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Position and posture measuring system and method for mechanical equipment

A technology for mobile equipment and pose measurement, applied in the field of measurement systems, can solve problems such as fuselage pose measurement problems, and achieve the effect of realizing automatic control of mobile equipment and realizing multi-machine linkage.

Inactive Publication Date: 2013-04-17
WUHAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem of measuring the position and attitude of the fuselage when the mobile equipment is moving, and provide data for the mobile equipment to automatically travel along the predetermined track, and provide a system and method for measuring the position and posture of the mobile equipment

Method used

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  • Position and posture measuring system and method for mechanical equipment
  • Position and posture measuring system and method for mechanical equipment
  • Position and posture measuring system and method for mechanical equipment

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Embodiment Construction

[0031] Based on the above, the present invention specifically illustrates the technical implementation of the present invention by describing the installation method and measurement method of the measurement system. The present invention only provides the pose measurement system, the navigation positioning system and the measurement method of the motorized equipment, and does not provide relevant software programs.

[0032] Installation method of the present invention:

[0033] a such as figure 1 As shown, install the laser ranging module bracket behind the motorized equipment, and adjust the laser emission direction to ensure that it is the same as the predetermined trajectory of the motorized device;

[0034] b Install two groups on the laser distance measuring module bracket, each group has two laser distance measuring modules parallel to each other, and install an ARM microcontroller and a wireless communication module at the same time. The ARM microcontroller transmits ...

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Abstract

The invention relates to a position and posture measuring system and method for mechanical equipment. The position and posture measuring system is characterized in that: four laser distance-measuring modules are arranged at the top of an alley at the back of the mechanical equipment to measure points of special positions on the mechanical equipment so as to obtain four different distances; position offset of the mechanical equipment relative to a predetermined track and angular offset of the mechanical equipment on a vertical surface are calculated based on the four distances; offset data is transmitted to a central processing system on the mechanical equipment through a wireless communication module; position and posture parameters of the mechanical equipment and positioning navigation data can be obtained in combination with a dip angle of the mechanical equipment relative to a horizontal plane, wherein the dip angle is measured by a triaxial acceleration sensor which is arranged onthe mechanical equipment; and the central processing system is used for transmitting the positioning navigation data to a control box of the mechanical equipment. The position and posture measuring system has the advantages of high measuring speed, good real-time performance, high measurement accuracy and no accumulated error, and is suitable for the position and posture measurement as well as the positioning navigation of underground mechanical equipment.

Description

technical field [0001] The invention belongs to a measurement system used in environments such as coal mining and tunnel excavation, in particular to a position and posture measurement system and a measurement method of motorized equipment. Background technique [0002] The positioning and navigation of the underground mobile equipment is a key issue when the mobile equipment travels and operates in the underground roadway. At present, the positioning of domestic underground mobile equipment uses a laser pointing instrument to give a predetermined trajectory. When the underground equipment is moving, it relies on the staff to observe the relative positional relationship between the mobile equipment and the direction indicated by the pointing instrument to determine the action data of the mobile equipment. When the motorized equipment slightly deviates from the scheduled trajectory, the human eye cannot detect it in time. At the same time, due to the harsh underground environ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C3/00G01C1/00
Inventor 李方敏张家亮刘新华蒋立殷圣荣钱坤
Owner WUHAN UNIV OF TECH
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