A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Crawler-type mobile device and crawler-type mobile device positioning method
The invention relates to the technical field of positioning, in particular to crawler-type mobile equipment and a crawler-type mobile equipment positioning method. The crawler-type mobile device comprises a control module and two UWB basic positioning modules. The two UWB basic positioning modules are both used for acquiring module positioning information of the two UWB basic positioning modules in a preset first reference coordinate system and transmitting the module positioning information to the control module, and the first reference coordinate system is a coordinate system established based on at least three preset positioning base stations; the control module comprises a track direction determination unit used for obtaining the slope of the normal of the connecting line of the two UWB basic positioning modules based on the module positioning information of the two UWB basic positioning modules at any moment; and based on the slope, obtaining the crawler direction of the crawler-type mobile equipment. According to the crawler-type mobile equipment, the direction of the crawler can be well positioned, the accuracy is high, and the cost is low.
本发明涉及定位技术领域，尤其涉及一种履带式移动设备及履带式移动设备定位方法。履带式移动设备包括：控制模块、以及两个UWB基础定位模块；两个UWB基础定位模块均用于获取各自在预设的第一参考坐标系中的模块定位信息，将模块定位信息传输至控制模块，第一参考坐标系为基于至少三个预设的定位基站建立的坐标系；控制模块包括：履带走向确定单元，用于基于任一时刻的两个UWB基础定位模块的模块定位信息，得到两个UWB基础定位模块连线的法线的斜率；基于斜率，得到履带式移动设备的履带走向。本发明中的履带式移动设备能够较好地实现对履带走向的定位，精确度较高，成本较低。
Crawler-type mobile device and crawler-type mobile device positioning method
The invention relates to the technical field of positioning, in particular to crawler-type mobile equipment and a crawler-type mobile equipment positioning method. The crawler-type mobile device comprises a control module and two UWB basic positioning modules. The two UWB basic positioning modules are both used for acquiring module positioning information of the two UWB basic positioning modules in a preset first reference coordinate system and transmitting the module positioning information to the control module, and the first reference coordinate system is a coordinate system established based on at least three preset positioning base stations; the control module comprises a track direction determination unit used for obtaining the slope of the normal of the connecting line of the two UWB basic positioning modules based on the module positioning information of the two UWB basic positioning modules at any moment; and based on the slope, obtaining the crawler direction of the crawler-type mobile equipment. According to the crawler-type mobile equipment, the direction of the crawler can be well positioned, the accuracy is high, and the cost is low.
本发明涉及定位技术领域，尤其涉及一种履带式移动设备及履带式移动设备定位方法。履带式移动设备包括：控制模块、以及两个UWB基础定位模块；两个UWB基础定位模块均用于获取各自在预设的第一参考坐标系中的模块定位信息，将模块定位信息传输至控制模块，第一参考坐标系为基于至少三个预设的定位基站建立的坐标系；控制模块包括：履带走向确定单元，用于基于任一时刻的两个UWB基础定位模块的模块定位信息，得到两个UWB基础定位模块连线的法线的斜率；基于斜率，得到履带式移动设备的履带走向。本发明中的履带式移动设备能够较好地实现对履带走向的定位，精确度较高，成本较低。
Crawler-type mobile device and crawler-type mobile device positioning method
履带式移动设备及履带式移动设备定位方法
SUN LU (author) / DENG ZHIHONG (author) / WANG ZHAOQI (author)
2023-11-28
Patent
Electronic Resource
Chinese