CN115930896A - Unmanned level measurement system - Google Patents
Unmanned level measurement system Download PDFInfo
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- CN115930896A CN115930896A CN202211527030.9A CN202211527030A CN115930896A CN 115930896 A CN115930896 A CN 115930896A CN 202211527030 A CN202211527030 A CN 202211527030A CN 115930896 A CN115930896 A CN 115930896A
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- leveling
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The application relates to an unmanned leveling system, it includes: the robot system comprises a first robot and a second robot, wherein the first robot and the second robot respectively comprise a mobile chassis, an unmanned driving unit and a control unit, the first robot further comprises a target unit, and the second robot further comprises an observation unit; wherein, the control unit is arranged on the movable chassis; the unmanned unit is arranged on the mobile chassis and comprises a data acquisition device and a remote driving device, the data acquisition device is connected with the remote driving device, and the remote driving device controls the mobile chassis to operate through the control unit; the target unit comprises a telescopic leveling rod, and the telescopic leveling rod is arranged on the movable chassis; the observation unit sets up on removing the chassis, and the observation unit includes surveyor's level and sighting device, and sighting device passes through the control unit and is connected with the surveyor's level to control the surveyor's level and aim flexible levelling rod. According to the invention, the measurement work can be carried out in different scenes, and the work risk coefficient is reduced.
Description
Technical Field
The application relates to the field of mobile measurement, in particular to an unmanned leveling system.
Background
Leveling is a method of measuring the height difference between two points on the ground by using a level gauge and a telescopic leveling rod. A level gauge is erected between two points on the ground, a leveling rod erected on the two points is observed, and the height difference between the two points is calculated according to the reading on the leveling rod. The existing leveling measurement needs more workers, has high labor intensity, low operation efficiency, human error and high danger coefficient. Leveling is a mechanized work, an operation team needs 3 personnel at least, 1 observer, 2 supporters, if the required precision height still has a range finder to whole journey is walking and the measurement of artifical leveling surveyor's staff back sighting rod, instrument, levelling rod and ruler pad all depend on the people to carry, and whole work efficiency is very low, intensity of labour is also very big, and it is very low to carry out leveling factor of safety especially on the highway.
Disclosure of Invention
The embodiment of the application provides an unmanned leveling system to solve the problems of many workers, high working strength, high working risk coefficient and low working efficiency during measurement in the related art.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned leveling system, comprising: the robot comprises a first robot and a second robot, wherein the first robot and the second robot respectively comprise a mobile chassis, an unmanned driving unit, a camera and a control unit, the first robot further comprises a target unit, and the second robot further comprises an observation unit; wherein the control unit is mounted on the mobile chassis; the unmanned unit is arranged on the mobile chassis and comprises a data acquisition device and a remote driving device, the data acquisition device is connected with the remote driving device, and the remote driving device controls the mobile chassis to operate through the control unit; the target unit comprises a telescopic leveling rod, and the telescopic leveling rod is arranged on the movable chassis; the observation unit is arranged on the movable chassis and comprises a level and a sighting device, and the sighting device is connected with the level through a control unit so as to control the level to aim at the telescopic leveling rod; the camera is arranged on the movable chassis and is connected with the data acquisition device.
In some embodiments, the target unit further comprises a first leveling device, one end of the first leveling device is connected with the moving chassis, the other end of the first leveling device is connected with the telescopic leveling rod so as to detect the inclination angle change amount of the telescopic leveling rod relative to the horizontal plane, and the first leveling device is connected with the control unit so as to control the inclination angle amount of the telescopic leveling rod relative to the horizontal plane.
In some embodiments, the first flattening device comprises: the leveling device comprises a telescopic leveling device and a first angle sensor, wherein one end of the telescopic leveling device is connected with the movable chassis, the other end of the telescopic leveling device is connected with a telescopic leveling rod, and the telescopic leveling device is connected with the control unit; the first angle sensor is arranged on the telescopic flattening device and connected with the control unit.
In some embodiments, the bottom end of the telescopic leveling rod is hinged with the top end of the movable chassis; the telescopic leveling device is obliquely arranged, one end of the telescopic leveling device is hinged to the movable chassis, one end of the first angle sensor is fixed to the telescopic leveling rod, and the other end of the first angle sensor is hinged to the telescopic leveling device.
In some embodiments, the observation unit further comprises a second flattening device comprising: the device comprises a base tripod, a hydraulic device, a second angle sensor, a first servo motor and a second servo motor, wherein the base tripod is arranged on a movable chassis; the hydraulic device is arranged on a base tripod and is connected with the control unit so as to control the height of the level gauge relative to the horizontal plane; the second angle sensor is connected with the level and the control unit to detect the inclination angle variation of the level; the first servo motor is connected with the control unit; the second servo motor is connected with the control unit.
In some embodiments, the hydraulic device is mounted at the top end of the base tripod, the first servo motor is mounted at the top end of the hydraulic device, the second angle sensor is fixed between the first servo motor and the level, and the second servo motor is mounted at the bottom end of the level.
In some embodiments, the data acquisition device comprises a computer platform, an assisted positioning device, a lidar and a GNSS receiver disposed on the mobile chassis, the assisted positioning device, the lidar and the GNSS receiver being coupled to the computer platform.
In some embodiments, the remote driving device comprises a vehicle-scale camera, a switch and a 4G/5G network terminal, the vehicle-scale camera and the 4G/5G network terminal are arranged on the mobile chassis, the vehicle-scale camera and the 4G/5G network terminal are both connected with the switch, and the computer platform is connected with the 4G/5G network terminal.
In some embodiments, the remote driving device further comprises an audio device arranged on the mobile chassis, and the audio device is connected with the 4G/5G network terminal through the switch.
In some embodiments, the unmanned leveling system further comprises a power supply unit disposed on the mobile chassis, the power supply unit being connected to the unmanned unit, the target unit, and the observation unit.
The beneficial effect that technical scheme that this application provided brought includes:
the embodiment of the application provides an unmanned leveling system, wherein a first robot and a second robot are both provided with an unmanned unit and a movable chassis, the unmanned unit is matched with the movable chassis, the movable chassis can be remotely controlled to move, and measurement data can be collected when the movable chassis moves; the target unit on the first robot is matched with the observation unit on the second robot, so that the aim of the level gauge is remotely controlled to aim the telescopic leveling rod; the system not only reduces the number of workers, but also reduces the working intensity of the workers, and the system can also be used for measuring in different scenes, so that the working risk coefficient is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a first robot according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a second robot according to an embodiment of the present application.
In the figure: 1. moving the chassis;
2. an unmanned unit; 20. a data acquisition device; 200. a computer platform; 201. an auxiliary positioning device; 202. a laser radar; 203. a GNSS receiver; 21. a remote driving device; 210. a gauge-grade camera; 211. 4G/5G network terminal; 212. an audio device; 213. a switch;
3. a target unit; 30. a telescopic leveling rod; 31. a first leveling device; 310. a telescopic leveler; 311. a first angle sensor;
4. an observation unit; 40. a level gauge; 41. a second leveling device; 410. a second angle sensor; 411. a first servo motor; 412. a hydraulic device; 413. a base tripod; 414. a second servo motor; 42. a sighting device; 420. a depth camera;
5. a control unit;
6. a power supply unit;
7. a camera is provided.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
The embodiment of the application provides an unmanned leveling system, which can solve the problems of more workers, high working strength, high working risk coefficient and low working efficiency in measurement in the related technology.
Referring to fig. 1-2, embodiments of the present application provide an unmanned leveling system, which includes: the robot comprises a first robot and a second robot, wherein the first robot and the second robot respectively comprise a mobile chassis 1, an unmanned unit 2 and a control unit 5, the first robot further comprises a target unit 3, and the second robot further comprises an observation unit 4; wherein, the control unit 5 is arranged on the movable chassis 1; the unmanned unit 2 is arranged on the mobile chassis 1, the unmanned unit 2 comprises a data acquisition device 20 and a remote driving device 21, the data acquisition device 20 is connected with the remote driving device 21, and the remote driving device 21 controls the mobile chassis 1 to operate through the control unit 5; the target unit 3 includes a telescopic leveling rod 30, the telescopic leveling rod 30 being disposed on the movable body
The movable chassis 1; the observation unit 4 is arranged on the mobile chassis 1, the observation unit 4 comprises a level 5 and a sighting device 42, the sighting device 42 is connected with the level 40 through the control unit 5,
to control the level 40 to aim the telescopic leveling rod 30; the camera 7 is arranged on the movable chassis 1, and the camera 7 is connected with the data acquisition device 20.
In the application, the first robot and the second robot are both provided with the unmanned unit 2 and the mobile chassis 1, the unmanned unit 2 is matched with the mobile chassis 1, the mobile chassis 1 can be remotely controlled to move under the control of 0 system, and the mobile chassis 1 is instructed to move to a specified position to acquire measurement data; the target unit 3 on the first robot is matched with the observation unit 4 on the second robot, so that the purpose that the level gauge 40 is remotely controlled to aim at the telescopic leveling rod 30 is achieved; the system not only reduces the number of workers, but also reduces the working intensity of the workers, and the system can also be used for measuring in different scenes, so that the working risk coefficient is reduced.
5 the number of first and second robots in the unmanned leveling system may be
To be set according to actual conditions. The number of the first robot and the number of the second robot may be different, for example, the first robot may be two and the second robot may be one in the case of high-level leveling, and the first robot may be one and the second robot may be one in the case of low-level leveling.
The data acquisition device 20 and the remote driving device 21 are arranged, so that the mobile chassis 1 can acquire videos when moving 0, the acquired videos are transmitted to a user end through the remote driving device 21, a worker can use the user end to perform remote driving operation, the remote driving device 21 sends a working instruction to the control unit 5, and the control unit 5 controls the mobile chassis 1 to move or stop after processing the working instruction. A camera 7 is also arranged to be connected with the data acquisition device 20
Connect, all set up camera 7 around removing chassis 1, realize removing chassis 1 and turn and have panoramic image when backing a car 5, make things convenient for the staff to use the user side to carry out remote driving operation, security and convenience when having improved removal chassis 1 and removing.
The data acquisition device 20 includes a computer platform 200, an auxiliary positioning device 201, a lidar 202 and a GNSS receiver 203 which are disposed on the mobile chassis 1, and the auxiliary positioning device 201, the lidar 202 and the GNSS receiver 203 are all connected to the computer platform 200. The laser radar 202 is a 16-line laser radar, is an online point cloud and a prefabricated base map, and can obtain high-definition three-dimensional environment perception information; the GNSS receiver 203 is an absolute positioning mode, and can realize all-weather (irrelevant to time/climate) centimeter-level positioning; the auxiliary positioning device 201 comprises an inertial navigation system, which is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of an object, is an autonomous navigation system which does not depend on external information and does not radiate energy to the outside, and is used for estimating the position, attitude and speed of a moving object, wherein the autonomous navigation system is free in installation position and full in positioning range when the autonomous navigation system does not need to be powered on; in conclusion, the multi-sensor fusion is realized, collected data are processed by the computer platform 200 and then are sent to the remote driving device 21, and then are sent to the user side through the remote driving device 21, so that the functions of obstacle detection, classification, tracking, real-time positioning, drawing construction and the like can be realized.
The remote driving device 21 comprises a vehicle-scale camera 210, a switch 213 and a 4G/5G network terminal 211 which are arranged on the mobile chassis 1, wherein the vehicle-scale camera 210 and the 4G/5G network terminal 211 are both connected with the switch 213, and the computer platform 200 is connected with the 4G/5G network terminal 211. The remote driving device 21 is a parallel control scheme for remotely controlling the mobile chassis 1 to finish a task based on a 4G/5G mobile network signal, and is configured with a vehicle scale camera 210 based on the characteristics of low delay and large bandwidth of a mobile network, so that the functions of image and video information acquisition and transmission, remote or ultra-remote control and the like can be realized, and remote data transmission and office auxiliary driving can be realized to finish unmanned intelligent data acquisition. The vehicle gauge camera 210 can collect vehicle condition image information during driving, and transmits the vehicle condition image information during driving to the 4G/5G network terminal 211 through the switch 213, wherein the 4G/5G network terminal 211 is further connected with the computer platform 200, so that the 4G/5G network terminal 211 can wirelessly transmit data information to a user end, a worker can check the data information in real time, and the worker can conveniently remotely operate the mobile chassis 1 to drive.
The remote driving apparatus 21 further includes an audio apparatus 212 provided on the mobile chassis 1, and the audio apparatus 212 is connected to the 4G/5G network terminal 211 through a switch 213. The audio device 212 includes a microphone and a speaker, and the microphone and the speaker are both connected to the 4G/5G network terminal 211 through the switch 213. The microphone can collect sound information of the surrounding environment when the mobile chassis 1 moves, then the sound information is transmitted to the 4G/5G network terminal 211 through the switch 213, and then the 4G/5G network terminal 211 can wirelessly transmit the sound information to a user end; the staff can also send voice information to the 4G/5G network terminal 211 through the user terminal, and the 4G/5G network terminal 211 sends the voice information to the loudspeaker for sounding through the switch 213. The microphone and the loudspeaker can enable workers at different positions to communicate.
The mobile chassis 1 of the embodiment of the application is an all-round mobile chassis 1, the mobile chassis 1 is firm and small, and can easily drive various complex environments through four-wheel drive, differential rotation and powerful power. The control unit 5 comprises a single chip microcomputer.
The level gauge 40 and the flexible levelling rod 30 of this application embodiment are one set of leveling equipment, and flexible levelling rod 30 is the automatic rising levelling rod, and automatic rising levelling rod and level gauge 40 can realize that level gauge 40 is automatic to be surveyed, automatic rising, and automatic rising levelling rod realizes automatic rising, automatic level, automatic perception barrier. The telescopic leveling rod 30 is arranged on the moving chassis 1 on the first robot, the level gauge 40 is arranged on the moving chassis 1 on the second robot, and the leveling operation can be realized by matching the first robot with the second robot.
In order to adjust the inclination angle of the telescopic leveling rod 30 relative to the horizontal plane according to the position and the geographical condition of the first robot, the target unit 3 further comprises a first leveling device 31, one end of the first leveling device 31 is connected with the mobile chassis 1, the other end of the first leveling device 31 is connected with the telescopic leveling rod 30 so as to detect the inclination angle variation of the telescopic leveling rod 30 relative to the horizontal plane, and the first leveling device 31 is connected with the control unit 5 so as to control the inclination angle of the telescopic leveling rod 30 relative to the horizontal plane. Specifically, the first leveling device 31 includes a telescopic leveler 310 and a first angle sensor 311, wherein one end of the telescopic leveler 310 is connected to the moving chassis 1, the other end thereof is connected to the telescopic leveling rod 30, and the telescopic leveler 310 is connected to the control unit 5; the first angle sensor 311 is disposed on the retractable screed 310, and the first angle sensor 311 is a horizontal angle sensor and connected to the control unit 5. When the first robot reaches the measuring position, the first angle sensor 311 measures the inclination angle of the telescopic leveling rod 30 with respect to the horizontal plane, and when the inclination angle of the telescopic leveling rod 30 with respect to the horizontal plane does not reach the standard, the control unit 5 may control the telescopic leveler 310 to achieve automatic leveling of the telescopic leveling rod 30.
The bottom end of a telescopic leveling rod 30 is hinged with the top end of the movable chassis 1; meanwhile, the retractable leveler 310 is installed in an inclined manner, one end of the retractable leveler 310 is hinged to the movable chassis 1, one end of the first angle sensor 311 is fixed to the retractable leveling rod 30, the other end of the first angle sensor is hinged to the retractable leveler 310, and the retractable leveler 310 is a hydraulic retractable leveler 310. When the first angle sensor 311 measures that the inclination amount of the telescopic leveling rod 30 relative to the horizontal plane does not reach the standard, the telescopic screed 310 is contracted or extended, as shown in fig. 1, when the telescopic screed 310 is contracted, the telescopic leveling rod 30 rotates counterclockwise with a point hinged to the mobile chassis 1 as an origin; when the telescopic leveler 310 is extended, the telescopic leveling rod 30 is rotated clockwise with a point hinged to the moving chassis 1 as an origin. The first angle sensor 311 synchronously detects the inclination of the telescopic leveling rod 30 with respect to the horizontal plane when the telescopic leveling rod 30 is rotated and adjusted, and the control unit 5 controls the telescopic leveler 310 to stop working when the inclination of the telescopic leveling rod 30 with respect to the horizontal plane reaches a standard.
In order to be able to adjust the amount of inclination of the level 40 in different directions depending on the position and geographical situation in which the second robot is located, the observation unit 4 is arranged to further comprise a second levelling means 41, which second levelling means 41 is connected to the level 40. Wherein, the second leveling device 41 comprises a base tripod 413, a hydraulic device 412, a second angle sensor 410, a first servo motor 411 and a second servo motor 414; the base tripod 413 is arranged on the movable chassis 1, and the base tripod 413 can play a role in stable support. The hydraulic device 412 is arranged on a base tripod 413 and is arranged at the top end of the base tripod 413, and the hydraulic device 412 is connected with the control unit 5 to control the height of the level gauge 40 relative to the horizontal plane; when the height of the level gauge 40 needs to be adjusted, the control unit 5 controls the hydraulic device 412 to work, and the hydraulic device 412 contracts or extends, so that the height of the level gauge 40 is changed. The second angle sensor 410 is connected with the level gauge 40 and the control unit 5 to detect the inclination angle variation of the level gauge 40, and the second servo motors 414 are connected with the control unit 5 to adjust the inclination angle of the level gauge 40, and when the inclination angle of the level gauge 40 does not reach the standard, the control unit 5 controls the second servo motors 414 to work, so that the inclination angle of the level gauge 40 reaches the standard.
Specifically, the second angle sensor 410 is fixed between the first servo motor 411 and the level gauge 40, the second angle sensor 410 is connected to the level gauge 40, and the second servo motor 414 is fixed to the bottom of the level gauge 40. The second angle sensor 410 includes a horizontal angle sensor and a vertical angle sensor, the horizontal angle sensor and the vertical angle sensor can detect the inclination angle variation of the level 40, and when the horizontal angle sensor and the vertical angle sensor detect that the inclination angle of the level 40 does not reach the standard, the control unit 5 controls the plurality of second servo motors 414 to work, and adjusts the inclination angle of the level 40, so that the inclination angle of the level 40 reaches the standard.
The second angle sensor 410 is further provided with a magnetic compass connected to the aiming device 42 and the control unit 5, the magnetic compass can measure magnetic azimuth data, such as magnetic declination data and magnetic inclination data, the magnetic compass detects the magnetic declination data of the aiming device 42, the control unit 5 controls the first servo motor 411 to work, and adjusts the direction amount of the level gauge 40, so that the level gauge 40 roughly aims at the telescopic leveling rod 30.
The first servo motor 411 is connected to the control unit 5, and the first servo motor 411 is mounted on the top end of the hydraulic device 412. The first servo motor 411 is further connected with the aiming device 42, the aiming device 42 comprises a depth camera 420, the depth camera 420 is arranged on the level gauge 40 to identify and capture the telescopic leveling rod 30, and specifically, the depth camera 420 is installed at the front end of the second angle sensor 410; the depth camera 420 is connected with the first servo motor 411 through the control unit 5, the depth camera 420 accurately identifies and captures the telescopic leveling rod 30, the first servo motor 411 can control the level gauge 40 to rotate, and the control speed and the position accuracy of the first servo motor 411 are very accurate.
On the basis of the above-described embodiment, in the present embodiment, the unmanned leveling system further includes a power supply unit 6 provided on the mobile chassis 1, and the power supply unit 6 is connected to the unmanned unit 2, the target unit 3, and the observation unit 4. The unmanned unit 2, the target unit 3 and the observation unit 4 are powered through the power supply unit 6, so that the first robot and the second robot can work in a place without power supply equipment, and the working convenience of the first robot and the second robot is improved.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience of describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are 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, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An unmanned leveling system, comprising:
the robot comprises a first robot and a second robot, wherein the first robot and the second robot respectively comprise a mobile chassis (1), an unmanned unit (2), a camera (7) and a control unit (5), the first robot further comprises a target unit (3), and the second robot further comprises an observation unit (4);
wherein the control unit (5) is mounted on the mobile chassis (1);
the unmanned unit (2) is arranged on the mobile chassis (1), the unmanned unit (2) comprises a data acquisition device (20) and a remote driving device (21), the data acquisition device (20) is connected with the remote driving device (21), and the remote driving device (21) controls the mobile chassis (1) to operate through the control unit (5);
the target unit (3) comprises a telescopic leveling rod (30), and the telescopic leveling rod (30) is arranged on the movable chassis (1);
the observation unit (4) is arranged on the movable chassis (1), the observation unit (4) comprises a level gauge (40) and an aiming device (42), and the aiming device (42) is connected with the level gauge (40) through a control unit (5) so as to control the level gauge (40) to aim at the telescopic leveling rod (30);
the camera (7) is arranged on the movable chassis (1), and the camera (7) is connected with the data acquisition device (20).
2. The unmanned leveling system of claim 1, wherein:
the target unit (3) further comprises a first leveling device (31), one end of the first leveling device (31) is connected with the movable chassis (1), the other end of the first leveling device is connected with the telescopic leveling rod (30) so as to detect the inclination angle variation of the telescopic leveling rod (30) relative to the horizontal plane, and the first leveling device (31) is connected with the control unit (5) so as to control the inclination angle variation of the telescopic leveling rod (30) relative to the horizontal plane.
3. The unmanned leveling system of claim 2 wherein:
said first flattening device (31) comprising:
one end of the telescopic leveling device (310) is connected with the movable chassis (1), the other end of the telescopic leveling device (310) is connected with the telescopic leveling rod (30), and the telescopic leveling device (310) is connected with the control unit (5);
a first angle sensor (311), the first angle sensor (311) being arranged on the telescopic screed (310), the first angle sensor (311) being connected with the control unit (5).
4. The unmanned leveling system of claim 3, wherein:
the bottom end of the telescopic leveling rod (30) is hinged with the top end of the movable chassis (1);
the telescopic leveling device (310) is obliquely arranged, one end of the telescopic leveling device (310) is hinged to the movable chassis (1), one end of the first angle sensor (311) is fixed to the telescopic leveling rod (30), and the other end of the first angle sensor is hinged to the telescopic leveling device (310).
5. The unmanned leveling system of claim 1, wherein:
said observation unit (4) further comprises a second flattening device (41), said second flattening device (41) comprising:
the base tripod (413), the base tripod (413) is arranged on the movable chassis (1);
a hydraulic device (412), said hydraulic device (412) being mounted on a base tripod (413), said hydraulic device (412) being connected to a control unit (5) to control the height of the level (40) with respect to the horizontal;
a second angle sensor (410), the second angle sensor (410) being connected to the level (40) and the control unit (5) to detect a tilt variation of the level (40);
the first servo motor (411), the first servo motor (411) is connected with the control unit (5);
and the second servo motor (414), wherein the second servo motor (414) is connected with the control unit (5).
6. The unmanned leveling system of claim 5, wherein:
the hydraulic device (412) is installed at the top end of a base tripod (413), the first servo motor (411) is installed at the top end of the hydraulic device (412), the second angle sensor (410) is fixed between the first servo motor (411) and the level (40), and the second servo motor (414) is installed at the bottom end of the level (40).
7. The unmanned leveling system of claim 1, wherein:
the data acquisition device (20) comprises a computer platform (200), an auxiliary positioning device (201), a laser radar (202) and a GNSS receiver (203) which are arranged on the mobile chassis (1), wherein the auxiliary positioning device (201), the laser radar (202) and the GNSS receiver (203) are all connected with the computer platform (200).
8. The unmanned leveling system of claim 7, wherein:
the remote driving device (21) comprises a vehicle-scale camera (210), a switch (213) and a 4G/5G network terminal (211) which are arranged on the mobile chassis (1), the vehicle-scale camera (210) and the 4G/5G network terminal (211) are connected with the switch (213), and the computer platform (200) is connected with the 4G/5G network terminal (211).
9. The unmanned leveling system of claim 8, wherein:
the remote driving device (21) further comprises an audio device (212) arranged on the mobile chassis (1), and the audio device (212) is connected with the 4G/5G network terminal (211) through a switch (213).
10. The unmanned leveling system of claim 1, wherein:
the unmanned level measurement system further comprises a power supply unit (6) arranged on the movable chassis (1), wherein the power supply unit (6) is connected with the unmanned unit (2), the target unit (3) and the observation unit (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211527030.9A CN115930896A (en) | 2022-11-30 | 2022-11-30 | Unmanned level measurement system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211527030.9A CN115930896A (en) | 2022-11-30 | 2022-11-30 | Unmanned level measurement system |
Publications (1)
| Publication Number | Publication Date |
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| CN115930896A true CN115930896A (en) | 2023-04-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211527030.9A Pending CN115930896A (en) | 2022-11-30 | 2022-11-30 | Unmanned level measurement system |
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| Country | Link |
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| CN (1) | CN115930896A (en) |
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2022
- 2022-11-30 CN CN202211527030.9A patent/CN115930896A/en active Pending
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