CN207087855U - Mobile robot platform for the modeling of coal mine roadway three-dimensional live - Google Patents
Mobile robot platform for the modeling of coal mine roadway three-dimensional live Download PDFInfo
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- CN207087855U CN207087855U CN201721032646.3U CN201721032646U CN207087855U CN 207087855 U CN207087855 U CN 207087855U CN 201721032646 U CN201721032646 U CN 201721032646U CN 207087855 U CN207087855 U CN 207087855U
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- mobile robot
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- modeling
- coal mine
- laser scanning
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Abstract
The utility model discloses a kind of mobile robot platform for the modeling of coal mine roadway three-dimensional live, including mobile robot and two dimensional laser scanning instrument, the two dimensional laser scanning instrument to be arranged in the mobile robot by high accuracy number head；The high accuracy number head has pitching rotation, rotates horizontally two kinematic axis, and the plane of scanning motion of the two dimensional laser scanning instrument is perpendicular；Processor and communication module are additionally provided with the mobile robot, the mobile robot, two dimensional laser scanning instrument, high accuracy number head and communication module are connected with the processor.Mobile robot platform of the present utility model for the modeling of coal mine roadway three-dimensional live is a kind of hardware platform, it is using mobile robot as carrier, using the three-dimensional scanner being made up of two dimensional laser scanning instrument and high accuracy number head as core, and gathered other sensors, provide preferable basis for follow-up three-dimensional live modeling.
Description
Technical field
It the utility model is related to robot field, particularly a kind of robot platform for three-dimensional live modeling.
Background technology
Tunnel is the main space carrier of the various artificial factors of underground coal mine, tunnel as Coal Transport in coal production,
Ventilation, the unique passage of worker's conveying, it is the core of Safety of Coal Mine Production work.The threedimensional model for establishing tunnel is set in roadway
Meter, safety in production and Construction Decision etc. have important practical guided significance.Relative to traditional 2-D data expression side
Method, threedimensional model can express the various spatial informations in tunnel complete and accurate, reproduce to quicklook the spatial in tunnel
And its correlation, facilitate mine to carry out disaster prevention, business administration analysis and decision etc..Meanwhile utilize system relative to tradition
The artificial constructed tunnel simulation threedimensional model of figure software, outdoor scene three-dimensional modeling data can prevent people with true reappearance environmental information
For subjective factor, can be combined with various virtual reality means, strengthen the sense of reality and feeling of immersion of participant, safety training,
Take precautions against natural calamities and play a significant role in manoeuvre, accident rescue.
With the fast development of all kinds of sensing technologies, means and new technology are surveyed and drawn also increasing, in emerging science skill
Under the promotion of art, data acquisition is from collected by hand mode progressively to information-based mode transition.Current existing intelligence is built figure and led
Boat robot mainly establishes two-dimensional map model, and the three-dimensional laser radar for needing million grades of RMB is modeled for three-dimensional live
Auxiliary, it is with high costs.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, a kind of cost of the utility model offer is low, can be used for
The mobile robot platform for being used for the modeling of coal mine roadway three-dimensional live of three-dimensional live prototype software exploitation.
Technical scheme：To achieve the above object, the moving machine of the present utility model for the modeling of coal mine roadway three-dimensional live
Device people platform includes mobile robot and two dimensional laser scanning instrument, and the two dimensional laser scanning instrument is pacified by high accuracy number head
In the mobile robot；The high accuracy number head has pitching rotation, rotates horizontally two kinematic axis, and described
The plane of scanning motion of two dimensional laser scanning instrument is perpendicular；Processor and communication mould are additionally provided with the mobile robot
Block, the mobile robot, two dimensional laser scanning instrument, high accuracy number head and communication module connect with the processor
Connect.
Further, vision sensor is additionally provided with the mobile robot, the vision sensor connects the processing
Device.
Further, inertial navigation device is additionally provided with the mobile robot, described in the inertial navigation device connection
Processor.
Further, the mobile robot is four-wheel car-like mobile robot, and it has two or four driving wheel, and often
Individual driving wheel is equipped with the encoder for detecting driving wheel rotational displacement.
Beneficial effect：Mobile robot platform of the present utility model for the modeling of coal mine roadway three-dimensional live is a kind of hard
Part platform, it is using mobile robot as carrier, with the 3-D scanning being made up of two dimensional laser scanning instrument and high accuracy number head
Device is core, and has gathered other sensors, and preferable basis is provided for follow-up three-dimensional live modeling.
Brief description of the drawings
Accompanying drawing 1 is the structure chart for the mobile robot platform of coal mine roadway three-dimensional live modeling.
Embodiment
The utility model is further described below in conjunction with the accompanying drawings.
The mobile robot platform for being used for the modeling of coal mine roadway three-dimensional live as shown in Figure 1, including mobile robot 1
With two dimensional laser scanning instrument 2, the two dimensional laser scanning instrument 2 is arranged on the mobile robot 1 by high accuracy number head 3
On；The high accuracy number head 3 has pitching rotation, rotates horizontally two kinematic axis, and the two dimensional laser scanning instrument 2
The plane of scanning motion is perpendicular；Processor and communication module, the mobile robot are additionally provided with the mobile robot 1
1st, two dimensional laser scanning instrument 2, high accuracy number head 3 and communication module are connected with the processor.Processor herein
For the general designation of host computer and slave computer.
In use, high accuracy number head 3 can drive two dimensional laser scanning instrument 2 carrying out pitching rotation and/or level
Rotation so that two dimensional laser scanning instrument 2 can carry out comprehensive scanning to the environment around mobile robot 1, realize from face
To the three-dimensional live model construction of body, mobile robot 1 can move with two dimensional laser scanning instrument 2 along coal mine roadway, realize
Continuous data acquisition.
It is noted that robot platform of the present utility model, which can be self-navigation, is acquired work or by people
Work manipulation carries out data collection task.When carrying out data collection task by manual control, operator is moved by remote control control
Mobile robot 1 moves and controls the motion of high accuracy number head 3 to be acquired.Adopted when robot platform independent navigation carries out data
During collection, also need to carry other sensors progress obstacle avoidance aiding and path planning in mobile robot 1.
The vision sensor 4 for IMAQ is additionally provided with the mobile robot 1, the vision sensor 4 connects
The processor, vision sensor 4 here is binocular vision sensor.
In order to realize the independent navigation of mobile robot 1, inertial navigation device, institute are additionally provided with the mobile robot 1
State inertial navigation device and connect the processor.Accordingly, the mobile robot 1 is four-wheel car-like mobile robot, and it has
Two or four driving wheel, and each driving wheel is equipped with the encoder for detecting driving wheel rotational displacement.
Scope of protection of the utility model is only limitted to form the machinery and hardware facility of the robot platform, the robot platform
Basis as software development can gather or export following categorical data：
Mobile robot platform of the present utility model for the modeling of coal mine roadway three-dimensional live is a kind of hardware platform, its
Using mobile robot as carrier, using the three-dimensional scanner being made up of two dimensional laser scanning instrument and high accuracy number head as core
The heart, and gathered other sensors, provide preferable basis for follow-up three-dimensional live software development.
Described above is only preferred embodiment of the present utility model, it should be pointed out that：For the common skill of the art
For art personnel, on the premise of the utility model principle is not departed from, some improvements and modifications can also be made, these improve and
Retouching also should be regarded as the scope of protection of the utility model.
Claims (4)
1. the mobile robot platform for the modeling of coal mine roadway three-dimensional live, it is characterised in that：Including mobile robot (1) with
Two dimensional laser scanning instrument (2), the two dimensional laser scanning instrument (2) are arranged on the moving machine by high accuracy number head (3)
On device people (1)；The high accuracy number head (3) has pitching rotation, rotates horizontally two kinematic axis, and the two-dimensional laser
The plane of scanning motion of scanner (2) is perpendicular；Processor and communication module are additionally provided with the mobile robot (1),
The mobile robot (1), two dimensional laser scanning instrument (2), high accuracy number head (3) and communication module with the processing
Device connects.
2. the mobile robot platform according to claim 1 for the modeling of coal mine roadway three-dimensional live, it is characterised in that：
Vision sensor (4) is additionally provided with the mobile robot (1), the vision sensor (4) connects the processor.
3. the mobile robot platform according to claim 1 for the modeling of coal mine roadway three-dimensional live, it is characterised in that：
Inertial navigation device is additionally provided with the mobile robot (1), the inertial navigation device connects the processor.
4. the mobile robot platform according to claim 1 for the modeling of coal mine roadway three-dimensional live, it is characterised in that：
The mobile robot (1) is four-wheel car-like mobile robot, and it has two or four driving wheel, and each driving wheel is equipped with
There is the encoder for detecting driving wheel rotational displacement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721032646.3U CN207087855U (en) | 2017-08-17 | 2017-08-17 | Mobile robot platform for the modeling of coal mine roadway three-dimensional live |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721032646.3U CN207087855U (en) | 2017-08-17 | 2017-08-17 | Mobile robot platform for the modeling of coal mine roadway three-dimensional live |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207087855U true CN207087855U (en) | 2018-03-13 |
Family
ID=61541762
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721032646.3U Active CN207087855U (en) | 2017-08-17 | 2017-08-17 | Mobile robot platform for the modeling of coal mine roadway three-dimensional live |
Country Status (1)
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| CN (1) | CN207087855U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422435A (en) * | 2018-03-21 | 2018-08-21 | 青岛理工大学 | A kind of long-range monitoring and control system based on augmented reality |
| CN108955529A (en) * | 2018-08-14 | 2018-12-07 | 浙江树人学院 | A kind of robot three-dimensional scanning means |
| CN109736894A (en) * | 2018-11-27 | 2019-05-10 | 中国矿业大学 | A kind of monitoring system, monitoring method and method for early warning for coal mine roadway country rock disaster |
| CN109990701A (en) * | 2019-03-04 | 2019-07-09 | 华中科技大学 | A kind of large complicated carved three-dimensional appearance robot traverse measurement system and method |
| CN110375681A (en) * | 2019-07-15 | 2019-10-25 | 中国计量科学研究院 | The normal pressures large diameter pipeline area of section on-line calibration device such as a kind of flue or chimney |
| CN110405718A (en) * | 2019-07-28 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of industrial processes robot inspection device |
| CN111061274A (en) * | 2019-12-27 | 2020-04-24 | 广东电网有限责任公司 | Traveling system of archive management robot |
| CN113405521A (en) * | 2021-05-27 | 2021-09-17 | 上海思岚科技有限公司 | Laser scanning range finder with variable line outgoing direction |
-
2017
- 2017-08-17 CN CN201721032646.3U patent/CN207087855U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422435A (en) * | 2018-03-21 | 2018-08-21 | 青岛理工大学 | A kind of long-range monitoring and control system based on augmented reality |
| CN108955529A (en) * | 2018-08-14 | 2018-12-07 | 浙江树人学院 | A kind of robot three-dimensional scanning means |
| CN109736894A (en) * | 2018-11-27 | 2019-05-10 | 中国矿业大学 | A kind of monitoring system, monitoring method and method for early warning for coal mine roadway country rock disaster |
| CN109990701A (en) * | 2019-03-04 | 2019-07-09 | 华中科技大学 | A kind of large complicated carved three-dimensional appearance robot traverse measurement system and method |
| CN110375681A (en) * | 2019-07-15 | 2019-10-25 | 中国计量科学研究院 | The normal pressures large diameter pipeline area of section on-line calibration device such as a kind of flue or chimney |
| CN110405718A (en) * | 2019-07-28 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of industrial processes robot inspection device |
| CN111061274A (en) * | 2019-12-27 | 2020-04-24 | 广东电网有限责任公司 | Traveling system of archive management robot |
| CN113405521A (en) * | 2021-05-27 | 2021-09-17 | 上海思岚科技有限公司 | Laser scanning range finder with variable line outgoing direction |
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