following device, the influence of factors such as shake, mechanical vibration and the like on the detection effect of the inertial sensor in the operation process of the device body is weakened as much as possible through the structural design of the following device, the problem comprises that the accumulated error of an inertial measurement unit is gradually increased, and the finally obtained measurement result has larger deviation with actual data.

The following describes the structural design of thefollower device 2000 in detail. As shown in fig. 9, thefollower device 2000 includes an elongated connectingskeleton 2100, and the front end of the connectingskeleton 2100 is flexibly connected to the device body through a connecting assembly, where the flexible connection means that the follower device can rotate and swing at any angle along with the head device. Theinertial sensor 2800 is disposed in the middle of theconnection skeleton 2100; the two ends of the connectingframework 2100 are respectively provided with a group of follow-upwheels 2300, and the follow-upwheels 2300 are obliquely arranged outwards relative to the central axis of the connectingframework 2100 so as to adapt to the arc-shaped inner wall in the pipeline. The mileage sensor may be installed on any one of the followingwheels 2300, and may also be installed on the travelingwheel 200. The present embodiment provides the mileage sensor on one of thefollower wheels 2300 located at the foremost end of theattachment frame 2100.

Designing a first mode: the length of connectingbackbone 2100 is designed. Theconnection skeleton 2100 is too long to cause inconvenience in outgoing operations, theconnection skeleton 2100 is too short to eliminate the influence of shaking generated when the device body passes through a pipeline joint or the like on theinertial sensor 2800, and according to a plurality of experiments, the length of theconnection skeleton 2100 is preferably set to be 0.7-1m, and the optimal length can be 0.8 m. Each set offollower wheels 2300 is located one on the left side of the connectingframe 2100 and one on the right side of the connectingframe 2100.

Designing two: and (3) sliding conduction design of motion gestures. The connecting assembly comprises across-shaped support 3200, and two ends of thecross-shaped support 3200 are respectively connected with the device body and the connectingframework 2100 through joint bearings 3100 (particularly rod end joint bearings 3100). The rod end joint includes a bore head with integral rod ends forming the rod end seat of a spherical sliding bearing that transmits the steering or twisting motion to theattachment frame 2100 in a sliding manner through the joint bearing 3100 when the motion of the device body is steered or twisted.

Designing three steps: and the left-right swinging amplitude is limited. Thefollower wheel 2300 is mounted on thefirst wheel frame 2200, the middle part of thefirst wheel frame 2200 is in a square hollow shape, two support rods for mounting thefollower wheel 2300 extend out to two sides, thefirst wheel frame 2200 further comprises a packaging plate fixedly connected with thefirst wheel frame 2200, the middle part of thefirst 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 connectingframework 2100 through a stainless steel pulley bearing. The cross rod of thecross bracket 3200 is connected with the outer end face of thefirst wheel frame 2200 through the first elastic piece, the first elastic piece and thecross bracket 3200 are located at the same horizontal position, specifically, the cross bracket comprises two first elastic pieces which are symmetrically arranged at the left side and the right side of thecross bracket 3200 respectively, the first end of the first elastic piece is connected with the hanging head arranged on the cross rod, and the second end of the first elastic piece is connected with the hanging head arranged at the outer end face of thefirst wheel frame 2200. The two first elastic members are provided to limit the range of the horizontal swing of the connectingframe 2100 and to perform a shock-absorbing function.

Designing four: and twisting the quick homing limit design. Asecond bracket 2400 is arranged right above thefirst wheel frame 2200, the left and right sides of thesecond bracket 2400 are fixedly connected (optional) with the outer side surface of the follow-up wheel 2300, and the middle of thesecond bracket 2400 is fixedly connected with thefirst wheel frame 2200 through acolumn 2500. The upper surface of theconnection frame 2100 is fixedly provided with afirst bracket 2600 in an L shape, and thefirst bracket 2600 and thesecond bracket 2400 are connected by a second elastic member. The second elastic member is arranged to restrain the twisting amplitude of the connectingframework 2100, so that the connecting framework can be returned in time after being twisted.

Designing: closed loop design of inertial sensor swing regulation and cradle design. The middle part of the connectingframework 2100 is also provided with asteering engine 2900 and acradle frame 2700 for installing aninertial sensor 2800, and thesteering engine 2900 is fixedly connected with thecradle frame 2700; thesteering engine 2900 is electrically connected to thecontroller 1100. As shown in fig. 10, thecontroller 1100 determines the twisting of theinertial sensor 2800 based on the detection signal received from theinertial sensor 2800, and then outputs a control signal to thesteering engine 2900 to adjust the rotation of thecradle 2700 by thesteering engine 2900, so that theinertial sensor 2800 returns to the equilibrium state.

It is to be understood that the disclosed embodiments of the invention are not limited to the particular structures, process steps, or steps disclosed herein, but extend to equivalents thereof as would be understood by those skilled in the relevant art. 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 embodiments of the present invention have been disclosed, the disclosure is only for the convenience of understanding the present invention and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

Translated fromChinese

1.种测绘机器人，其特征在于，包括头部装置和跟随装置，头部装置带动跟随装置运行；1. A surveying and mapping robot, characterized in that, comprising a head device and a follower device, and the head device drives the follower device to run;所述头部装置包括装置本体和设置在装置本体上的检测组件、电源模块和控制器；所述检测组件与控制器电连接，用于检测管道环境并记录测绘机器人在管道内的行走情况；所述电源模块为装置本体提供行进动力，为检测组件和控制器供电；The head device includes a device body and a detection component, a power supply module and a controller arranged on the device body; the detection component is electrically connected with the controller, and is used to detect the pipeline environment and record the walking situation of the surveying and mapping robot in the pipeline; The power module provides traveling power for the device body, and supplies power for the detection component and the controller;所述跟随装置用于搭载惯性传感器，通过惯性传感器检测测绘机器人在管道内的行走姿态，惯性传感器与控制器电连接；所述跟随装置包括连接骨架，连接骨架的前端通过连接组件与装置本体连接，惯性传感器设置在连接骨架上；The following device is used to carry an inertial sensor, and the inertial sensor detects the walking posture of the surveying and mapping robot in the pipeline, and the inertial sensor is electrically connected to the controller; the following device includes a connecting frame, and the front end of the connecting frame is connected to the device body through a connecting component. , the inertial sensor is set on the connecting frame;所述测绘机器人还设有里程传感器，所述里程传感器与控制器电连接。The surveying and mapping robot is further provided with a mileage sensor, and the mileage sensor is electrically connected with the controller.2.根据权利要求1所述的一种测绘机器人，其特征在于，所述连接骨架的中部还设有舵机和用于安装惯性传感器的摇篮架，所述舵机与摇篮架固定连接；所述舵机与控制器电性连接；所述控制器根据接收到的来自惯性传感器的检测信号，判断惯性传感器的扭动情况，继而输出控制信号至舵机，通过舵机调整摇篮架转动，使得惯性传感器恢复平衡状态。2. A surveying and mapping robot according to claim 1, wherein the middle of the connecting frame is further provided with a steering gear and a cradle for installing an inertial sensor, and the steering gear and the cradle are fixedly connected; The steering gear is electrically connected with the controller; the controller judges the twisting situation of the inertial sensor according to the detection signal received from the inertial sensor, and then outputs a control signal to the steering gear, and adjusts the rotation of the cradle through the steering gear, so that the rotation of the cradle is adjusted by the steering gear. The inertial sensor returns to equilibrium.3.根据权利要求1所述的一种测绘机器人，其特征在于，所述连接组件包括一十字形支架，所述十字形支架两端分别通过关节轴承与装置本体、连接骨架连接。3 . The surveying and mapping robot according to claim 1 , wherein the connecting assembly comprises a cross-shaped bracket, and two ends of the cross-shaped bracket are respectively connected with the device body and the connecting frame through joint bearings. 4 .4.根据权利要求3所述的一种测绘机器人，其特征在于，所述连接骨架的上表面固定设置有第一支架；所述连接骨架两端分别设置有一组随动轮，所述连接骨架的前方设有用于安装随动轮的第一轮架，所述第一支架与第一轮架通过弹性件连接。4. A surveying and mapping robot according to claim 3, wherein a first bracket is fixedly arranged on the upper surface of the connecting frame; The front is provided with a first wheel frame for installing the follower wheel, and the first bracket is connected with the first wheel frame through an elastic piece.5.根据权利要求4所述的一种测绘机器人，其特征在于，所述里程传感器设置在随动轮上。5 . The surveying and mapping robot according to claim 4 , wherein the mileage sensor is arranged on the follower wheel. 6 .6.根据权利要求4所述的一种测绘机器人，其特征在于，所述十字形支架的横杆与第一轮架的外端面通过第一弹性件连接，所述第一弹性件与十字形支架处于同一水平位置。6 . The surveying and mapping robot according to claim 4 , wherein the cross bar of the cross-shaped bracket and the outer end surface of the first wheel frame are connected by a first elastic member, and the first elastic member is connected to the cross-shaped bracket. 7 . The brackets are in the same horizontal position.7.根据权利要求4所述的一种测绘机器人，其特征在于，所述随动轮相对于连接骨架的中轴线向外倾斜安装。7 . The surveying and mapping robot according to claim 4 , wherein the follower wheel is installed obliquely outward with respect to the central axis of the connecting frame. 8 .8.根据权利要求1所述的一种测绘机器人，其特征在于，所述装置本体沿中轴线左右两侧各设有一组行走轮，所述行走轮相对装置本体倾斜安装，行走轮的中轴线与装置本体的中轴线具有一定的夹角，使得所述行走轮相对管道内壁的运行切面呈垂直或近似垂直状态。8 . The surveying and mapping robot according to claim 1 , wherein the device body is provided with a set of walking wheels on the left and right sides of the central axis, and the walking wheels are installed obliquely relative to the device body. There is a certain included angle with the central axis of the device body, so that the running section of the running wheel relative to the inner wall of the pipe is in a vertical or approximately vertical state.9.根据权利要求8所述的一种测绘机器人，其特征在于，所述行走轮包括驱动电机和轮体，所述轮体的外侧面设有伞状轮架；9 . The surveying and mapping robot according to claim 8 , wherein the traveling wheel comprises a driving motor and a wheel body, and an umbrella-shaped wheel frame is provided on the outer side of the wheel body; 10 .所述驱动电机通过固定架与装置本体安装座固定连接，驱动电机相对装置本体倾斜安装；The drive motor is fixedly connected with the device body mounting seat through the fixing frame, and the drive motor is installed obliquely relative to the device body;所述驱动电机的输入端与控制器连接，所述驱动电机的输出轴通过联轴器与轮架的中心连接，所述驱动电机驱动轮架转动同时带动轮体转动。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 and drives the wheel body to rotate.10.根据权利要求9所述的一种测绘机器人，其特征在于，所述轮体一圈安装有尖头状的轮齿。10 . The surveying and mapping robot according to claim 9 , wherein the wheel body is provided with pointed gear teeth in one circle. 11 .

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