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Moving chassis distance measuring method and system during advancing

A ranging method and technology between traveling, which is applied in the field of moving chassis ranging between traveling, and can solve the problem of inability to measure the distance in real time.

Active Publication Date: 2020-10-27
威步智能科技(苏州)有限公司
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Problems solved by technology

[0003] The purpose of the present invention is to provide a distance measurement method for a moving chassis during travel, which solves the problem that real-time distance measurement cannot be performed when the chassis is in motion

Method used

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  • Moving chassis distance measuring method and system during advancing

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Embodiment Construction

[0038] A moving chassis distance measurement method during travel includes a single-chassis measurement method and a double-chassis measurement method.

[0039] Such as figure 1 As shown, the single-chassis measurement method includes the following steps:

[0040] A1. Install the positioning unit on the chassis to obtain the coordinate values ​​of the chassis on the Cartesian coordinate axis, and connect the positioning unit and the networking module to the data processing unit;

[0041] A2. Define the static origin and calibration point, place the chassis at the static origin and calibration point to output the coordinates on the corresponding Cartesian coordinate axis through the positioning unit on the chassis, and calibrate the straight line formed by the static origin and calibration point as Y axis;

[0042] A3. After the Y-axis is calibrated, the X-axis is obtained by rotating the positive half-axis of the Y-axis 90° clockwise with the static origin as the center, thu...

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Abstract

The invention provides a moving chassis distance measuring method during advancing. The method comprises a single-chassis measurement method and a double-chassis measurement method. According to the single-chassis measuring method, a rectangular plane coordinate system is established with a connecting line of the defined static origin and a calibration point as the Y axis, the shortest distance, namely the transverse offset distance, between the real-time position of the chassis and the Y axis is calculated through a point-to-straight line distance formula, a longitudinal offset distance is obtained through the Pythagorean theorem, and measurement of the single chassis is completed. The double-chassis measuring method comprises the following steps that position coordinates of each chassisunder a station center coordinate system and a course angle b between the two chassis are outputted through a positioning unit;, the relative longitudinal distance and the relative transverse distanceof the chassis are obtained, the transverse offset distance and the longitudinal offset distance of the double chassis are obtained through the data processing module, and measurement of the real-time distance offset between the double chassis during movement is completed.

Description

technical field [0001] The invention relates to the technical field of robot movement, in particular to a distance measurement method for a moving chassis during travel. Background technique [0002] The motion control of complex robot chassis has been a major problem that has hindered the development of the robot industry, and has not been well resolved for a long time. Even Boston Dynamics, which represents the highest level of robotics, is far from practical. The testing of chassis status and parameters during motion is particularly important for robot motion control, and being able to measure distance in real time during motion control is also a major problem in the industry. Contents of the invention [0003] The purpose of the present invention is to provide a distance measurement method for a moving chassis during travel, which solves the problem that the real-time distance measurement cannot be performed when the chassis is moving. [0004] The present invention ...

Claims

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Application Information

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IPC IPC(8): G01B21/04G01B21/16
CPCG01B21/04G01B21/16
Inventor 沈峰张新权
Owner 威步智能科技(苏州)有限公司
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