Data acquisition system

Abstract

The utility model provides a data acquisition system, which relates to the technical field of acquisition systems and comprises an acquisition unit and a motion platform carrying the acquisition unit to do inchworm-like motion or crawling motion. The acquisition unit is arranged on a station which is intermittently static in the inchworm-imitating motion or crawling motion process of the motion platform, and the acquisition unit is used for performing data acquisition when the station is in an intermittent static or low-speed state. The data acquisition system provided by the utility model can improve the efficiency of high-resolution imaging under a motion working condition while obtaining a clear image.

Description

TECHNICAL FIELD

[0001] The utility model relates to data acquisition system technical field especially under the motion working condition obtains the data acquisition system of static acquisition precision. BACKGROUND

[0002] At present, the technology for collecting high-precision data under motion working condition in the prior art is still the motion compensation technology. A data acquisition method and a tunnel detection vehicle, which are based on the detection vehicle under continuous motion working condition, realize motion compensation imaging by reciprocating the optical system on the detection vehicle, and the specific mode is to perform imaging when the motion direction of the optical system is opposite to the running direction of the detection vehicle and the optical system is regarded as relatively static relative to the tunnel lining. The effect of the above-mentioned motion compensation imaging is to make the data acquisition device and the target be in a relatively static state for data or image acquisition, and the imaging system performs reverse motion on the detection vehicle in the running state at the imaging moment, which is not real static imaging, but the influence caused by the motion is lower than a certain threshold and is accepted. Therefore, the definition of the image captured by the motion compensation imaging cannot reach the definition of static imaging. SUMMARY

[0003] The utility model discloses a kind of data acquisition systems, can obtain clear image simultaneously, improve the efficiency of high-resolution imaging under motion working condition.

[0004] To achieve the above object, the utility model provides the following technical scheme:

[0005] The utility model provides a kind of data acquisition system, the data acquisition system includes acquisition unit and the motion platform of carrying acquisition unit and doing imitating inchworm motion or worm motion, the acquisition unit is set on the station with intermittent static in the imitating inchworm motion or worm motion process of the motion platform, the acquisition unit is used to carry out data acquisition when the station is in intermittent static or low-speed state.

[0006] Further, the stage that the station is in low-speed state includes the stage that station is in deceleration but has not reached static state, or / and the stage of acceleration after static state.

[0007] Further, the low-speed state also includes the stage that the station deceleration motion does not decelerate to static and starts acceleration motion.

[0008] Further, the data acquisition system is independently used.

[0009] Further, when multiple groups of the data acquisition system are integrated, the combination mode between each group of the data acquisition system is cascade mode connection, and each group of the data acquisition system cooperates.

[0010] Further, the data acquisition system is used in multiple groups, and the combination mode between each group of the data acquisition system is parallel connection, and each group of the data acquisition system is cooperatively operated.

[0011] Further, the motion platform itself can perform inchworm motion or worm motion, and the intermittent stationary space positions during the inchworm motion or worm motion can be set according to the data acquisition requirements, and the distances between adjacent intermittent stationary positions are the same or different.

[0012] Further, the motion platform is integrated with multiple motion mechanisms performing inchworm motion or worm motion.

[0013] Further, the multiple motion mechanisms performing inchworm motion or worm motion can adopt an integrated mode of superimposed motion mechanisms on the motion mechanisms, forming a mode of multi-level integrated cooperation of the motion mechanisms, and the number of levels is one or more.

[0014] Further, each level includes one or more motion mechanisms.

[0015] Further, each of the motion mechanisms has the same or different motion law or action period, and the corresponding parameters of the different motion laws include the distance between adjacent stationary points in inchworm motion, the acceleration in inchworm motion, the maximum speed, etc., and the initial phases of the action periods are the same or different.

[0016] Further, among the multiple motion mechanisms performing inchworm motion or worm motion configured on the motion platform, each of the motion mechanisms is connected in parallel, perpendicular or oblique to the advancing direction of the data acquisition system.

[0017] Further, the acquisition unit is arranged at a work station of the motion mechanism having intermittent stop, and the acquisition unit has a pose adjusting mechanism and a pose parameter recording device.

[0018] Further, an energy conversion device is further included, and the energy conversion device is used to convert the mechanical energy storage and / or mechanical energy conversion of the motion inertia mechanical energy generated by the data acquisition system during the inchworm or worm motion into first energy.

[0019] Further, the first energy converted by the energy conversion device is used to provide auxiliary energy for the operation of the data acquisition system itself and / or other data acquisition systems.

[0020] Further, when multiple groups of the data acquisition system are used in combination, at least one group of the data acquisition system is configured with a power source, and the energy output by the power source drives at least one group of the data acquisition system to move through at least one of mechanical force, electric power and magnetic coupling force.

[0021] Further, when the motion platform is integrated with a plurality of the motion mechanisms, the plurality of the motion mechanisms are sequentially arranged along the running direction of the data acquisition system, and the energy conversion device comprises an energy storage member, and two adjacent motion mechanisms along the running direction of the data acquisition system are connected through the energy storage member.

[0022] Further, when the motion platform is integrated with a plurality of the motion mechanisms, the plurality of the motion mechanisms are sequentially arranged along the running direction of the data acquisition system, and the energy conversion device comprises an energy storage member, and two adjacent motion mechanisms along the running direction of the data acquisition system are connected through the energy storage member.

[0023] The data acquisition system provided by the utility model can produce the following beneficial effects:

[0024] Compared with the prior art, the data acquisition system provided by the utility model is provided with a motion platform capable of performing inchworm motion or worm motion, and the acquisition unit is arranged at a position with intermittent stop on the motion platform, so that image acquisition or data acquisition can be performed when the work station is in an intermittent stop state, and true stop acquisition operation is realized. Compared with the data acquisition in a relative stop state realized by the motion compensation mode, the stability is better and more controllable, and the data acquisition efficiency and the data quality obtained by the motion platform in the above motion mode are higher than those of the data acquisition operation of the acquisition unit directly installed on the platform performing "stop-start-stop". When applied to imaging operation, the efficiency of high-resolution imaging under the motion working condition is improved while clear images are obtained. The principle of the data acquisition system for image acquisition or data acquisition in a low-speed state of the work station is that the difference between the data value collected by the acquisition unit at the speed and the data value collected by the acquisition unit in the stop state of the work station cannot be perceived or the error is within a given range. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the specific embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0026] Figure 1 Fig. 1 is a structural schematic view of a data acquisition system provided by the utility model embodiment one;

[0027] Figure 2 Fig. 2 is a structural schematic view of a data acquisition system provided by the utility model embodiment two;

[0028] Figure 3 Figure 2 is a bottom view of the motion support mechanism according to the second embodiment of the present application.

[0029] Figure 1 is a schematic view of a motion platform according to the second embodiment of the present application. DETAILED DESCRIPTION

[0030] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0031] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] The specific embodiments of the present application will be described in detail below with reference to the drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0034] The first aspect of the embodiments of the present application is to provide a data acquisition system, such as Figure 1 and Figure 2As shown, the data acquisition system comprises a collecting unit and a motion platform 1 capable of performing inchworm motion or creeping motion, and the collecting unit is arranged at a work station with intermittent stop during the inchworm motion or creeping motion of the motion platform 1, and the collecting unit is used for collecting data when the work station is in the intermittent stop or low-speed state.

[0035] Compared with the prior art, the data acquisition system provided by the first aspect of the embodiment of the utility model is provided with the motion platform 1 capable of performing inchworm motion or creeping motion, and the collecting unit is arranged at the work station with intermittent stop on the motion platform 1, so that the image acquisition or data acquisition can be performed when the work station is in the intermittent stop state, and the real stop acquisition operation is realized. Or the data acquisition is performed when the work station is in the low-speed motion state close to stop but not in stop, and the difference between the data value collected by the collecting unit in the low-speed motion state and the data value collected by the collecting unit in the stop state of the work station cannot be perceived or the error is within a given range. The given error range is related to the hardware accuracy of the collecting unit, such as sensitivity, repeated accuracy and the like. Meanwhile, the given error range is also related to the application purpose, for example, the application needs cm (centimeter) accuracy, and the data accuracy of the collecting unit is mm (millimeter), the cm accuracy is the given error range, and the speed value of the low-speed state is determined according to the cm accuracy. Compared with the mode of collecting data under the relative stop condition realized by motion compensation, the stability is better and more controllable, and compared with the mode of collecting data by directly installing the collecting unit on the platform performing "stop-start-stop", the efficiency and data quality of the data acquisition operation proposed by the utility model are higher, and when applied in the imaging field, the clear image is obtained, and the efficiency of high-resolution imaging under the motion condition is improved.

[0036] For example, the data acquisition system collecting the reflected energy or emitted energy or scattered energy of the target area senses the instantaneous field of view corresponding to the sensing element in the stop state as the ideal instantaneous field of view, such as the instantaneous field of view corresponding to the image element of the digital imaging system in the stop state is the ideal instantaneous field of view, and the spot area without movement of the laser beam on the target in the stop state is the ideal instantaneous field of view. In the image acquisition operation, the given range of the above error can be that: when the image element of the digital imaging device has only one-dimensional relative displacement with the ideal instantaneous field of view of the target within the exposure time, the absolute value of the focal plane displacement length of the image is not more than 0.3 times the length of the image element side, or has two-dimensional relative displacement, and the area of the ideal instantaneous field of view replaced by the surrounding field of view is not more than 30% of the area of the image element. The absolute value of the maximum speed value in the low-speed state is obtained by dividing 0.3 times the length of the image element side or 30% of the area of the image element by the set exposure time. The value obtained by dividing the maximum allowable difference with the absolute value of 0.3 times the length of the image element side or 30% of the area of the image element by the acquisition time is closer to zero, and the data acquisition accuracy is higher.

[0037] For collecting data based on three-dimensional spatial point, the ideal collection condition is that the static residence time of the collection unit at the position point is greater than the collection time of the collected data. The collection unit is the whole unit or the sensor part separated from the unit to generate data. The given error during the collection data operation can be in the range that the spatial point position change of the collection unit within the collection time is less than the position error limit of the sensor or within the error limit required by the application purpose. Among them, the maximum speed value in the low speed state can be obtained by dividing the maximum error by the collection time. The low speed is proportional to the maximum error and inversely proportional to the collection time. That is, under the premise that the maximum error is constant, the shorter the collection time, the larger the maximum speed of the inchworm motion in the low speed state. Similarly, within the collection time, the smaller the spatial point position displacement of the collection unit, the longer the collection time without affecting the data collection accuracy.

[0038] In an optional embodiment, the data collection system can be used independently in one group or integrated in multiple groups. When the data collection system is integrated in multiple groups, the combination mode between the groups of data collection systems is cascade connection or parallel connection, and the groups of data collection systems operate cooperatively.

[0039] It can be understood that cascade generally refers to connecting multiple components, systems or devices in sequence, which can be understood as a series relationship, but the above series relationship is not limited to mechanical series connection, but also refers to the signal connection between multiple components, systems or devices, and the continuous data processing between them through signal transmission.

[0040] It can be understood that parallel generally refers to connecting multiple components, systems or devices in a star type to form a group, and the above parallel relationship means that multiple components, systems or devices do not belong to master-slave relationship with each other. The signals, data and other transmissions between multiple components, systems or devices are transmitted to the total control center, and the signals and instructions of the total control center are directly transmitted to each component, system or device.

[0041] The motion platform 1 in the data collection system can make inchworm motion or inchworm motion itself, for example, the motion platform 1 can adopt a trolley on a railway track, or a data collection device moving on a suspended track in a factory, or a detection vehicle running on a highway, etc.

[0042] Of course, the motion platform 1 can also be integrated with multiple motion mechanisms 12 for inchworm motion or inchworm motion. The spatial position of the inchworm or inchworm motion at rest can be set according to the requirements of collecting data, each motion mechanism 12 has the same or different motion law or action period, and the initial phase of the action period is the same or different.

[0043] The data collection system adopts multi-level integrated cooperation, and the number of levels is one or more. For example Figure 2It is a mode that integrates two motion mechanisms 12. The two motion mechanisms 12, which are separate on the left and right, are the same in terms of hierarchy. If another motion platform 1 is installed on this motion platform 1, it constitutes a two-level integration, which can synthesize a more complex motion mode.

[0044] In the multiple inchworm-like or creeping motion mechanisms 12 configured on the motion platform 1, each motion mechanism 12 is connected in space parallel, perpendicular or oblique to the direction of travel of the data acquisition system.

[0045] like Figure 1 As shown, each motion mechanism 12 can be arranged sequentially along a direction parallel to the data acquisition system's travel direction, such as... Figure 2 As shown, each motion mechanism 12 can also be connected in a spatial direction that is perpendicular or oblique to the direction of travel of the data acquisition system.

[0046] In other words, the orientation of each motion mechanism 12 is not limited to one or several types.

[0047] In an optional embodiment, the acquisition unit is set on a station where the motion mechanism 12 has intermittent static positions, and the acquisition unit has a pose adjustment mechanism and a pose parameter recording device.

[0048] The aforementioned pose adjustment mechanism has the function of adjusting the acquisition unit in a three-axis, six-degree-of-freedom space, and will not be listed one by one here.

[0049] In an optional embodiment, the acquisition system further includes an energy conversion device for converting the mechanical energy of the inertia generated by the data acquisition system during its movement into a first energy.

[0050] The first energy may include, but is not limited to, at least one of kinetic energy, electrical energy, and magnetic energy.

[0051] When the data acquisition system is configured as a group, the energy conversion device can convert the mechanical energy generated by the data acquisition system during its movement into energy for the system's own use. For example, the energy conversion device can convert the mechanical energy generated by the motion mechanism 12 during its movement into electrical energy, which can provide power to the acquisition unit. Of course, it can also provide power to other devices in the data acquisition system. And / or, the energy conversion device can store the mechanical energy generated by the data acquisition system during its movement through energy storage devices such as springs, and convert it into kinetic energy to help the motion mechanism 12 start up quickly, or convert it into energy to help other motion structures in the data acquisition system that need to be started start up quickly.

[0052] When the data acquisition system is configured as multiple sets, the mechanical energy generated by at least one set of data acquisition systems during the movement can be converted into first energy for its own use through an energy conversion device, or the first energy can also be used by other data acquisition systems, for example, to provide power to the components in other data acquisition systems, or to provide power for the start-up of the motion mechanism 12 in other data acquisition systems.

[0053] In an optional implementation, when multiple sets of data acquisition systems are used in combination, at least one set of data acquisition systems is equipped with a power source, and the energy output by the power source drives at least one set of data acquisition systems to move through at least one of mechanical force, electric force, and magnetic coupling force.

[0054] The following two examples illustrate the operational status of the data acquisition system:

[0055] Example 1

[0056] In this first embodiment, as Figure 1 As shown, multiple motion mechanisms 12 are arranged sequentially along the travel direction of the data acquisition system. The energy conversion device includes an energy storage component 2. Two adjacent motion mechanisms 12 along the travel direction of the data acquisition system are connected through the energy storage component 2.

[0057] The energy storage device 2 is configured to store the kinetic energy of the former of two adjacent motion mechanisms 12 and release the energy to the latter to provide energy for the start-up of the latter, and / or the energy storage device 2 is configured to store the kinetic energy of the latter of two adjacent motion mechanisms 12 and release the energy to the former to provide energy for the start-up of the former.

[0058] In other words, the energy storage device 2 is configured to store the kinetic energy of either of the two adjacent motion mechanisms 12, and provide starting energy for the other when it starts, thereby reducing the energy required for the other to start, and thus reducing the electrical energy consumed during the starting process of the other, and extending the life of the motor.

[0059] The energy storage device 2 can convert the kinetic energy of one into electrical energy or directly provide kinetic energy to the other. The electricity can not only be used as the power to start the motion mechanism 12, but also to supply power to other equipment on the motion mechanism 12.

[0060] During the motion of the motion mechanism 12, there will inevitably be acceleration and deceleration processes. In a preferred embodiment, the energy storage device 2 can store the kinetic energy lost by one motion mechanism 12 during deceleration and apply the kinetic energy to the motion mechanism 12 during the start-up process of another motion mechanism 12, thereby reducing the energy consumption of the motion mechanism 12 during the start-up process.

[0061] The above setting not only can realize the deceleration of the motion mechanism 12 through the energy storage member 2, but also can store the kinetic energy of the motion mechanism 12 and apply it to another motion mechanism 12 which needs to be started, so as to save energy consumption, prolong the service life of the motor, and make the average speed of the data acquisition system higher.

[0062] Specifically, the energy storage member 2 can include a spring. During the deceleration of the motion mechanism 12, the spring can generate a certain resistance to the motion mechanism 12, so as to store the kinetic energy of the motion mechanism 12 until the motion mechanism 12 reaches the lowest speed. Then, the spring releases its elastic force to another motion mechanism 12, so as to provide kinetic energy for the start of the other motion mechanism 12.

[0063] It can be understood that the above lowest speed can be 0.

[0064] In the first embodiment, the motion mechanism 12 located in front of the two adjacent motion mechanisms 12 is provided with a power source and / or the motion mechanism 12 located in the rear is provided with a power source.

[0065] When the motion mechanism 12 located in front is provided with a power source or the motion mechanism 12 located in the rear is provided with a power source, the other motion mechanism 12 which is not provided with a power source can be started when the energy storage member 2 releases energy, and can be stationary under the resistance of the energy storage member 2.

[0066] The above embodiment can realize that only one power source is provided in the two adjacent motion mechanisms 12, so as to save energy consumption to a certain extent.

[0067] When the motion mechanism 12 located in front and the motion mechanism 12 located in the rear are both provided with a power source, the power source of the motion mechanism 12 located in front can be used to drive the motion mechanism 12 located in front, and the power source of the motion mechanism 12 located in the rear can be used to drive the other motion mechanism 12 which is not provided with a power source. Figure 1Taking the configuration of two motion mechanisms 12 and the energy storage element 2 as an example, the following is a detailed explanation: The front motion mechanism 12 is stationary, and its data acquisition unit performs data acquisition. The rear motion mechanism 12 is moving forward. When the motion mechanism 12 moves to the point where the spring is in its natural extension state, it brakes, compressing the spring. The spring-assisted brake has a braking effect on the rear motion platform, and the spring stores kinetic energy until the rear motion mechanism 12 comes to a stop. During this process, the front motion mechanism 12 remains stationary under the braking of the brake. After the rear motion mechanism 12 comes to a stop, its data acquisition unit performs data acquisition. The front motion mechanism 12 is activated, and the spring extends to release elastic energy to assist in activating the front motion mechanism 12. When the front motion mechanism 12 moves to the spring's natural extension state, it is braked, stretching the spring. The spring assists the brake to brake the front motion platform. The spring stores kinetic energy until the front motion mechanism 12 comes to a stop. During this process, the rear motion mechanism 12 remains stationary under the braking of the brake. After the front motion mechanism 12 comes to a stop, the acquisition unit on it performs acquisition operations. The rear motion mechanism 12 is activated, and the spring shortens to release elastic energy to assist in activating the rear motion mechanism 12. This process repeats.

[0068] It is understandable that the above action can be regarded as multiple motion mechanisms 12 moving forward in an inchworm-like manner, which can reduce the starting resistance of the motion mechanism 12, increase the driving acceleration, increase the average speed of operation, and have a smaller impact on the life of the motor.

[0069] Of course, in order to ensure the stability of the relative positions between the motion mechanisms 12, each motion mechanism 12 can travel on the same track. The motion mechanism 12 is braked by clamping the track and will not be pushed by the reaction force generated by the moving part to disrupt the static steady state. Alternatively, a sliding fit structure to maintain the consistency of the direction of travel can be added between adjacent motion mechanisms 12. No further restrictions are imposed here.

[0070] Example 2

[0071] In this second embodiment, as Figure 2 As shown, multiple motion mechanisms 12 are arranged sequentially along the direction of travel perpendicular to the data acquisition system. A motion support mechanism 3 is movably connected to two adjacent motion mechanisms 12 along the direction of travel of the data acquisition system. The movable connection mechanism can be either sliding or rolling. The motion support mechanism 3 moves independently relative to the two adjacent motion mechanisms 12. The movable connection mechanism allows the motion mechanism 12 to move along with the motion support mechanism 3 and also to move along the direction of travel with the motion support mechanism 3 as a reference. The movement of the motion mechanism 12 and its intermittent movement combine to form an inchworm motion along the direction of travel.

[0072] by Figure 2The use of the above data collection system is described as follows: the motion support mechanism 3 moves continuously, in the motion coordinate system of the motion support mechanism 3, the left motion mechanism 12 moves forward along the slide rail, and stops at a preset position, then releases the motion interlock with the motion support mechanism 3, and brakes to stop the motion mechanism 12 into a static state, and the collection unit on the motion mechanism 12 performs collection work. In the world coordinate system, the motion interlock between the motion support mechanism 3 and the motion mechanism 12 is released, and the motion mechanism 12 enters a motion unconstrained state. During the data collection of the motion mechanism 12 in the static state, the motion support mechanism 3 still moves forward, and at this time, the motion support mechanism 3 has moved to the front of the motion mechanism 12, at this time, the data collection work of the motion mechanism 12 is completed, the brake mechanism of the motion mechanism 12 is released, the motion interlock between the motion mechanism 12 and the motion support mechanism 3 is restored, and then the motion mechanism 12 starts to move forward. After moving to the next preset data collection position, the process of entering the static state for data collection and then moving forward is repeated. From the first static state to the second static state, a inchworm motion cycle is formed.

[0073] The motion law of the motion mechanism 12 on the right side of the motion support mechanism 3 is the same as or similar to that of the motion mechanism 12 on the left side. During the intermittent forward motion of the motion mechanism 12 on the left side in the motion coordinate system of the motion support mechanism 3, the motion mechanism 12 on the right side also moves forward intermittently. The motion mechanisms 12 on the left and right sides adopt the same motion law or different motion laws according to needs, including the length of the motion cycle, the difference between the initial phases, the maximum motion speed, etc.

[0074] In the motion coordinate system of the motion support mechanism 3, the stroke of the motion mechanism 12 is limited within the movable limit.

[0075] The motion support mechanism 3 not only serves to connect the left and right motion mechanisms 12, but also assists in driving the two motion mechanisms 12 to move. It can be understood that a typical motion mode of the above-mentioned left and right motion mechanisms 12 is that the left and right motion mechanisms 12 are alternately moved forward in a crawling manner, which can also be regarded as a process similar to human walking. Taking a person as a data acquisition system, the motion support mechanism 3 in the middle can be regarded as the main body of the person, and the left and right motion mechanisms 12 can be regarded as two feet. During the entire movement process, the person as a whole can be regarded as always moving forward, that is, during the movement process, when one "foot" steps forward, the other "foot" is stationary relative to the ground and can perform a collection action. After the collection is completed, the "foot" is lifted off the ground and moves forward, and the other "foot" is stationary on the ground and collects. Although each "foot" has a stationary state, the person is in a state of always moving forward and cannot stop, and the average speed is higher than that of the prior art "stop-start forward-stop". Further, a similar process is, for example, a triple jump in sports. The short period of time when the feet are in contact with the ground is equivalent to the motion platform being in a stationary state, and during the flight state, the left and right motion platforms move forward with the body, but the left and right feet have a stationary state when landing. The above process can also be compared to the left and right motion platforms adopting the same motion law or different motion laws as needed.

[0076] In the motion coordinate system of the motion support mechanism 3, the operation of the motion mechanism 12 is unidirectional variable-speed intermittent motion. In the world coordinate system, the intermittent forward movement of the motion mechanism 12 is superimposed on the forward movement of the motion support mechanism, forming the inchworm or crawling characteristics of the motion platform in the data acquisition system. The running speed of the motion mechanism 12 is the combined speed of the speed of the motion support mechanism 3 and the running speed of the motion mechanism 12.

[0077] The motion support mechanism 3 comprises an energy conversion device.

[0078] In order to avoid hard impact between the motion mechanism 12 and the motion support mechanism 3 when the motion mechanism 12 is located at the front and rear ends of the motion support mechanism 3, an elastic buffer can be provided between the motion mechanism 12 and the front and rear ends of the motion support mechanism 3. The elastic buffer can include a spring.

[0079] The movable connection between the motion mechanism 12 and the motion support mechanism 3 can be achieved through a guide structure, for example, a slide rail 31 is provided on the motion support mechanism 3, and the side end of the motion mechanism 12 extends above the motion support mechanism 3 and is provided with a protrusion 11 that slidably cooperates with the slide rail 31.

[0080] The side end of the motion mechanism 12 extends above the motion support mechanism 3, and the motion mechanism 12 needs to bear more equipment, such as speed control equipment, position identification equipment and recording equipment, and the gravity of the equipment can directly act on the motion support mechanism 3, so that the motion support mechanism 3 can support the motion mechanism 12.

[0081] In the second embodiment, in order to ensure the stability of the relative position between the motion mechanisms 12, the motion support mechanism 3 and each motion mechanism 12 can run on the same track or different tracks arranged in parallel, and the motion support mechanism 3 and the motion mechanism 12 can be braked by clamping the track, and will not be pushed by the reaction force generated by the part in motion to destroy the stable state of the stationary state.

[0082] In the second embodiment, the X-shaped frame can be arranged below the motion mechanism 12, the four corners of the X-shaped frame are provided with wheels, and the center point of the X-shaped frame can be used as a pivot. The pivot can be in a shearing deformation state, and the distance between the wheels can be changed. When used in a track running environment, it can adapt to different track gauges, such as narrow tracks in industrial and mining enterprises, or other occasions with different track gauges.

[0083] The motion mechanism 12 has a supporting and moving part on the ground, such as a wheel, and the number of wheels can be more than one. In addition to supporting the weight of the equipment, the wheel has a brake function, and other brake parts can be added, such as using the method of holding the track to brake on the track. If on a smooth surface such as ice, the supporting and moving part can use a sliding part, and the brake can also be assisted by an ice claw and other parts.

[0084] In an optional embodiment, when multiple motion mechanisms 12 are used in combination, the forward direction and / or motion parameters of two or more motion mechanisms 12 are configured to run independently or in coordination.

[0085] For example, multiple groups of motion mechanisms 12 can have the same action period, so that the designer can set the motion state of each motion mechanism 12, and the overall motion of multiple motion mechanisms 12 can be regularly and periodically changed.

[0086] On the basis of the above embodiments, the action period of each motion mechanism 12 is configured to be 1 / n of the action period in a stationary or low-speed state, and n-1 / n of the action period in a normal motion state.

[0087] Wherein, n can be a natural number greater than 2.

[0088] That is, when n takes 3 in the action cycle, the action cycle is divided into three parts, 1 / 3 of which is in the static or low-speed state, and 2 / 3 of which is in the normal driving state.

[0089] The above-mentioned limitation means that in some cases, the motion mechanism 12 in the static or low-speed state needs a shorter time to collect data and images, and the motion mechanism 12 in the normal driving state needs a longer time to walk, so that the motion can be started in time after the motion mechanism 12 finishes collecting data and images.

[0090] In an optional embodiment, n can also take 2, and in the two adjacent motion platforms, one motion mechanism 12 is in the normal driving state, and the other motion mechanism 12 is in the static or low-speed motion state.

[0091] On the basis of the above-mentioned various embodiments, each data collection system has at least one of a speed control device, a position identification device and a recording device, and the above-mentioned speed control device, position identification device and recording device can be purchased, and the specific structure of each device is not described in detail for the purpose of saving space.

[0092] On the basis of the above-mentioned various embodiments, the data collection system can measure the position and spatial posture parameters of the collection unit. The collection unit can include but is not limited to an imaging unit, a laser range finder and a structured light projector, and can collect position point parameters and data with the position point as a variable, such as the magnetic field, electric field or position data of the position point itself.

[0093] Based on the utility model, the above-mentioned data collection system can be used under the conditions of track motion and non-track motion, and the precision of static collection data is obtained under the motion mode.

[0094] The embodiment of the second aspect of the utility model provides a data collection method, and the data collection method provided by the embodiment of the second aspect of the utility model comprises:

[0095] The collection unit is installed on the motion platform 1 which performs inchworm motion or worm motion and has a position of intermittent static or low-speed motion, and the characteristics that motion and static occur alternately in inchworm / worm motion are utilized to acquire images or data in the state that the collection unit is in static or low-speed motion.

[0096] The data collection method provided by the second aspect of the utility model has the above-mentioned data collection system, and thus has all the beneficial effects of the collection system provided by the embodiment of the first aspect of the utility model.

[0097] In an optional embodiment, when the motion platform 1 is integrated with a plurality of motion mechanisms 12 which perform inchworm motion or worm motion, the collection unit is arranged on each of the plurality of motion mechanisms 12, and comprises:

[0098] The motion mechanism 12 in the collecting state carries out the collecting operation, takes the starting time of the collecting operation and / or the data operation as the cycle starting time, enters the forward motion state after the collecting operation is finished, and enters the state of preparing to start collecting after reaching the predetermined position to constitute a inchworm or worm motion cycle;

[0099] The motion mechanism 12 in the motion state carries out the collecting operation after reaching the inchworm motion predetermined static or low speed motion state position, enters the forward motion state after the collecting operation is finished, and thus constitutes a motion cycle.

[0100] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A data acquisition system, characterized by, The data acquisition system comprises an acquisition unit and a motion platform (1) which performs inchworm motion or creeping motion, the acquisition unit is arranged on a work station which has intermittent static state during the inchworm motion or creeping motion of the motion platform (1), and the acquisition unit is used for acquiring data when the work station is in the intermittent static state or low-speed state.

2. The data acquisition system of claim 1, wherein, The data acquisition system is independently used in one group or is integrally used in multiple groups, and the multiple groups of the data acquisition system are connected in cascade or parallel mode, and the multiple groups of the data acquisition system are cooperatively operated.

3. The data acquisition system of claim 1, wherein, The motion platform (1) can perform inchworm motion or creeping motion.

4. The data acquisition system of claim 1, wherein, The motion platform (1) is integrally provided with multiple motion mechanisms (12) which perform inchworm motion or creeping motion, the multiple motion mechanisms (12) are integrally arranged in one layer or multiple layers, each layer comprises one or more motion mechanisms, each motion mechanism (12) has the same or different motion law or action period, and initial phases of the action periods are the same or different.

5. The data acquisition system of claim 4, wherein, In the multiple motion mechanisms (12) which perform inchworm motion or creeping motion and are arranged on the motion platform (1), each motion mechanism (12) is connected in parallel, perpendicular or oblique to a space direction of the data acquisition system.

6. The data acquisition system of claim 4, wherein, The acquisition unit is arranged on a work station which has intermittent static state during the inchworm motion or creeping motion of the motion mechanism (12), and the acquisition unit is provided with a pose adjusting mechanism and a pose parameter recording device.

7. The data acquisition system of any of claims 1-6, wherein, The energy conversion device is further arranged, the energy conversion device is used for converting mechanical energy storage and / or mechanical energy conversion of motion inertia mechanical energy generated by the data acquisition system during inchworm motion or creeping motion into first energy, and the first energy is used for providing auxiliary energy for operation of the data acquisition system itself and / or other data acquisition systems.

8. The data acquisition system of claim 2, wherein, When the multiple groups of the data acquisition system are integrally used, at least one group of the data acquisition system is provided with a power source, energy output by the power source drives at least one group of the data acquisition system to move through at least one of mechanical force, electric power and magnetic coupling force.

9. The data acquisition system of claim 7, wherein, The motion platform (1) is integrally provided with multiple motion mechanisms (12), the multiple motion mechanisms (12) are sequentially arranged along a space direction of the data acquisition system, the energy conversion device comprises an energy storage member (2), and two adjacent motion mechanisms (12) are connected through the energy storage member (2) along the space direction of the data acquisition system.

10. The data acquisition system of claim 7, wherein, The motion platform (1) is integrally provided with multiple motion mechanisms (12), the multiple motion mechanisms (12) are sequentially arranged along a space direction perpendicular to the data acquisition system, the energy conversion device comprises a motion support mechanism (3), the motion support mechanism (3) is movably connected with two adjacent motion mechanisms (12) along the space direction of the data acquisition system, and the motion support mechanism (3) independently moves relative to the two adjacent motion mechanisms (12).

Images