CN115435809A - Measuring equipment with universal wheel - Google Patents
Measuring equipment with universal wheel Download PDFInfo
- Publication number
- CN115435809A CN115435809A CN202210950206.5A CN202210950206A CN115435809A CN 115435809 A CN115435809 A CN 115435809A CN 202210950206 A CN202210950206 A CN 202210950206A CN 115435809 A CN115435809 A CN 115435809A
- Authority
- CN
- China
- Prior art keywords
- roller
- support link
- angle
- angle sensor
- present disclosure
- 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
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The present disclosure relates to a measurement device comprising: a roller having an axis of rotation and configured to determine a distance traveled by the measurement device; a support link connected to a rotation shaft of the roller; an angle sensor disposed on the support link and configured to determine an angle of the support link with a horizontal plane; and the universal wheel is connected to the other end, far away from the roller, of the support connecting rod. According to the measuring equipment of the present disclosure, the included angle between the support connecting rod and the horizontal plane can be efficiently obtained, so that the included angle between the plane where the measuring equipment is located and the horizontal plane can be converted, and whether the measuring equipment has height change or not can be known, and the height change information can be used for purposes such as three-dimensional drawing of a running route of the measuring equipment.
Description
Technical Field
The disclosure relates to the technical field of measuring instruments, in particular to a measuring device with universal wheels.
Background
The distance measuring wheels known from the prior art can only measure distances, so that at most only two-dimensional figures of the path traveled by the distance measuring wheel can be drawn, and three-dimensional figures cannot be drawn because height data cannot be acquired.
Disclosure of Invention
The present disclosure is directed to a ranging device to solve the above technical problem in the prior art, i.e., how to obtain height data. The present disclosure employs a measuring device capable of acquiring height data. Specifically, the technical scheme of the disclosure is as follows: the included angle between the support connecting rod and the horizontal plane is determined through the support connecting rod with the fixed length and the corresponding angle sensor, when the included angle is known, the corresponding height can be calculated, and then three-dimensional data of a route traveled by the measuring equipment can be obtained.
More specifically, the present disclosure provides a measuring apparatus including:
a roller having an axis of rotation and configured to determine a distance traveled by the measurement device;
a support link connected to a rotation shaft of the roller;
an angle sensor disposed on the support link and configured to determine an angle of the support link with a horizontal plane; and
and the universal wheel is connected to the other end, far away from the roller, of the support connecting rod.
According to the measuring equipment of the present disclosure, the included angle between the support connecting rod and the horizontal plane can be efficiently obtained, so that the included angle between the plane where the measuring equipment is located and the horizontal plane can be converted, and whether the measuring equipment has height change or not can be known, and the height change information can be used for purposes such as three-dimensional drawing of a running route of the measuring equipment.
Preferably, in one embodiment according to the present disclosure, the angle sensor is configured as a two-dimensional angle sensor.
Preferably, in one embodiment according to the present disclosure, the angle sensor is configured as a three-dimensional angle sensor.
Preferably, in one embodiment according to the present disclosure, a longitudinal axis of the support link intersects an axis of the roller.
Preferably, in one embodiment according to the present disclosure, an optoelectronic encoder or a hall sensor is disposed in the roller.
Preferably, in one embodiment according to the present disclosure, the angle sensor is further configured to determine a rotation angle of the measuring device in a horizontal plane.
Preferably, in one embodiment according to the present disclosure, the angle sensor includes one or more of the following sensors:
a multi-axis gyroscope;
a gravity accelerometer;
an electronic compass; and/or
And (4) electronic bubble.
Preferably, in an embodiment according to the present disclosure, a torsion spring is provided at a connection of the support link and the roller, and the torsion spring provides an urging force to the support link toward a ground surface side.
In conclusion, the measuring device according to the present disclosure can efficiently obtain the included angle between the support link and the horizontal plane, so that the included angle between the plane where the measuring device is located and the horizontal plane can be converted, and whether the height change occurs in the measuring device can be known, and the height change information can be used for purposes such as three-dimensional drawing of the route where the measuring device travels.
Drawings
FIG. 1 illustrates a schematic structural diagram of a measurement device 100 provided in accordance with one embodiment of the present disclosure;
FIG. 2A shows a schematic view of the up and down movement of a support link of the measurement apparatus 100 provided in accordance with the embodiment of FIG. 1 of the present disclosure;
FIG. 2B shows a schematic diagram of the gimbal rotation and rolling motion of the measurement apparatus 100 provided in accordance with the embodiment of FIG. 1 of the present disclosure; and
fig. 3 shows a schematic view of an application scenario of the measuring device according to the present disclosure in use.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be derived by one of ordinary skill in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The terms "first", "second", "third" in the present disclosure are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implying a number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present disclosure, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indications (such as up, down, left, right, front, and back … …) in the embodiments of the present disclosure are only used to explain the relative positional relationship between the components, the motion situation, and the like in a certain attitude (as shown in the drawings), and if the certain attitude changes, the directional indication changes accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the disclosure. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The present disclosure is directed to a ranging device to solve the above technical problem in the prior art, i.e., how to obtain height data. The present disclosure employs a measuring device capable of acquiring height data. Specifically, the technical scheme of the disclosure is as follows: the included angle between the support connecting rod and the horizontal plane is determined through the support connecting rod with the fixed length and the corresponding angle sensor, when the included angle is known, the corresponding height can be calculated, and then three-dimensional data of a route traveled by the measuring equipment can be obtained. In summary, the present disclosure provides a measurement device comprising: a roller having an axis of rotation and configured to determine a distance traveled by the measurement device; a support link connected to a rotation shaft of the roller; an angle sensor disposed on the support link and configured to determine an angle of the support link with a horizontal plane; and the universal wheel is connected to the other end, far away from the roller, of the support connecting rod.
Various structures and possible implementation forms of the measuring device disclosed according to the present disclosure will be described below with reference to fig. 1 to 3, and in addition, the working process and the working principle of the measuring device disclosed according to the present disclosure will be described with reference to fig. 3.
Fig. 1 shows a schematic structural diagram of a measurement device 100 provided according to an embodiment of the present disclosure. As can be seen from fig. 1, the measuring device 100 proposed by the present disclosure needs to comprise, for example, at least a component, namely a wheel 110, the wheel 110 having a rotation axis and being configured for determining a distance travelled by the measuring device 100; a support link 120, the support link 120 being connected to a rotation axis of the roller 110; and an angle sensor (not shown in the figure) disposed on the support link 120 and configured to determine an angle ≦ R between the support link 120 and the horizontal plane 140. Furthermore, the measuring apparatus 100 proposed by the present disclosure further includes a universal wheel 122, and the universal wheel 122 is connected to the other end of the support link 120 away from the roller 110. As shown in fig. 1, when a user (not shown) holds the handle 131 to push the measuring apparatus 100 to travel in a direction to the left in fig. 1, since the length of the support link 120 is fixed, and since the axis of the support link 120 intersects with the rotation axis of the roller 110, that is, the perpendicular distance from the ground where the support link 120 intersects with the rotation axis of the roller 110, that is, the radius of the roller 110, and this radius is also fixed after the measuring apparatus 100 is manufactured, the included angle between the support link 120 and the current ground is also fixed. When the current ground is parallel to the horizontal plane 140, the included angle T between the support link 120 and the current ground is the included angle between the support link 120 and the horizontal plane 140, which is ≈ R, that is = R. Different from the above, when the current ground and the horizontal plane 140 are not parallel, an included angle between the support link 120 and the current ground is, for example, < T (as described above, the angle is a fixed value), an included angle between the support link 120 and the horizontal plane 140 measured by the angle sensor is < R, and if the ground is an upper slope, then < R > < T; on the contrary, if the ground is a downhill surface, then < R < T. If the included angle between the ground and the horizontal plane at the moment is defined as ≈ theta, then = ≈ R-T, the value of the = theta should be a positive value when ascending, and the value of the izeθ should be a negative value when descending.
The measurement process thereof will be described with the aid of fig. 3 in particular use. Specifically, for example, between the horizontal sections AB, the interval between the horizontal sections AB is L AB Height difference of H AB =0; between the uphill segments BC, the distance between two points BC is, for example, L BC And the measured angle between the support connecting rod and the horizontal plane is for example ≈ BC, then the included angle between the uphill segment BC and the horizontal plane at the moment is = ≈ BC-T, and the height difference at the moment is H BC ＝L BC * sin < theta. Between the next horizontal segments CD, the spacing between the horizontal segments CD is L CD Height difference is H CD =0; next, between the uphill segments DE, the distance between two points of DE is for example L DE And when the measured angle between the support connecting rod and the horizontal plane is equal to angle DE, the included angle between the up-slope segment BC and the horizontal plane is equal to angle theta = DE-T, and the height difference is H DE ＝L DE * sin < theta. The lengths of all the segments can be calculated by, for example, a photoelectric code disc or a hall sensor contained in a roller of the distance measuring device, the number of turns of the roller is calculated, and the circumference of the roller is fixed, so that the distance between the segments can be measured based on the information of the two aspects. In particular, those skilled in the art will appreciate that the optical encoder herein can be used, for example, with a laser or infrared optical transceiver to determine the number of turns of the scroll wheel; the Hall sensor can be used together with a magnetic steel/magnet for example, and can also determine the rolling of the rollerAnd (5) the number of turns. In general terms, a photoelectric encoder or a hall sensor is arranged in the roller wheel in order to measure the distance of the individual segments.
Within this disclosure, the angle sensor includes one or more of the following sensors: a multi-axis gyroscope; a gravity accelerometer; an electronic compass; and/or an electronic blister. In such an implementation, the angle of the support link 120 from the horizontal can be measured. Here, in addition to measuring the angle between the support link 120 and the horizontal plane, the angle sensor may also measure other angles such as a steering angle or an azimuth angle, for example, the angle sensor is also configured to determine the rotation angle of the measuring device in the horizontal plane. For the purpose of achieving such a technical object, the angle sensor can be designed as a two-dimensional angle sensor or as a three-dimensional angle sensor. Still more preferably, in an embodiment according to the present disclosure, a torsion spring (not shown) is disposed at a connection of the support link 120 and the roller 110, and the torsion spring provides an urging force to the support link 120 toward a ground surface side.
The measuring equipment with at least one part of the components can efficiently acquire the included angle between the support connecting rod and the horizontal plane, so that the included angle between the plane where the measuring equipment is located and the horizontal plane can be converted, and whether the measuring equipment has height change or not can be known, and the height change information can be used for the purposes of three-dimensional drawing of a running route of the measuring equipment and the like. In other words, the distance, area, shape and volume measurement of the three-dimensional space is realized by adding the three-dimensional angle sensor and the wheel rotation counting mode, namely the measurement of large-area earthwork, hills and construction sites of the three-dimensional space can be realized, and then an approximate three-dimensional space stereogram can be effectively drawn, and the distance measurement and positioning of the three-dimensional space can be realized.
Microscopically, a continuous line graph can be obtained in the vertical dimension through continuous measurement and conversion, and the fluctuation change of a certain terrain in height can be approximately drawn. Illustrated above with reference to fig. 3 is an uphill slope; conversely, the same reasoning can also be used for downhill calculations. In practice, each sampling point is selected in at least two ways: one is a timing sampling method, under which, for example, sampling is performed once every 100ms, and then the height is converted according to the currently measured distance and the angle of the previous time; another method is, for example, an angle change threshold method under which if the angle change exceeds 0.5 degrees, the height is converted from the currently measured distance and the previous angle. Of course, the fineness of the relief change and the drawing can be improved by speeding up the time taken or reducing the threshold for the angle change.
This additional feature will be described below with the aid of fig. 2A and 2B. Wherein FIG. 2A shows a schematic view of the up and down movement of the support link of the measurement apparatus 100 provided in accordance with the embodiment of FIG. 1 of the present disclosure; and FIG. 2B shows a diagram of the gimbaled wheel rotation and rolling motion of the measurement device 100 provided in accordance with the embodiment of FIG. 1 of the present disclosure. That is, to further optimize the relevant solution, such as reducing wear, in one embodiment according to the present disclosure, the universal wheel 122 can move up and down around the rotation axis of the roller 110 as shown in fig. 2A, and can also rotate as shown in fig. 2B when the entire measuring device is turned and cooperate with rolling movement when advancing.
Furthermore, in summary, it is preferred that in one embodiment according to the disclosure the angle sensor is configured as a two-dimensional angle sensor. Preferably, in one embodiment according to the present disclosure, the angle sensor is configured as a three-dimensional angle sensor. Preferably, in one embodiment according to the present disclosure, a longitudinal axis of the support link intersects an axis of the roller. Preferably, in an embodiment according to the present disclosure, an optoelectronic encoder or a hall sensor is disposed inside the roller. Preferably, in one embodiment according to the present disclosure, the angle sensor is further configured to determine a rotation angle of the measuring device in a horizontal plane. Preferably, in one embodiment according to the present disclosure, the angle sensor includes one or more of the following sensors: a multi-axis gyroscope; a gravity accelerometer; an electronic compass; and/or an electronic blister. Preferably, in an embodiment according to the present disclosure, a torsion spring is provided at a connection of the support link and the roller, and the torsion spring provides an urging force to the support link toward a ground surface side. In summary, the measuring device according to the present disclosure can efficiently obtain the included angle between the support link and the horizontal plane, so as to convert the included angle between the horizontal plane and the plane where the measuring device is located, and further know whether the measuring device has a height change, and the height change information can be used for purposes such as three-dimensional mapping of the route traveled by the measuring device.
While the foregoing is directed to embodiments of the present disclosure, it will be appreciated by those skilled in the art that changes may be made without departing from the principles and spirit of the disclosure, the scope of which is defined by the appended claims.
Claims (8)
1. A measuring device, characterized in that the measuring device comprises:
a roller having an axis of rotation and configured to determine a distance traveled by the measurement device;
a support link connected to a rotation shaft of the roller;
an angle sensor disposed on the support link and configured to determine an angle of the support link with a horizontal plane; and
the universal wheel is connected to the other end, far away from the roller, of the supporting connecting rod.
2. The measuring device as claimed in claim 1, characterized in that the angle sensor is configured as a two-dimensional angle sensor.
3. The measuring device according to claim 1, characterized in that the angle sensor is configured as a three-dimensional angle sensor.
4. The measurement device of claim 1, wherein a longitudinal axis of the support link intersects an axis of the roller.
5. The measuring device of claim 1, wherein an optoelectronic encoder or a hall sensor is disposed within the roller.
6. The measurement device of claim 1, wherein the angle sensor is further configured to determine an angle of rotation of the measurement device in a horizontal plane.
7. The measurement device of claim 1, wherein the angle sensor comprises one or more of the following sensors:
a multi-axis gyroscope;
a gravity accelerometer;
an electronic compass; and/or
And (4) electronic bubble.
8. The measuring apparatus according to claim 1, wherein a torsion spring is provided at a connection of the support link and the roller, the torsion spring providing an urging force to the support link toward a ground surface side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210950206.5A CN115435809A (en) | 2022-08-09 | 2022-08-09 | Measuring equipment with universal wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210950206.5A CN115435809A (en) | 2022-08-09 | 2022-08-09 | Measuring equipment with universal wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115435809A true CN115435809A (en) | 2022-12-06 |
Family
ID=84243157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210950206.5A Pending CN115435809A (en) | 2022-08-09 | 2022-08-09 | Measuring equipment with universal wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115435809A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024082628A1 (en) * | 2022-10-18 | 2024-04-25 | 上海诺司纬光电仪器有限公司 | Distance measuring device |
-
2022
- 2022-08-09 CN CN202210950206.5A patent/CN115435809A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024082628A1 (en) * | 2022-10-18 | 2024-04-25 | 上海诺司纬光电仪器有限公司 | Distance measuring device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101907714B (en) | GPS aided positioning system and method based on multi-sensor data fusion | |
| US5583776A (en) | Dead reckoning navigational system using accelerometer to measure foot impacts | |
| CN100562711C (en) | Moving object method for estimating and system | |
| EP1134555A1 (en) | Method for determining velocity and travelled distance of a pedestrian | |
| CN101532840B (en) | Inertia measurement device for deep-sea inertia navigation | |
| JP4981601B2 (en) | Own vehicle position calculation device, own vehicle position calculation method, and own vehicle position calculation program | |
| CN108842544B (en) | A kind of high-speed railway rail static parameter detection system and method using optical fiber inertial navigation | |
| CN104195930B (en) | Surface evenness detecting system based on multisensor and method | |
| JP2019025229A (en) | Activity condition analyzing device, activity condition analyzing method, and program | |
| CN1310107A (en) | Castor | |
| KR20110043538A (en) | Method and systems for the building up of a roadmap and for the determination of the position of a vehicle | |
| JP2011257374A (en) | Moving state determination apparatus, moving state determination method and program | |
| CN115435809A (en) | Measuring equipment with universal wheel | |
| US6725553B2 (en) | Contour measuring device and method | |
| CN201408009Y (en) | Inertia measuring device for deepwater inertial navigation | |
| CN102261033A (en) | Inertial measurement unit (IMU) based motion compensation algorithm of vehicular pavement detection system | |
| JP2007033395A (en) | Position correction method and navigation apparatus | |
| CN109537650B (en) | Slope wide-range finder and slope deformation real-time monitoring method | |
| JP2006275619A (en) | Altitude calculation system and navigation system | |
| CN100430730C (en) | Method and apparatus for measuring velocity of land vehicle | |
| CN110657788B (en) | Dynamic detection method for smoothness of crane track | |
| CN108195374A (en) | For the integrated navigation system of track automatic measurement vehicle and integrated navigation calculation method | |
| CN108082210A (en) | A kind of track automatic measurement vehicle with sensor combinations | |
| CN115597535A (en) | High-speed magnetic suspension track irregularity detection system and method based on inertial navigation | |
| CN114136275A (en) | Track line state detection device and roadbed settlement detection 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 |