CN103278132B - Measurement apparatus and measurement apparatus for attitude of self-walking underground tunneling robot - Google Patents
Measurement apparatus and measurement apparatus for attitude of self-walking underground tunneling robot Download PDFInfo
- Publication number
- CN103278132B CN103278132B CN201310139607.3A CN201310139607A CN103278132B CN 103278132 B CN103278132 B CN 103278132B CN 201310139607 A CN201310139607 A CN 201310139607A CN 103278132 B CN103278132 B CN 103278132B
- Authority
- CN
- China
- Prior art keywords
- emitter
- information
- circuit
- alpha
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a measurement apparatus and a measurement apparatus for attitude of a self-walking underground tunneling robot, and belongs to the navigation positioning field during an underground tunneling process of a robot. A system comprises two emitters rotating at a certain angular speed and a plurality of receivers. A world coordinate system corresponding to a tunneling robot route is established through an electronic compass module and a leveling pedestal. The emitters emit three laser beams comprising one gated laser beam and two sector laser beams. Horizontal angles and pitching angles of the receivers relative to a horizontal plane of the two emitters are calculated by using geometrical relationships among the laser beams, rotational speed of the emitters, coordinate positions and time difference that the laser beams are received after the laser beams are received by the receivers. The measurement apparatus and measurement apparatus have the advantages of simple operations, low cost, convenience for maintenance and high positioning precision. Besides, the measurement apparatus and measurement apparatus not only can be used for the underground pose measurement but also can be used on the ground or for position and path measurement of spatial coordinates of a moving point.
Description
Technical field
The invention belongs to technical field of navigation and positioning in underground robot tunneling process.
Background technology
Traditional self-travel type underground development machine people pose measuring method is manual measurement, total station survey is utilized to be arranged on multiple prism coordinates on robot fuselage, again according to the geometric relationship of the prism that recorded before measuring with development machine people axis, pose is tunneled in the underground that just can calculate robot.The method precision is high, but complicated operation, expend time in, can not measure in tunneling process, real-time is weak.
Along with the development of technology, automatic total instruments navigator fix and two kinds of locator meamss based on inertial navigation system are there are.For automatic total instruments navigator fix, robot from motion tracking target, can carry out real-time continuous detection to impact point in the traveling process of underground.But the coordinate of a point can only be detected at synchronization total powerstation, and in order to detect the man-machine figure state of development machine, need the volume coordinate of the some points detecting the discrete distribution of synchronization, detect so total powerstation is more suitable for the static pose of development machine people.For inertial navigation system, positioning error can increase in time, is not suitable for long distance and measures for a long time, need regular rectification.
Summary of the invention
Object of the present invention mainly provides a kind of new method of novel underground development machine people attitude orientation.The core of this system is two generating lasers and multiple laser pickoff (at least three).The laser of three beams with transmitter angular velocity of rotation and position feature information launched by transmitter, comprises a branch of gated optical and two bundle sectored lights.After receiver receives light beam, utilize the rotational speed of the geometric relationship between light beam, transmitter, the mistiming that coordinate position and light beam are received calculates receiver relative to the horizontal angle of two transmitter place surface levels and the angle of pitch, by forward intersection principle determination receiver and impact point volume coordinate.System can detect the volume coordinate of the man-machine multiple point with it of development machine in a swing circle, utilizes the geometric relationship of multiple spot and robot axis can calculate robot underground and tunnels pose.This measuring method is simple to operate, and real-time is good.The measurement to multiple target point on fuselage is completed at synchronization.This is not available for traditional attitude measurement system.
Measuring system of the present invention, is characterized in that: by two groups of emitters, organize receiving trap (at least three groups) and host computer forms more.The built-up circuit of two groups of emitters is identical, containing electronic compass circuit 1, power circuit 2, keyboard input devices 3, leveling pedestal 4, controller 5, telecommunication circuit 6, Laser emission modulation circuit 7, rotation platform driving circuit 8.The built-up circuit of many groups emitter is identical, containing laser pick-off circuit 9, wireless communication line 10, calculating coordinate device 11.The corresponding port of the controller 5 wherein in emitter respectively with electronic compass circuit 1, power circuit 2, keyboard input devices 3, flatten pedestal 4, telecommunication circuit 6, Laser emission modulation circuit 7, rotation platform driving circuit 8 interconnect.Calculating coordinate device 11 corresponding port in receiving trap interconnects with laser pick-off circuit 9, wireless communication line 10 respectively.
Electronic compass circuit 1, for setting up the world coordinate system x-axis (north and south) of to tunnel design route with robot and being consistent, y-axis (thing).Be connected with controller 5 corresponding port, transmission of information to controller for calculating receiver and the impact point level angle relative to transmitter.
Power circuit 2, for the power supply of circuit module each in emitter.
Input equipment 3, for the initialization of measuring system and startup.
Leveling pedestal 4, leveling generating laser, makes its axes normal in surface level, sets up the z-axis of tunneling the world coordinate system that design route is consistent with robot.
Controller 5, realizes the comprehensive coordination of coupled circuit module, control, data communication and Intelligent Information Processing, is the core of whole attitude measurement system.Its corresponding port and rotation platform driving circuit 8 interconnect, and control rotation platform rotate according to setting program.Controller 5 is encoded to the positional information and angular velocity information that start to measure the input of front input equipment, input to the Laser emission modulation circuit be connected with its corresponding port with TTL low and high level form, thus the laser that transmitter just can be launched with position and angular velocity characteristic information is received by the receiver identification.Controller 5 corresponding port and wireless communication module circuit 6 interconnect, and communicate mutually with receiver with wireless system, receive the information of the level angle obtained after information and sending that the gated optical of transmitter is received by the receiver the moment calculates.Controller 5 corresponding port and electrical compass module circuit interconnection, after obtaining the time information that radio module 6 feeds back to, controller 5 reads the angle of gated optical and direct north on electronic compass, obtains the level angle of receiver relative to this transmitter.
Wireless communication module 6 is connected with controller 5 corresponding port, realizes the communication between transmitter and receiver.
Laser emission modulation circuit 7, for the modulation of infrared laser and transmitting, launches the laser signal with emitter position and angular velocity characteristic information, and light beam comprises a branch of gated optical and two bundle fan laser.The angle of two bundle sectored light surface levels is θ span 0 ° ~ 180 °.Consider Machine Design and computation complexity, θ gets 90 ° for best.The angle of two bundle sectored lights and vertical plane is that span is 0 ° ~ 90 °.Consider that Machine Design and computation complexity are got
.
Rotation platform driving circuit 8, for driving rotation platform, makes transmitter rotate.
Laser pickoff 9, includes laser sensor and amplifying circuit composition, realizes the reception to laser signal, amplify and denoising, interconnect, be converted into the signal that calculating coordinate device can identify with calculating coordinate device 9 corresponding port.
Wireless communication module 10 is connected with calculating coordinate device 11 corresponding port, realizes transmitter and receiver, the communication between receiver and host computer.
Calculating coordinate device 11, realizes the comprehensive coordination to each circuit module, data communication and Intelligent Information Processing, is also the core of whole attitude measurement system.Itself and laser pickoff 8 corresponding port interconnect, and after receiving laser pickoff signal, modulation signal receiving are extracted to angular velocity and the location coordinate information of transmitter.Calculating coordinate device 11 corresponding port and wireless communication module 10 interconnect, and communicate with one another with wireless system and transmitter.The horizontal-shift angle information of coming launched by the time information that transmission transmitter gated optical is received and reception transmitter.Utilize angle and emitter position information, resolved the volume coordinate of receiver by forward intersection principle.Again the coordinate information after resolving is passed to host computer 12 by wireless communication module 10.
Host computer 12 gathers each receiver coordinate, calculates heading machine pose.
The feature of localization method of the present invention is: the method is based on forward intersection principle, utilize the rotational speed of the geometric relationship between light beam, transmitter, the mistiming that positional information and light beam are received calculates the volume coordinate residing for receiver and impact point.Successively containing following steps:
Step 1: the angular velocity omega setting rotation platform in two group controllers
k(k=A, B), and ω
a≠ ω
bwith its volume coordinate (x
k, y
k, z
k) (k=A, B).Each controller is encoded to its transmitter angular velocity and positional information, exports TTL low and high level to Laser emission modulation circuit, allows it launch laser signal with respective characteristic information.
Step 2: receiver successively receives the gated optical signal that two groups of transmitters are launched, through the demodulation of calculating coordinate device, judge that respective gated optical is received the moment according to the different angular velocity features that different transmitter has, and moment and the packing of corresponding angular velocity information are sent.
Step 3: described two group controllers, according to step 2 gained information, more respective angular velocity and whether conforming in packet, conform to, receive, do not conform to, abandon.Then the compass angle information in corresponding moment is read according to this time information.Obtain horizontal-shift angle α
a, α
b.
Step 4: after deviation angle calculates, receiver successively receives the laser signal that fan beam restrainted by two groups of transmitters four again, and the priority time of light restrainted in calculating coordinate device record four, the laser signal of demodulation simultaneously, obtain different transmitter, two bundle fan beams of different time are received time information
Step 5: described calculating coordinate device calculates two bundle sectored lights in respective transmitter according to step 4 gained information and is received the mistiming of device acceptance
Step 6: described calculating coordinate device calculates the angle of pitch β of receiver relative to transmitter place plane according to the information that step 5 obtains
a, β
b.
Wherein θ is the angle on two bundle sectored light surface levels is 90 °,
be the angle of two bundle sectored lights and vertical plane it is 30 °.ω
ait is the angular velocity of rotation of A transmitter.ω
bit is the angular velocity of rotation of B transmitter.And ω
a≠ ω
b.
for two bundle sectored lights in A transmitter are received by the receiver the mistiming in moment.
for two bundle sectored lights in B transmitter are received by the receiver the mistiming in moment.
Step 7: the angle information that described calculating coordinate device obtains according to step 3, step 6 and the emitter position information that step 2 demodulates calculate the volume coordinate of receiver.
Wherein b=x
b-x
a.X
a, x
bbe respectively A, the value in the space coordinates of B transmitter place in x-axis.α
a, α
bbe respectively A, the horizontal-shift angle measured by B transmitter.β
afor the angle of pitch that A transmitter records.
Step 8: the volume coordinate of respective receiver is sent to host computer by the wireless communication module of respective port interconnection by described multiple calculating coordinate device, host computer gather carry out development machine people pose calculate.
The real-time that the present invention measures is good, and in the tunneling process of underground, the frequency of robot measurement pose is high, and installation is simple, and easy to operate, cost is low, and maintenance cost is low, and precision is higher.Very large advantage is had from walking underground development machine people pose measurement relative to current.Simultaneously usable range is not limited to underground pose measurement, also can be used on the ground or the location of certain motor point volume coordinate, the measurement of track.
Accompanying drawing explanation
Fig. 1 underground heading machine pose measuring system block diagram
Fig. 2 flattens designing a model of pedestal and method of operating schematic diagram
Geometric relationship between each laser beam of Fig. 3 transmitter describes figure
Fig. 4 level angle schematic diagram calculation
Fig. 5 angle of pitch schematic diagram calculation
Fig. 6 forward intersection schematic diagram
Fig. 7 dynamic error model figure
Fig. 8 (a) actual path contrasts with measurement route;
Fig. 8 (b) surface level projection actual path contrasts with measurement route;
Fig. 8 (c) vertical face projection actual path and design route contrast
Deviation on Fig. 8 (d) x-axis direction
Deviation on Fig. 8 (e) y-axis direction
Fig. 8 (f) z-axis deviation
Fig. 9 underground development machine navigation position instrument main program flow chart
Embodiment
With reference to figure 1, two groups of emitters, each emitter circuit comprises electronic compass circuit 1, power circuit 2, keyboard input devices 3, leveling pedestal 4, controller 5, telecommunication circuit 6, Infrared laser emission modulation circuit 7, rotation platform driving circuit 8.Organize receiving trap, often group receiving trap circuit is identical comprises infrared laser receiving circuit 9, telecommunication circuit 10, calculating coordinate device 11 more.Host computer 12.
Before leveling pedestal 4 acts on plant running, realize the central axis upright of transmitter in surface level,
Set up the z-axis of surving coordinate system.Primarily of tripod, horizontal dial, horizontal dial clamp screw, level tube composition (see figure 2).Overlooking level tube, making the bubble in level tube be positioned at Guan Nei center in X direction by adjusting two groups of spirals.Rotary apparatus 90 degree, adjusts one group of spiral and makes the bubble in the vertical direction in level tube be positioned at Guan Nei center.Complete flattening operation.
Keyboard input devices 3 completes the initialization to measurement mechanism, inputs angular velocity of rotation and the coordinate information of respective transmitter, starter gear.
Controller 5 controls rotation platform driving circuit according to the angular velocity information of input through keyboard, drives rotation platform to rotate with the angular velocity of setting.And by the information coding of input, export to Laser emission modulation circuit with the form of TTL low and high level, launch the laser signal with emitter position and angular velocity information.The demodulation of signal is completed by laser pickoff and calculating coordinate device.
Infrared laser emission modulation circuit 7 can be launched three beams and be received by laser pick-off circuit with the laser signal of transmitter angular velocity and positional information.Infrared laser receiving circuit 9 comprises laser sensor and amplifying circuit composition.Produce current simulating signal according to the power of laser after sensor receives laser, change into the signal that calculating coordinate device can identify after amplifying denoising, carry out demodulation by calculating coordinate device, extract coordinate information and the angular velocity information of transmitter.
Calculating coordinate device 11, successively records the moment that two groups of transmitter gated optical arrive receiver, has different angular velocity feature judge that each transmitter gated optical is received the moment according to different transmitter, and is sent in moment and the packing of corresponding angular velocity information.By radiocommunication module 10, information is sent to two groups of transmitters.Controller 5 receives information by radiocommunication module 6, more respective angular velocity and whether conforming in packet, conforms to, receives, do not conform to, abandon.Then the electronic compass angle information (see figure 4) in corresponding moment is read according to this time information.Obtain horizontal-shift angle α
a, α
b.
Electronic compass 1 coordinates leveling pedestal can set up the surving coordinate system conformed to world coordinate system, and take North and South direction as x-axis, east-west direction is y-axis, and vertical direction is the world coordinate system of z-axis.Gained coordinate of ground point no longer needs coordinate conversion.
Calculating coordinate device 11, receives the moment of gated optical for time zero with receiver, set two time zero A
0, B
0, four bundle sectored lights successively arrive receiver, and the information characteristics according to the contained angular velocity of fan laser judges this moment is with which time zero timing.Obtain four groups of moment
wherein
for two bundle fan laser of A transmitter are received the moment, obtain
for two bundle fan laser of B transmitter are received the moment, obtain
the angle of pitch β of receptacle relative to transmitter place plane is calculated further according to the geometric relationship (see figure 5) between fan beam
a, β
b.
Wherein θ is the angle on two bundle sectored light surface levels is 90 °,
be the angle of two bundle sectored lights and vertical plane it is 30 °.ω
ait is the angular velocity of rotation of A transmitter.ω
bit is the angular velocity of rotation of B transmitter.And ω
a≠ ω
b.
for two bundle sectored lights in A transmitter are received by the receiver the mistiming in moment.
for two bundle sectored lights in B transmitter are received by the receiver the mistiming in moment.
Wireless communication line 6 and wireless communication line 11 communication, the horizontal angle information calculated by controller 5 passes to calculating coordinate device 11, and solver calculates the volume coordinate of receiver according to obtained angle and emitter position Information Pull forward intersection principle (see figure 6).
Wherein b=x
b-x
a.X
a, x
bbe respectively A, the value in the space coordinates of B transmitter place in x-axis.α
a, α
bbe respectively A, the horizontal-shift angle measured by B transmitter.β
afor the angle of pitch that A transmitter records.
The coordinate that multiple calculating coordinate device calculates passes to host computer 12 by wireless communication line 11 again and calculates and is shown in client from walking underground development machine people pose.
The operational process of measuring system:
1, transmitter leveling, system initialization.
2, A, B transmitter rotates, and Laser Modulation is launched.
3, receiver receives A, B gated optical, feeds back to transmitter.
4, record respective gated optical and direct north angle after transmitter receipt to information, obtain horizontal-shift angle α
a, α
b, and angle information is sent to receiver.
5, receiver receives A, B sectored light, and calculating coordinate device calculates angle of pitch β
a, β
b.
6, the angle-data coordinates computed that obtains according to step 2 and step 5 of calculating coordinate device, sends coordinate information to host computer.
7, host computer attitude measurement software gathers each receiver volume coordinate, calculates development machine attitude.
In systematic survey process, the rotation of the angular velocity different from transmitter A, B of the motion due to impact point receiver, there will be the asynchronous of two moment to the measurement at four angles, namely measures horizontal angle α
a, α
btime two transmitters gating light beams be not separately received by the receiver in the same time, time of reception is spaced apart Δ T
1, in like manner fan beam measures angle of pitch β separately
a, β
b, the time interval be received by the receiver is Δ T
2, the time interval of measuring between horizontal angle and the angle of pitch is designated as Δ T
3.Three mistimings cause the dynamic error of measuring system, set up dynamic error model (see figure 7).
Known by dynamic measurement error model, impact point speed is directly proportional to error, and transmitter angular velocity and error are inversely proportional to, and emulate model, gets ultimate value to the input parameter in model, setting actual path.Obtaining target gait of march is v≤1.5mm/s, and transmitter A angular velocity is
transmitter B angular velocity is
three mistimings were controlled within the time of 0-2s.A point coordinate is (x
a, y
a, z
a), B point coordinate is (x
b, y
b, z
b).Wherein | y
b-y
a|≤1000mm is higher from the less precision of the known error of analogous diagram (see figure 8).
Claims (2)
1. a self-travel type underground development machine people attitude measuring, is characterized in that: comprise two groups of emitters, at least three group receiving trap and host computers; The built-up circuit of two groups of emitters is identical, containing electronic compass circuit, power circuit, keyboard input devices, leveling pedestal, controller, telecommunication circuit, Laser emission modulation circuit, rotation platform driving circuit; The built-up circuit of many groups receiving trap is identical, containing laser pick-off circuit, wireless communication line, calculating coordinate device; The corresponding port of the controller wherein in emitter interconnects with electronic compass circuit, power circuit, keyboard input devices, leveling pedestal, telecommunication circuit, Laser emission modulation circuit, rotation platform driving circuit respectively; Calculating coordinate device corresponding port in receiving trap interconnects with laser pick-off circuit, wireless communication line respectively;
Electronic compass circuit, for setting up the x-axis of tunneling the world coordinate system that design route is consistent with robot, y-axis, is connected with controller corresponding port, transmission of information to controller for calculating receiving trap and the impact point level angle relative to emitter;
Leveling pedestal, leveling laser beam emitting device, makes its axes normal in surface level, sets up the z-axis of tunneling the world coordinate system that design route is consistent with robot;
Laser emission modulation circuit is for launching a branch of gated optical and two bundle sectored lights;
Controller corresponding port and rotation platform driving circuit interconnect, and control rotation platform and rotate; Controller is encoded to the positional information and angular velocity information that start to measure the input of front keyboard input devices, input to the Laser emission modulation circuit be connected with its corresponding port with TTL low and high level form, thus the laser that emitter just can be launched with position and angular velocity characteristic information is received device reception identification;
Calculating coordinate device obtains the received time information of the totally four bundle sectored lights that two groups of emitters are launched, and calculates the angle of pitch of receiving trap relative to emitter place plane thus.
2. application rights requires the measuring method of self-travel type underground development machine people attitude measuring described in 1, it is characterized in that: the method is based on forward intersection principle, utilize the rotational speed of the geometric relationship between light beam, emitter, the mistiming that positional information and light beam are received calculates the volume coordinate residing for receiving trap and impact point; Successively containing following steps:
Step 1: the angular velocity omega setting rotation platform in two group controllers
k, wherein k=A, B); With its volume coordinate (x
k, y
k, z
k), wherein k=A, B); Each controller is encoded to its emitter angular velocity and positional information, exports TTL low and high level to Laser emission modulation circuit, allows it launch laser signal with respective characteristic information;
Step 2: receiving trap successively receives the gated optical signal that two groups of emitters are launched, the demodulation of calculating coordinate device, have different angular velocity feature according to different emitter and judge that respective gated optical is received the moment, and moment and the packing of corresponding angular velocity information are sent;
Step 3: described two group controllers, according to step 2 gained information, more respective angular velocity and whether conforming in packet, conform to, receive, do not conform to, abandon; Then the compass angle information in corresponding moment is read according to this time information; Obtain horizontal-shift angle α
a, α
b;
Step 4: after deviation angle calculates, receiving trap successively receives the laser signal that fan beam restrainted by two groups of emitters four again, and the priority time of light restrainted in calculating coordinate device record four, the laser signal of demodulation simultaneously, obtain different emitter, two bundle fan beams of different time are accepted time information
Step 5: described calculating coordinate device calculates two bundle sectored lights in respective emitter according to step 4 gained information and is received the mistiming of device reception
Step 6: described calculating coordinate device calculates the angle of pitch β of receiving trap relative to emitter place plane according to the information that step 5 obtains
a, β
b;
Wherein θ is the angle on two bundle sectored light surface levels is 90 °,
be the angle of two bundle sectored lights and vertical plane it is 30 °; ω
ait is the angular velocity of rotation of A emitter; ω
bit is the angular velocity of rotation of B emitter; And ω
a≠ ω
b;
for two bundle sectored lights in A emitter are received the mistiming of the device time of reception;
for two bundle sectored lights in B emitter are received the mistiming of the device time of reception;
Step 7: the angle information that described calculating coordinate device obtains according to step 3, step 6 and the launcher position information that step 2 demodulates calculate the volume coordinate of receiving trap;
Wherein b=x
b-x
a; x
a, x
bbe respectively A, the value in the space coordinates of B emitter place in x-axis; α
a, α
bbe respectively A, the horizontal-shift angle measured by B emitter; β
afor the angle of pitch that A emitter records;
Step 8: the volume coordinate of respective receiving trap is sent to host computer by the wireless communication module of respective port interconnection by described multiple calculating coordinate device, host computer carries out development machine people pose and calculates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310139607.3A CN103278132B (en) | 2013-04-20 | 2013-04-20 | Measurement apparatus and measurement apparatus for attitude of self-walking underground tunneling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310139607.3A CN103278132B (en) | 2013-04-20 | 2013-04-20 | Measurement apparatus and measurement apparatus for attitude of self-walking underground tunneling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103278132A CN103278132A (en) | 2013-09-04 |
| CN103278132B true CN103278132B (en) | 2015-04-08 |
Family
ID=49060722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310139607.3A Expired - Fee Related CN103278132B (en) | 2013-04-20 | 2013-04-20 | Measurement apparatus and measurement apparatus for attitude of self-walking underground tunneling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103278132B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104776843A (en) * | 2015-03-24 | 2015-07-15 | 中国矿业大学(北京) | Boom-type roadheader body and cutting head pose detection method |
| CN104729538B (en) * | 2015-04-03 | 2017-05-10 | 中国矿业大学 | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine |
| CN105178967B (en) * | 2015-05-12 | 2017-06-16 | 中国矿业大学(北京) | Development machine autonomous positioning orientation system and method |
| CN105093179A (en) * | 2015-08-05 | 2015-11-25 | 兰州交通大学 | Small space position detection method and apparatus |
| CN105607034A (en) | 2015-12-23 | 2016-05-25 | 北京凌宇智控科技有限公司 | Three-dimensional space detection system, positioning method and system |
| CN108089151A (en) * | 2017-12-15 | 2018-05-29 | 华中科技大学 | A kind of floating drum automatic recognition system based on the infrared sectoring space detection of multi beam |
| CN111409108B (en) * | 2020-04-01 | 2022-11-04 | 伯朗特机器人股份有限公司 | Industrial robot measurement coordinate system and robot instruction coordinate system conversion method |
| CN115704877A (en) * | 2021-08-11 | 2023-02-17 | 上海光视融合智能科技有限公司 | Method and system for positioning a device using a light beam |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101201626A (en) * | 2007-12-10 | 2008-06-18 | 华中科技大学 | Freedom positioning system for robot |
| CN102121827A (en) * | 2010-11-29 | 2011-07-13 | 浙江亚特电器有限公司 | Positioning system of mobile robot and positioning method thereof |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4354343B2 (en) * | 2004-06-15 | 2009-10-28 | 株式会社トプコン | Position measurement system |
| JP5020585B2 (en) * | 2006-09-27 | 2012-09-05 | 株式会社トプコン | Measuring system |
-
2013
- 2013-04-20 CN CN201310139607.3A patent/CN103278132B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101201626A (en) * | 2007-12-10 | 2008-06-18 | 华中科技大学 | Freedom positioning system for robot |
| CN102121827A (en) * | 2010-11-29 | 2011-07-13 | 浙江亚特电器有限公司 | Positioning system of mobile robot and positioning method thereof |
Non-Patent Citations (4)
| Title |
|---|
| Magnetic Maps for Indoor Navigation;Brandon Gozick等;<IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT>;20111231;第60卷(第12期);第3883－3891页 * |
| Mobile Robot Navigation using the Range-Weighted Hough Transform;Johan Forsberg等;<IEEE Robotics & Automation Magazine>;19950331;第18－26页 * |
| 潘国荣等.盾构姿态自动测量系统的开发与应用.《同济大学学报(自然科学版)》.2010,第38卷(第3期), * |
| 盾构机实时姿态测量和计算方法的研究;唐争气等;《土木工程学报》;20071130;第40卷(第11期);第92－97页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103278132A (en) | 2013-09-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103278132B (en) | Measurement apparatus and measurement apparatus for attitude of self-walking underground tunneling robot | |
| CN105157697B (en) | Indoor mobile robot pose measurement system and measurement method based on optoelectronic scanning | |
| CN106556854B (en) | A kind of indoor and outdoor navigation system and method | |
| CN106226780B (en) | More rotor-wing indoor positioning systems and implementation method based on scanning laser radar | |
| CN104062633B (en) | A kind of indoor locating system based on ultrasound wave and method | |
| CN101672913B (en) | Laser three-point dynamic positioning method and system thereof | |
| CN107490375B (en) | Spot hover accuracy measuring device, method and unmanned vehicle | |
| CN106772493B (en) | Unmanned plane course calculating system and its measuring method based on Beidou Differential positioning | |
| US20020154294A1 (en) | Position measurement system and method using cone math calibration | |
| CN106802412B (en) | Short-distance mobile positioning system and method based on laser and wireless technology | |
| CN103760517B (en) | Underground scanning satellite high-precision method for tracking and positioning and device | |
| CN106526537A (en) | Three-dimensional space location method and system | |
| CN109751992B (en) | Indoor three-dimensional space-oriented positioning correction method, positioning method and equipment thereof | |
| CN201031704Y (en) | Tunnel wireless laser setting-out work device | |
| CN101608920A (en) | A kind of combined type spatial pose precisely and dynamically measuring device and method | |
| CN104729538B (en) | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine | |
| CN104776843A (en) | Boom-type roadheader body and cutting head pose detection method | |
| CN207649604U (en) | A kind of intelligent landform survey system based on unmanned plane | |
| CN102620710A (en) | Method and system for measuring and calculating data | |
| CN105180940B (en) | A kind of determination method of the indoor objects astronomic coordinate based on wMPS systems | |
| CN104777452B (en) | Positioning system and positioning method of mobile equipment | |
| CN104865846A (en) | Ground semi-physical simulation platform for combined autonomous navigation system | |
| CN107655406A (en) | The monitoring device and its real-time detection method of a kind of bridge vibration deformation | |
| CN105353348B (en) | A kind of system and method for being used to position underground coal mine movement target | |
| CN204705359U (en) | A kind of boom-type roadheader fuselage and cutting head pose detection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150408 Termination date: 20180420 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |