The invention discloses a real-time positioning device for a tunnel monitoring robot, and relates to the technical field of navigation and positioning. The robot comprises a robot body structure, a robot advancing structure, a data processing structure, a robot steering angle obtaining structure, a distance measuring structure and a power supply structure. The robot advancing structure, the data processing structure, the robot steering angle obtaining structure, the distance measuring structure and the power supply structure are arranged on the outer side of the robot body structure. The IMU inertial measurement unit and the robot steering direction conversion device are used for obtaining the steering angle of the monitoring robot in real time, the motor with the encoder is combined for obtaining the advancing distance of the monitoring robot, and therefore real-time positioning of the trolley is achieved. And a high-precision laser distance measuring sensor is additionally arranged for a linear tunnel, so that the real-time position and the advancing path of the trolley are obtained with higher precision, and the height control of the tunnel monitoring robot is realized.

    本发明公开了一种用于隧道监测机器人的实时定位装置,涉及导航与定位技术领域。本发明包括机器人主体结构、机器人行进结构、数据处理结构、机器人转向角度获取结构、测距结构和供电结构,机器人主体结构的外侧设置有机器人行进结构、数据处理结构、机器人转向角度获取结构、测距结构和供电结构。本发明利用IMU惯性测量单元与机器人转向方向转换装置实现对监测机器人转向角度的实时获取,结合带编码器的电机获取监测机器人行进距离从而实现小车实时定位,并对于直线性隧道增加了高精度的激光测距传感器从而更高精度的获取小车的实时位置与行进路径,实现对隧道监测机器人的高度控制。


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    Title :

    Real-time positioning device for tunnel monitoring robot


    Additional title:

    一种用于隧道监测机器人的实时定位装置


    Contributors:
    YUAN SHANSHAN (author) / CHEN HUA (author) / MA SHENKAO (author) / LIANG RUI (author) / CHEN CHAO (author) / LI CONG (author) / XU XIAOBIN (author) / TU FEI (author) / HE FENGCHUAN (author)

    Publication date :

    2024-05-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B61C Lokomotiven , LOCOMOTIVES / B61D Einzelheiten oder Arten des Wagenaufbaus von Eisenbahnfahrzeugen , BODY DETAILS OR KINDS OF RAILWAY VEHICLES



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