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Measurement apparatus and measurement apparatus for attitude of self-walking underground tunneling robot

A measuring device and robot technology, which is applied in the direction of measuring device, measuring angle, using optical device, etc., can solve the problems of increasing positioning error and not suitable for long-distance and long-term measurement.

Inactive Publication Date: 2013-09-04
BEIJING UNIV OF TECH
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Problems solved by technology

For the inertial navigation system, the positioning error will increase with time, it is not suitable for long-distance and long-term measurement, and regular correction is required

Method used

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  • Measurement apparatus and measurement apparatus for attitude of self-walking underground tunneling robot
  • Measurement apparatus and measurement apparatus for attitude of self-walking underground tunneling robot
  • Measurement apparatus and measurement apparatus for attitude of self-walking underground tunneling robot

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Experimental program
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Embodiment Construction

[0047] refer to figure 1 , two sets of transmitters, each transmitter circuit includes an electronic compass circuit 1, a power supply circuit 2, a keyboard input device 3, a leveling base 4, a controller 5, a radio communication circuit 6, an infrared laser emission modulation circuit 7, and a rotating platform drive circuit 8. Multiple groups of receiving devices, each group of receiving devices have the same circuit including an infrared laser receiving circuit 9 , a radio communication circuit 10 , and a coordinate solver 11 . Host computer 12.

[0048] The leveling base 4 acts on the front of the device, so that the central axis of the launcher is perpendicular to the horizontal plane,

[0049] Establish the z-axis of the measurement coordinate system. It is mainly composed of a tripod, a level dial, a level dial brake screw, and a level tube (see figure 2 ). Looking down at the vial, the air bubble in the vial is located in the center of the vial in the direction o...

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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 [0001] The invention belongs to the technical field of navigation and positioning in the excavation process of an underground robot. Background technique [0002] The traditional self-propelled underground excavation robot pose measurement method is manual measurement, using a total station to measure the coordinates of multiple prisms installed on the robot body, and then according to the geometric relationship between the prism and the axis of the excavation robot measured before the measurement, The underground excavation pose of the robot can be calculated. This method has high precision, but the operation is complex and time-consuming, and it cannot be measured during the excavation process, and its real-time performance is weak. [0003] With the development of technology, there are two positioning methods based on automatic total station navigation and positioning and inertial navigation system. For the navigation and positioning of the automatic tot...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C1/00G01B11/00
Inventor 陈双叶牛经龙杨汝军温世波黄丽卿
Owner BEIJING UNIV OF TECH
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