CN107553488A - A kind of indoor mobile robot test system and method - Google Patents
A kind of indoor mobile robot test system and method Download PDFInfo
- Publication number
- CN107553488A CN107553488A CN201710778388.1A CN201710778388A CN107553488A CN 107553488 A CN107553488 A CN 107553488A CN 201710778388 A CN201710778388 A CN 201710778388A CN 107553488 A CN107553488 A CN 107553488A
- Authority
- CN
- China
- Prior art keywords
- slide rail
- mobile robot
- target mobile
- test
- upright
- 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.)
- Granted
Links
Abstract
The application proposes that a kind of indoor mobile robot test system and method, the system include：First level slide rail is arranged in a mutually vertical manner with the second horizontal slide rail, first upright slide rail and the second upright slide rail are separately positioned on the sliding block of first level slide rail and the sliding block of the second horizontal slide rail, moved with the sliding block in the first level slide rail and second horizontal slide rail, magnetic railings ruler is provided with first level slide rail, the second horizontal slide rail, the first upright slide rail and the second upright slide rail, tracker is provided with first upright slide rail and the second upright slide rail, the tracker prolongs slide rail movement, and the coordinate information of target mobile robot is measured by magnetic railings ruler；Inclinator is arranged in target mobile robot, the direction angle information that the inclinator passes through target mobile robot described in the laser beam measuring of the laser transmitting set in the target mobile robot.
Description
Technical field
The present invention relates to Indoor Robot fields of measurement, and in particular to a kind of mobile robot test system and method.
Background technology
Indoor mobile robot has been widely used in live big part assembling field, in the course of the work, moving machine
Device people can be measured the position of itself and posture in real time, and current robot location and attitude measurement mainly use flight path
Supposition method, but because flying track conjecture fado is based on integral operation, its measurement error can progressively be amplified with the accumulation of time, and be deposited
In data wander phenomenon, similarly there is different degrees of error in other location technologies.Therefore need to determine mobile robot
Position performance is tested, and to obtain localization for Mobile Robot error, the position and attitude for analyzing mobile robot measures problem
Deng.
At present, related industrial robot Performance Testing Technology, the industrial robot not moved suitable for the strong point, such as
Mechanical arm, stacking machine etc., belong to the very restricted situation of activity space.GPS location measuring technology is determined suitable for outdoor mobile robot
Position.For performance measurement and the indoor mobile robot testing system platform assessed now also in blank.
The content of the invention
The present invention provides a kind of indoor mobile robot test system and method, solves indoor mobile robot test and misses
The problem of difference is analysed.
In order to realize foregoing invention purpose, the technical scheme that the present invention takes is as follows：
In a first aspect, the present invention provides a kind of indoor mobile robot test system, including：
First level slide rail, the second horizontal slide rail, the first upright slide rail, the second upright slide rail, magnetic railings ruler, tracker, incline
Angle instrument and laser；
The first level slide rail is arranged in a mutually vertical manner with the second horizontal slide rail, the first upright slide rail and the second upright slide rail
It is separately positioned on the sliding block of first level slide rail and the sliding block of the second horizontal slide rail, is slided with the sliding block in the first level
Rail and second horizontal slide rail movement, it is vertical sliding in first level slide rail, the second horizontal slide rail, the first upright slide rail and second
Magnetic railings ruler is provided with rail, tracker is provided with the first upright slide rail and the second upright slide rail, the tracker prolongs cunning
Rail is moved, and the coordinate information of target mobile robot is measured by magnetic railings ruler；Inclinator is arranged in target mobile robot, institute
Target described in stating the laser beam measuring that inclinator is launched by the laser set in the target mobile robot moves machine
The direction angle information of people.
Preferably, the first level slide rail and the second horizontal slide rail are hard steel slide rail；First upright slide rail
It is hard aluminium alloy slide rail with the second upright slide rail.
Preferably, described test system also includes：Pedestal, the pedestal are used to support the first level slide rail and institute
State the second horizontal slide rail.
Preferably, described test system also includes：Beacon frame, for fixing the localizer beacon of target mobile robot.
Second aspect, the present invention also provides a kind of indoor mobile robot method of testing, applied to indoor mobile robot
Test system, including：
Control tracker follows target mobile robot to be moved to target and moves machine along horizontal slide rail and vertical slide rail
Horizontal level and upright position where the central point of people, the target mobile robot is obtained using magnetic railings ruler according to predetermined manner
Test coordinate information；
Inclinator is controlled to measure the test azimuth information of the target mobile robot according to predetermined manner；
The test coordinate information and the test azimuth information are sent to computer server by communication unit.
Preferably, the predetermined manner includes：Periodicity or trigger-type.
The third aspect, the present invention also provides a kind of indoor mobile robot test data processing method, for every group of test
Coordinate information and test azimuth information, perform following steps：
Electronics of the self-positioning coordinate information in storage of the test coordinate information and target mobile robot obtained will be measured
Coordinate points are shown on map and are shown Measured Coordinates track and self-positioning Grid Track；
By the test coordinate information compared with the self-positioning coordinate information, the position of target mobile robot is obtained
Put error；
The test azimuth information obtained will be measured compared with the self-positioning azimuth information of target mobile robot,
Obtain the azimuth angle error of target mobile robot.
Preferably, the site error includes：Absolute error and relative error.
Preferably, target mobile robot absolute error is obtained as follows：
AEX=| RX–TX|
AEY=| RY–TY|
AEZ=| RZ–TZ|
Target mobile robot relative error is obtained as follows：
REX=| RX–TX|/TX
REY=| RY–TY|/TY
REZ=| RZ–TZ|/TZ
Wherein, RXFor target Mobile robot self-localization X-axis coordinate, TXTo test X-axis coordinate, RYMachine is moved for target
The self-positioning Y-axis coordinate of people, TYTest Y-axis coordinate, RZFor target Mobile robot self-localization Z axis coordinate, TZTo test Z axis coordinate.
Preferably, target mobile robot azimuth angle error is obtained as follows：
AEθ=| Rθ–Tθ|
Wherein, RθFor target Mobile robot self-localization deflection, TθMeasurement direction angle.
Compared to the prior art the present invention, has the advantages that：
Technical scheme, solves indoor mobile robot coordinate by the set of system being made up of machinery, electronics
Measurement problem and its analysis of Positioning Error problem.
Brief description of the drawings
Fig. 1 is the structural representation of the indoor mobile robot test system of the embodiment of the present invention；
Fig. 2 is the flow chart of the indoor mobile robot method of testing of the embodiment of the present invention；
Fig. 3 is the flow chart of the indoor mobile robot test data processing method of the embodiment of the present invention；
Fig. 4 is the flow chart of the indoor mobile robot method of testing of present example 2；
Fig. 5 is the flow chart of the indoor mobile robot test data processing method of present example 3.
Embodiment
To make the goal of the invention of the present invention, technical scheme and beneficial effect of greater clarity, below in conjunction with the accompanying drawings to this
The embodiment of invention is illustrated, it is necessary to illustrate, in the case where not conflicting, in the embodiment and embodiment in the application
Feature can mutually be combined.
As shown in figure 1, the embodiment of the present invention provides a kind of indoor mobile robot test system, including：
First level slide rail, the second horizontal slide rail, the first upright slide rail, the second upright slide rail, magnetic railings ruler, tracker, incline
Angle instrument and laser；
The first level slide rail is arranged in a mutually vertical manner with the second horizontal slide rail, the first upright slide rail and the second upright slide rail
It is separately positioned on the sliding block of first level slide rail and the sliding block of the second horizontal slide rail, is slided with the sliding block in the first level
Rail and second horizontal slide rail movement, it is vertical sliding in first level slide rail, the second horizontal slide rail, the first upright slide rail and second
Magnetic railings ruler is provided with rail, tracker is provided with the first upright slide rail and the second upright slide rail, the tracker prolongs cunning
Rail is moved, and the coordinate information of target mobile robot is measured by magnetic railings ruler；Inclinator is arranged in target mobile robot, institute
Target described in stating the laser beam measuring that inclinator is launched by the laser set in the target mobile robot moves machine
The direction angle information of people.
The first level slide rail and the second horizontal slide rail are hard steel slide rail；First upright slide rail and second erects
Straight slide rail is hard aluminium alloy slide rail.
Described test system also includes：Pedestal, the pedestal are used to support the first level slide rail and described second
Horizontal slide rail.
Described test system also includes：Beacon frame, for fixing the localizer beacon of target mobile robot.
The indoor mobile robot test system of the embodiment of the present invention includes two high-precision slide rails (forming X, Y-axis), consolidated
Rail cast iron (formation pedestal), aluminium alloy slide rail (formation Z axis), 4 beacon framves (support frame for being used for stationary machines people's beacon), peaces
Fill the bearing of inclinator and laser sensor；For magnetic railings ruler on X-axis, Y-axis, Z axis, pedestal cylinder iron ensure that reference axis
Linearity and rigidity；Laser sensor can be with automatic fine tuning laser scanning angle；The coordinate value of beacon frame can be demarcated, to obtain
Obtain accurate robot coordinate value.
X, Y-axis slide rail material category hard steel；Hard aluminium alloy fixed vertical slide rail, aluminium alloy can mitigate the weight of Z axis
Amount.
As shown in Fig. 2 the embodiment of the present invention also provides a kind of indoor mobile robot method of testing, applied to above-mentioned room
Interior mobile robot test system, including：
S101, control tracker follow target mobile robot to be moved to target and moved along horizontal slide rail and vertical slide rail
Horizontal level and upright position where the central point of robot, the target moving machine is obtained using magnetic railings ruler according to predetermined manner
The test coordinate information of device people；
S102, control inclinator measure the test azimuth information of the target mobile robot according to predetermined manner；
S103, by it is described test coordinate information and it is described test azimuth information by communication unit send to computer take
Business device.
The predetermined manner includes：Periodicity or trigger-type.
Target mobile robot is in moving process in the embodiment of the present invention, and tracker, inclinator are moved with the target
Mobile robot move, can periodically gather corresponding to test coordinate information and test azimuth information, such as every 10 seconds to
Computer server sends the data once gathered, and the specific cycle can be the week that target mobile robot sends self-positioning data
Phase is identical or integral multiple.
The embodiment of the present invention can with corresponding to the collection of trigger-type test coordinate information and test azimuth information, such as
When target mobile robot is moved to the calibration position pre-set, the data once gathered are sent to computer server, or
When person's target mobile robot displacement reaches preset value, the data once gathered are sent to computer server, it is specific real
During applying, two horizontal slide rails can be prolonged, by the length of the scope of test and it is wide be divided into 10 parts, equivalent in test scope
Include 100 lattices, when being moved to the center or crosspoint of lattice, collecting test coordinate information and test azimuth letter
Cease and sent to computer server.
The embodiment of the present invention can also keep in the test coordinate information and test azimuth information that measurement obtains, and test
Cheng Hou, the unified test coordinate information obtained that will all measure are sent to computer with test azimuth information by communication unit
Server.
In the embodiment of the present invention, computer server detects whether to receive the signal of tracker, inclinator, if do not connect
Corresponding signal is received, then return to step S101.If receiving corresponding signal, provided in an embodiment of the present invention one is carried out
Kind indoor mobile robot test data processing method, as shown in figure 3, for every group of test coordinate information and test azimuth letter
Breath, perform following steps：
S201, the self-positioning coordinate information of the test coordinate information and target mobile robot obtained will be measured in storage
Coordinate points are shown on electronic map and are shown Measured Coordinates track and self-positioning Grid Track.
S202, by it is described test coordinate information with the self-positioning coordinate information compared with, obtain target move machine
The site error of people；
S203, the self-positioning azimuth information progress that the test azimuth information and target mobile robot obtained will be measured
Compare, obtain the azimuth angle error of target mobile robot.
The embodiment of the present invention detects whether to receive new data, such as after site error and azimuth angle error is calculated
Have and receive new data, then return to step 201.
The site error includes：Absolute error and relative error.
Target mobile robot absolute error is obtained as follows：
AEX=| RX–TX|
AEY=| RY–TY|
AEZ=| RZ–TZ|
Target mobile robot relative error is obtained as follows：
REX=| RX–TX|/TX
REY=| RY–TY|/TY
REZ=| RZ–TZ|/TZ
Wherein, RXFor target Mobile robot self-localization X-axis coordinate, TXTo test X-axis coordinate, RYMachine is moved for target
The self-positioning Y-axis coordinate of people, TYTest Y-axis coordinate, RZFor target Mobile robot self-localization Z axis coordinate, TZTo test Z axis coordinate.
Target mobile robot azimuth angle error is obtained as follows：
AEθ=| Rθ–Tθ|
Wherein, RθFor target Mobile robot self-localization deflection, TθMeasurement direction angle.
The embodiment of the present invention can measure the Static State Index and dynamic indicator of mobile robot, robot localization coordinate it is quiet
State absolute error refers under robot inactive state, the coordinate points of robot self-localization and the absolute distance of actual coordinate point.
And dynamic absolute error refers under robot motion's state, the coordinate points of robot self-localization and the absolute of actual coordinate point away from
From.
The embodiment of the present invention utilizes precision optical machinery X-axis, Y-axis and Z axis, makees coordinate mark using magnetic railings ruler, using tracker
Measuring coordinate, using the deflection of inclinator robot measurement,
Computer server connects laser sensor, robot converting interface by communication unit, and passes through Serial Port Line and magnetic
Grid chi connects；Obtain data, analyze data etc..Tracker, which is arranged on Z axis sliding block, can intelligently slide the tested robot of tracking, and
The position coordinates of robot measurement, then transfers data to computer server by wireless module.Computer server pair
The data of upload are counted, analyzed and reported.
The application of the embodiment of the present invention can be extended to the measurement of indoor various moving object position coordinates.
Example 1
As shown in figure 1, this example is installed on X using the mechanical part of seven meters of long X-axis, Y-axis and two slidably Z axis
Axle, the magnetic railings ruler of Y-axis and Z axis, two video trackers, an intelligent inclinator, data transmission display subsystem and two Z axis
Slide the electronic section of control subsystem.
Measurement and positioning performance analysis have been carried out to mobile robot positioning system using the system, and has provided analysis report
Accuse.By system test, measurement and analytical effect of the system to mobile robot are demonstrated, has reached target.
The system is capable of the coordinate position and deflection of automatic measurement mobile robot now, and electricity can be shown on screen
The position of sub- map and robot and coordinate, data analysis can be measured, forms chart and provides error analysis result.
The system is applied to the pose measurement of indoor mobile robot, and co-ordinate measurement accuracy is in below 3mm, angular surveying essence
Degree is within 0.3 degree.
Example 2
As shown in figure 4, this example illustrates indoor mobile robot test process：
First, tracker is controlled to be moved to along horizontal slide rail and vertical slide rail where the central point of target mobile robot
Horizontal level and upright position, the test coordinate information of the target mobile robot is obtained using magnetic railings ruler；
Then inclinator, is controlled to measure the test azimuth information of the target mobile robot；
Finally, the test coordinate information and the test azimuth information are sent to computer by communication unit and taken
Business device；
Computer server detects whether the signal of tracker and inclinator, if so, then continuing executing with measurement test
The step of coordinate information and test azimuth information, otherwise, finish test procedure.
Example 3
As shown in figure 5, this example illustrates indoor mobile robot test data processing procedure：
First, the self-positioning coordinate information of the test coordinate information and target mobile robot obtained will be measured in storage
Coordinate points are shown on electronic map and are shown Measured Coordinates track and self-positioning Grid Track.
Then, by the test coordinate information compared with the self-positioning coordinate information, target movement machine is obtained
The site error of people；
Finally, the self-positioning azimuth information for measuring the test azimuth information and target mobile robot obtained is carried out
Compare, obtain the azimuth angle error of target mobile robot；
Computer server detects whether the new data of tracker and inclinator, if so, then continue executing with display and
The step of calculation error, if it is not, output error analysis result.
Although disclosed embodiment is as above, its content is only to facilitate understand the technical side of the present invention
Case and the embodiment used, are not intended to limit the present invention.Any those skilled in the art to which this invention pertains, not
On the premise of departing from disclosed core technology scheme, any modification can be made in the form and details of implementation and is become
Change, but the protection domain that the present invention is limited, the scope that must be still limited by appended claims are defined.
Claims (10)
- A kind of 1. indoor mobile robot test system, it is characterised in that including：First level slide rail, the second horizontal slide rail, the first upright slide rail, the second upright slide rail, magnetic railings ruler, tracker, inclinator And laser；The first level slide rail is arranged in a mutually vertical manner with the second horizontal slide rail, the first upright slide rail and the second upright slide rail difference Be arranged on the sliding block of first level slide rail and the sliding block of the second horizontal slide rail, with the sliding block in the first level slide rail and The second horizontal slide rail movement, on first level slide rail, the second horizontal slide rail, the first upright slide rail and the second upright slide rail Magnetic railings ruler is provided with, tracker is provided with the first upright slide rail and the second upright slide rail, the tracker prolongs slide rail shifting It is dynamic, the coordinate information of target mobile robot is measured by magnetic railings ruler；Inclinator is arranged in target mobile robot, described to incline Angle instrument passes through target mobile robot described in the laser beam measuring of the laser transmitting set in the target mobile robot Direction angle information.
- 2. test system as claimed in claim 1, it is characterised in that：The first level slide rail and the second horizontal slide rail are hard Matter steel slide rail；First upright slide rail and the second upright slide rail are hard aluminium alloy slide rail.
- 3. test system as claimed in claim 1, it is characterised in that：Also include：Pedestal, the pedestal are used to support described the One horizontal slide rail and second horizontal slide rail.
- 4. test system as claimed in claim 1, it is characterised in that：Also include：Beacon frame, for fixing target movement machine The localizer beacon of people.
- 5. a kind of indoor mobile robot method of testing, it is characterised in that applied to the indoor moving machine described in claim 1 People's test system, including：Control tracker follows target mobile robot to be moved to target mobile robot along horizontal slide rail and vertical slide rail Horizontal level and upright position where central point, the survey of the target mobile robot is obtained according to predetermined manner using magnetic railings ruler Try coordinate information；Inclinator is controlled to measure the test azimuth information of the target mobile robot according to predetermined manner；The test coordinate information and the test azimuth information are sent to computer server by communication unit.
- 6. method of testing as claimed in claim 5, it is characterised in that：The predetermined manner includes：Periodicity or trigger-type.
- A kind of 7. indoor mobile robot test data processing method, it is characterised in that：For every group of test coordinate information and survey Azimuth information is tried, performs following steps：Electronic map of the self-positioning coordinate information in storage of the test coordinate information and target mobile robot obtained will be measured On coordinate points shown and shown Measured Coordinates track and self-positioning Grid Track；By the test coordinate information compared with the self-positioning coordinate information, the position for obtaining target mobile robot is missed Difference；The test azimuth information obtained will be measured compared with the self-positioning azimuth information of target mobile robot, obtained The azimuth angle error of target mobile robot.
- 8. processing method as claimed in claim 7, it is characterised in that：The site error includes：Absolute error and relative mistake Difference.
- 9. processing method as claimed in claim 8, it is characterised in that：It is absolute that target mobile robot is obtained as follows Error：AEX=| RX–TX|AEY=| RY–TY|AEZ=| RZ–TZ|Target mobile robot relative error is obtained as follows：REX=| RX–TX|/TXREY=| RY–TY|/TYREZ=| RZ–TZ|/TZWherein, RXFor target Mobile robot self-localization X-axis coordinate, TXTo test X-axis coordinate, RYFor target mobile robot certainly Position Y-axis coordinate, TYTest Y-axis coordinate, RZFor target Mobile robot self-localization Z axis coordinate, TZTo test Z axis coordinate.
- 10. processing method as claimed in claim 7, it is characterised in that：Target mobile robot side is obtained as follows Parallactic angle error：AEθ=| Rθ–Tθ|Wherein, RθFor target Mobile robot self-localization deflection, TθMeasurement direction angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710778388.1A CN107553488B (en) | 2017-09-01 | 2017-09-01 | A kind of indoor mobile robot test macro and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710778388.1A CN107553488B (en) | 2017-09-01 | 2017-09-01 | A kind of indoor mobile robot test macro and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107553488A true CN107553488A (en) | 2018-01-09 |
| CN107553488B CN107553488B (en) | 2019-03-08 |
Family
ID=60978029
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710778388.1A Active CN107553488B (en) | 2017-09-01 | 2017-09-01 | A kind of indoor mobile robot test macro and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107553488B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549376A (en) * | 2018-04-16 | 2018-09-18 | 爱啃萝卜机器人技术（深圳）有限责任公司 | A kind of navigation locating method and system based on beacon |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100076599A1 (en) * | 2008-09-20 | 2010-03-25 | Steven Jacobs | Manually driven determination of a region of interest (roi) or a path of interest (poi) for a robotic device |
| CN104406576A (en) * | 2014-12-04 | 2015-03-11 | 浙江吉利汽车研究院有限公司 | Laser positioning device |
| CN106066338A (en) * | 2016-08-04 | 2016-11-02 | 同方威视技术股份有限公司 | The back scattering detection equipment of autonomous and the localization method of method and apparatus |
| CN106323335A (en) * | 2015-07-02 | 2017-01-11 | 中国科学院沈阳自动化研究所 | Reconfigurable indoor mobile robot navigation performance evaluation instrument and evaluation method thereof |
| CN107053219A (en) * | 2017-06-16 | 2017-08-18 | 齐鲁工业大学 | A kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign |
-
2017
- 2017-09-01 CN CN201710778388.1A patent/CN107553488B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100076599A1 (en) * | 2008-09-20 | 2010-03-25 | Steven Jacobs | Manually driven determination of a region of interest (roi) or a path of interest (poi) for a robotic device |
| CN104406576A (en) * | 2014-12-04 | 2015-03-11 | 浙江吉利汽车研究院有限公司 | Laser positioning device |
| CN106323335A (en) * | 2015-07-02 | 2017-01-11 | 中国科学院沈阳自动化研究所 | Reconfigurable indoor mobile robot navigation performance evaluation instrument and evaluation method thereof |
| CN106066338A (en) * | 2016-08-04 | 2016-11-02 | 同方威视技术股份有限公司 | The back scattering detection equipment of autonomous and the localization method of method and apparatus |
| CN107053219A (en) * | 2017-06-16 | 2017-08-18 | 齐鲁工业大学 | A kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549376A (en) * | 2018-04-16 | 2018-09-18 | 爱啃萝卜机器人技术（深圳）有限责任公司 | A kind of navigation locating method and system based on beacon |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107553488B (en) | 2019-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103206952A (en) | Positioning method and positioning apparatus | |
| CN108106562B (en) | Contact net measuring method and device | |
| CN103754235B (en) | A kind of high ferro is measured by inertia positioning and orienting device and method | |
| CN108051835B (en) | Inclination measuring device based on double antennas and measuring and lofting method | |
| CN108981580A (en) | A kind of crane runway on-line measuring device and method | |
| CN108919825A (en) | The unmanned plane indoor locating system and method for having barrier avoiding function | |
| CN102506895B (en) | Three-dimensional deformation precision inspection device of measuring apparatus | |
| CN101539397B (en) | Method for measuring three-dimensional attitude of object on precision-optical basis | |
| CN104279954B (en) | Position determining means, measuring machine and location determining method | |
| CN105091911A (en) | Detection system and method for dynamic positioning precision of POS (point of sale) system | |
| CN103017690A (en) | Method for measuring straightness of super-long guide rail | |
| CN104634328A (en) | Spatial measurement robot and spatial measurement method thereof | |
| CN106524924B (en) | Optical inertia combination-based rail inspection vehicle position and attitude measurement system and method | |
| CN103643620B (en) | A kind of laser beam depth of parallelism regulation system and method measured for pavement deflection | |
| CN101413785A (en) | Error compensation method of positioning system based on double-rotating laser plane transmitter network | |
| CN105739538A (en) | Positioning method based on mechanical arm movement device, and positioning testing device and method | |
| CN108427346A (en) | A kind of fabricated construction hoist controlling management system | |
| CN104251699A (en) | Indoor space positioning equipment and positioning method thereof | |
| CN108318011A (en) | A method of construction site periphery displacement is monitored by UAV flight's total powerstation | |
| CN107991691A (en) | A kind of satellite navigation locating accuracy verification device and method | |
| CN108249307B (en) | Movement measurement and feedback control system and method for large crane | |
| CN104535078A (en) | Measuring method for flying object through photoelectric equipment based on marking points | |
| CN107553488B (en) | A kind of indoor mobile robot test macro and method | |
| CN107356902B (en) | WiFi positioning fingerprint data automatic acquisition method | |
| CN106323281A (en) | Indoor space positioning method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |