CN106475993A - A kind of indoor positioning information gathering machine people - Google Patents
A kind of indoor positioning information gathering machine people Download PDFInfo
- Publication number
- CN106475993A CN106475993A CN201611023319.1A CN201611023319A CN106475993A CN 106475993 A CN106475993 A CN 106475993A CN 201611023319 A CN201611023319 A CN 201611023319A CN 106475993 A CN106475993 A CN 106475993A
- Authority
- CN
- China
- Prior art keywords
- harvester
- positioning information
- indoor positioning
- automaton
- collection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/06—Manipulators combined with a control cab for the operator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
Abstract
The present invention discloses a kind of indoor positioning information gathering machine people, including harvester, all-around mobile chassis, harvester lowering or hoisting gear, harvester fixing device and automaton, harvester lowering or hoisting gear is arranged on all-around mobile chassis, described harvester fixing device is arranged on the hoistable platform of harvester lowering or hoisting gear, harvester is arranged in harvester fixing device, described automaton passes through controlled in wireless all-around mobile chassis and moves, the hoistable platform up and down motion of harvester lowering or hoisting gear and the horizontal circular-rotation of harvester fixing device, realize the comprehensive collection to indoor positioning information for the harvester；Meanwhile, automaton receives the indoor positioning information of harvester collection, and is analyzed and processed.The present invention accurately can position movement indoors, and harvester can accurately gather indoor positioning information distribution intensity, thus ensureing to provide high-precision indoor positioning information, being easy to indoor measurement and big data is processed, suitable popularization and application.
Description
Technical field
The present invention relates to a kind of indoor positioning information gathering machine people, belong to locating information acquisition engineering device technique field.
Background technology
With scientific and technological fast development, the place land such as large scale industry garden, large-scale life Commercial Complex and station airport
Continuous occur, and while providing basic guarantee to productive life, opposite is produced life activity and brought some inconvenience, how in large-scale field
Being rapidly performed by positions and navigate proposes higher requirement.In order to solve the puzzlement in large-scale floor activity personnel, map
Business starts to produce indoor map, indoor map can facilitate user indoors no orientation identification when, very fast and accurately
Arrive at.In order to ensure that user can accurately be positioned when using indoor map and navigate, then indoor positioning is needed to believe
Breath auxiliary, the therefore collection to indoor positioning information degree of precision is quite important, but the precision of the indoor information of personnel's collection is relatively
Difference.Further, since indoor information often changes, therefore need high-frequency collection check and correction indoor positioning information, workload is larger.
Content of the invention
The problem existing for above-mentioned prior art, the present invention provides a kind of indoor positioning information gathering machine people, can carry
The accuracy and speed of high indoor positioning information gathering, thus improve production efficiency, saves production cost.
To achieve these goals, a kind of indoor positioning information gathering machine people that the present invention adopts, including harvester, entirely
Orientation mobile chassis, harvester lowering or hoisting gear, harvester fixing device and automaton, described harvester lowering or hoisting gear
It is arranged on all-around mobile chassis, described harvester fixing device is arranged on the hoistable platform of harvester lowering or hoisting gear, adopts
Storage is arranged in harvester fixing device, and described automaton passes through controlled in wireless all-around mobile chassis and moves, adopts
The hoistable platform up and down motion of storage lowering or hoisting gear and the circular-rotation of harvester fixing device, realize harvester to indoor fixed
The comprehensive collection of position information；Meanwhile, automaton receives the indoor positioning information of harvester collection, and is analyzed locating
Reason.
The hoistable platform of described harvester lowering or hoisting gear moves up and down under the control of automaton, adjusts harvester
High and low position, realize the collection of same place differing heights position indoor positioning information；Harvester fixing device is controlled automatic
Level, vertical circular-rotation under the control of device processed, realize the collection of same place difference angle indoor positioning information.
Preferably, described all-around mobile chassis includes sensor device, car body and road wheel, and described road wheel is Mike
Na Mu takes turns, and it is connected with car body output shaft by shaft coupling；Sensor device is fixedly mounted on car body upper surface.
Preferably, described automaton includes display and remote control, and it is solid with remote control that display passes through bracing frame
Even, control the movement on all-around mobile chassis by the stick in remote controller.
Preferably, described harvester lowering or hoisting gear includes base plate, section bar, top board, carbon fiber pipe, upper shaft board, installation
Motor on base plate and the synchromesh gear belt connecting motor, section bar fixedly mounts between the bottom panel and top panel, is formed and fixes
Bracing frame；Carbon fiber pipe is fixedly mounted between top board and upper shaft board, forms upper support shelf；Synchromesh gear belt passes through upper
Bearing on shaft bearing plate, and engage with motor output gear；The two ends of synchromesh gear belt are fixed by the locking device of hoistable platform,
Three parts act on simultaneously makes synchromesh gear belt be in tensioning state；Synchromesh gear belt drives hoistable platform with two carbon fiber pipes
Move up and down for guide rail.
Preferably, described harvester fixing device include vertical axises rotation seat, trunnion axis rotation seat, the first motor, second
Motor and the harvester fixed seat for installing harvester, described vertical axises rotation seat is fixedly mounted on hoistable platform, and
Rotated around vertical axises by the first Motor drive；Described trunnion axis rotation seat is fixedly mounted on vertical axises rotation seat, and by
Two Motor drives rotate around trunnion axis；Described harvester fixed seat is fixedly mounted on trunnion axis rotation seat.
Compared with prior art, the present invention is planned by automaton motion track or manual manipulation control is comprehensive
The motion of mobile chassis；Moved up and down by the hoistable platform that automaton controls harvester lowering or hoisting gear, adjust collection
Device height and position, the indoor positioning information of collection same place differing heights position；Control collection solid by automaton
Determine level, the vertical rotation of device, the indoor positioning information of collection same place difference angle；Automaton can receive
The indoor positioning information of harvester collection is analyzed processing；All-around mobile chassis improves the accurate of indoor moving track
Property.Finally, this device can quickly, in high precision, the indoor information of omnibearing collection, improve indoor map location navigation essence
Degree, reduces cost of labor, improves the production efficiency of indoor map business, suitable popularization and application.
Brief description
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation on all-around mobile chassis of the present invention；
Fig. 3 is the structural representation of automaton of the present invention；
Fig. 4 is the structural representation of harvester lowering or hoisting gear of the present invention；
Fig. 5 is the structural representation of harvester fixing device of the present invention；
Fig. 6 is the other direction schematic diagram of harvester fixing device of the present invention.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of indoor positioning information gathering machine people, including harvester, all-around mobile chassis 1, collection
Device lowering or hoisting gear 3, harvester fixing device 4 and automaton 2, described harvester lowering or hoisting gear 3 is arranged on comprehensive
On mobile chassis 1, described harvester fixing device 4 is arranged on the hoistable platform 31 of harvester lowering or hoisting gear 3, and harvester is installed
In harvester fixing device 4, described automaton 2 is moved by controlled in wireless all-around mobile chassis 1, harvester liter
The hoistable platform 31 of falling unit 3 move up and down and harvester fixing device 4 circular-rotation, realize harvester to indoor positioning
The comprehensive collection of information；Meanwhile, automaton 2 receives the indoor positioning information of harvester collection, and is analyzed locating
Reason.
Wherein, the hoistable platform 31 of described harvester lowering or hoisting gear 3 moves up and down under the control of automaton 2,
Adjust the height and position of harvester, realize the collection of same place differing heights position indoor positioning information；The fixing dress of harvester
Put 4 under the control of automaton 2 level, vertical circular-rotation, realize same place difference angle indoor positioning information
Collection.
As shown in Fig. 2 described all-around mobile chassis 1 includes sensor device 11, car body 12 and road wheel 13, road wheel
13 is Mecanum wheel, and is connected with the output shaft of car body 12 by shaft coupling；Sensor device 11 can be bolted on
The upper surface of car body 12.Sensor device 11 receives the movable signal that automaton 2 sends, and is entered according to movable signal
Row moves.
As shown in figure 3, described automaton 2 includes display 21 and remote control 24, display 21 passes through bracing frame
It is connected with remote control 24, realize the control of all-around mobile chassis 1 movement by the stick 23 in remote controller 24.This is distant
Control device 24 can adopt existing remote control on the market, enable signal and receive and order sending function.
As shown in figure 4, described harvester lowering or hoisting gear 3 include base plate 34, section bar 35, top board 36, carbon fiber pipe 37, on
Shaft bearing plate 38, the synchromesh gear belt 32 installed motor 33 on the bottom sheet 34 and connect motor 33, section bar 35 passes through angle iron
It is fixed in base plate 34 and the installing hole of top board 36, form fixing support rack；Carbon fiber pipe 37 pass through bolt and top board 36 and
Upper shaft board is fixedly connected, and forms upper support；Motor 33 is secured by bolts on base plate 34；Hoistable platform 31 leads to locked dress
Put connection synchromesh gear belt two ends；Synchromesh gear belt 32 is engaged with motor 33 output gear, through upper shaft board 38 spring bearing,
Become tensioning state.Under the driving of motor 33, synchromesh gear belt 32 drives hoistable platform 31 with two carbon fiber pipes 37 for leading
Rail moves up and down, thus realizing realizing the collection of same place differing heights position indoor positioning information on hoistable platform 31.
As shown in Figure 5 and Figure 6, described harvester fixing device 4 include vertical axises rotation seat 41, trunnion axis rotation seat 42,
First motor 43, the second motor 44 and harvester fixed seat 45, vertical axises rotation seat 41 is bolted on hoistable platform 31
On, and vertical axises rotation is driven around by the first motor 43；Trunnion axis rotation seat 42 passes through bolt with vertical axises rotation seat 41 even
Connect, and trunnion axis rotation is driven around by the second motor 44；Harvester fixed seat 45 is bolted on trunnion axis rotation seat
On 42.Wherein, the first motor 43 drives vertical axises rotation seat 41 to rotate by conveyer belt, and the second motor 44 passes through another conveyer belt
Drive trunnion axis rotation seat 42 to rotate, be specifically shown in accompanying drawing 5 and Fig. 6.
Work process：It is manually operable the stick on remote control, also can carry out route planning in display and control side entirely
Position mobile chassis move.During advancing, indoor self poisoning is carried out by the sensor device that all-around mobile chassis is moved,
And its position is modified, and be located information transfer to automaton 2, display display collection robot
Position in indoor map, is monitored to collection robot；In continuous acquisition pattern, hoistable platform is fixed for collection robot
In a height and position, harvester maintains static, and collection robot carries out continuous acquisition to indoor positioning information；Collection robot
When pinpointing Planning Model, collection machine People's Bank of China enters planning point position and stops, and hoistable platform moves up and down, vertical axises rotating seat
Rotate with trunnion axis rotating seat, carry out information gathering, next planning point position of then walking, carry out successively.
From said structure, the present invention is planned by automaton motion track or manual manipulation control is comprehensive
The motion of mobile chassis；Moved up and down by the hoistable platform that automaton controls harvester lowering or hoisting gear, adjust collection
Device height and position, the indoor positioning information of collection same place differing heights position；Control collection solid by automaton
Determine level, the vertical rotation of device, the indoor positioning information of collection same place difference angle；Automaton can receive
The indoor positioning information of harvester collection is analyzed processing；All-around mobile chassis improves the accurate of indoor moving track
Property.Finally, this device can quickly, in high precision, the indoor information of omnibearing collection, improve indoor map location navigation essence
Degree, reduces cost of labor, improves the production efficiency of indoor map business, suitable popularization and application.
Claims (6)
1. a kind of indoor positioning information gathering machine people is it is characterised in that include harvester, all-around mobile chassis (1), collection
Device lowering or hoisting gear (3), harvester fixing device (4) and automaton (2),
Described harvester lowering or hoisting gear (3) is arranged on all-around mobile chassis (1), and described harvester fixing device (4) is installed
On the hoistable platform (31) of harvester lowering or hoisting gear (3), harvester is arranged in harvester fixing device (4),
It is mobile, harvester lowering or hoisting gear (3) that described automaton (2) passes through controlled in wireless all-around mobile chassis (1)
Hoistable platform (31) up and down motion and the circular-rotation of harvester fixing device (4), realize harvester to indoor positioning information
Comprehensive collection；Meanwhile, automaton (2) receives the indoor positioning information of harvester collection, and is analyzed and processed.
2. a kind of indoor positioning information gathering machine people according to claim 1 is it is characterised in that described harvester lifts
The hoistable platform (31) of device (3) moves up and down under the control of automaton (2), adjusts the height and position of harvester,
Realize the collection of same place differing heights position indoor positioning information；Harvester fixing device (4) is in automaton (2)
Control under level, vertical rotation, realize the collection of same place difference angle indoor positioning information.
3. a kind of indoor positioning information gathering machine people according to claim 1 is it is characterised in that described all-around mobile
Chassis (1) includes sensor device (11), car body (12) and road wheel (13), and described road wheel (13) is Mecanum wheel, and
It is connected with car body (12) output shaft by shaft coupling；Sensor device (11) is fixedly mounted on the upper surface of car body (12).
4. a kind of indoor positioning information gathering machine people according to claim 1 is it is characterised in that described automatically control dress
Put (2) and include display (21) and remote control (24), display (21) is passed through bracing frame and is connected with remote control (24), by operation
Stick (23) on remote control (24) controls the movement on all-around mobile chassis (1).
5. a kind of indoor positioning information gathering machine people according to claim 1 is it is characterised in that described harvester lifts
Device (3) includes base plate (34), section bar (35), top board (36), carbon fiber pipe (37), upper shaft board (38), is arranged on base plate
(34) motor (33) on and the synchromesh gear belt (32) connecting motor (33), section bar (35) be fixedly mounted on base plate (34) and
Between top board (36), form fixing support rack；Carbon fiber pipe (37) be fixedly mounted on top board (36) and upper shaft board (38) it
Between, form upper support shelf；Synchromesh gear belt (32) holds the bearing on (38) through upper bearing (metal) board shaft, and exports with motor (33)
Gear engages；The two ends of synchromesh gear belt (32) are fixed by the locking device of hoistable platform (31), and three parts act on simultaneously to be made together
Step gear band (32) is in tensioning state；Synchromesh gear belt (32) drive hoistable platform (31) with two carbon fiber pipes (37) be
Guide rail moves up and down.
6. a kind of indoor positioning information gathering machine people according to claim 1 is it is characterised in that described harvester is fixed
Device (4) includes vertical axises rotation seat (41), trunnion axis rotation seat (42), the first motor (43), the second motor (44) and uses
In the harvester fixed seat (45) installing harvester, described vertical axises rotation seat (41) is fixedly mounted on hoistable platform (31),
And vertical axises rotation is driven around by the first motor (43)；Described trunnion axis rotation seat (42) is fixedly mounted on vertical axises rotation seat
(41) on, and trunnion axis rotation is driven around by the second motor (44)；Described harvester fixed seat (45) is fixedly mounted on level
Axle rotation seat (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611023319.1A CN106475993A (en) | 2016-11-21 | 2016-11-21 | A kind of indoor positioning information gathering machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611023319.1A CN106475993A (en) | 2016-11-21 | 2016-11-21 | A kind of indoor positioning information gathering machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106475993A true CN106475993A (en) | 2017-03-08 |
Family
ID=58272706
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611023319.1A Pending CN106475993A (en) | 2016-11-21 | 2016-11-21 | A kind of indoor positioning information gathering machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106475993A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108958265A (en) * | 2018-08-05 | 2018-12-07 | 北京华远意通热力科技股份有限公司 | A kind of inspecting robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4652204A (en) * | 1985-08-02 | 1987-03-24 | Arnett Edward M | Apparatus for handling hazardous materials |
| US4736826A (en) * | 1985-04-22 | 1988-04-12 | Remote Technology Corporation | Remotely controlled and/or powered mobile robot with cable management arrangement |
| US5193405A (en) * | 1990-06-05 | 1993-03-16 | Mitsubishi Jukogyo Kabushiki Kaisha | Underwater mobile type inspection system |
| US20050001576A1 (en) * | 2003-07-02 | 2005-01-06 | Laby Keith Phillip | Holonomic platform for a robot |
| CN204462851U (en) * | 2015-03-16 | 2015-07-08 | 武汉汉迪机器人科技有限公司 | Mecanum wheel Omni-mobile crusing robot |
-
2016
- 2016-11-21 CN CN201611023319.1A patent/CN106475993A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4736826A (en) * | 1985-04-22 | 1988-04-12 | Remote Technology Corporation | Remotely controlled and/or powered mobile robot with cable management arrangement |
| US4652204A (en) * | 1985-08-02 | 1987-03-24 | Arnett Edward M | Apparatus for handling hazardous materials |
| US5193405A (en) * | 1990-06-05 | 1993-03-16 | Mitsubishi Jukogyo Kabushiki Kaisha | Underwater mobile type inspection system |
| US20050001576A1 (en) * | 2003-07-02 | 2005-01-06 | Laby Keith Phillip | Holonomic platform for a robot |
| CN204462851U (en) * | 2015-03-16 | 2015-07-08 | 武汉汉迪机器人科技有限公司 | Mecanum wheel Omni-mobile crusing robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108958265A (en) * | 2018-08-05 | 2018-12-07 | 北京华远意通热力科技股份有限公司 | A kind of inspecting robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105857116B (en) | The driving mechanism of homing guidance formula handling device | |
| CN102166715B (en) | Staircase portal frame assembling fixture and assembling method thereof | |
| CN107797558A (en) | Inspecting robot | |
| CN105946548A (en) | Automatic guiding type carrying device | |
| CN114415588A (en) | Adjustable monitoring control system | |
| CN106128277A (en) | A kind of Novel industrial robot multi-functional training operation platform | |
| CN205918074U (en) | Laser leveling machine | |
| CN106346235A (en) | Bogie assembling device | |
| CN106475993A (en) | A kind of indoor positioning information gathering machine people | |
| CN206263942U (en) | Indoor positioning information gathering machine people | |
| CN209160603U (en) | Movable seedbed Multi-layer conveying | |
| CN206407165U (en) | A kind of undercarriage erecting device | |
| CN110847936B (en) | Intelligence tunnel section levels device | |
| CN108332027A (en) | A kind of tunnel roof liner Defect inspection is crouched peaceful with vehicular multiple degrees of freedom | |
| CN209890982U (en) | Automatic detection equipment for ballastless track bearing platform | |
| CN105781579A (en) | Automatic locating perpendicular steering rail transfer steel mold trolley | |
| CN107756599B (en) | Cement section of jurisdiction arc surface receives the working method that water smoothes out system automatically | |
| CN206051348U (en) | A kind of bridge crane based on laser positioning | |
| CN113526049B (en) | Transplanting device for large-size plates and application method | |
| CN213387606U (en) | Straddle type monorail vehicle bogie separation equipment capable of automatically supporting vehicle body | |
| CN114379742A (en) | Large underwater robot segmentation pose detection docking device and method | |
| CN111532697B (en) | Automatic steering greenhouse suspension type rail transport vehicle system and working method thereof | |
| CN111908369B (en) | Wheel sleeving machine of electric locomotive wheel drive unit | |
| CN209542116U (en) | A kind of device of quick adjusting gyrocar performance test slope surface angle | |
| CN208717706U (en) | Road telltale mark equipment based on BIM |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170308 |
|
| RJ01 | Rejection of invention patent application after publication |