CN116698001A - Electronic compass adapting to high-speed motion state - Google Patents

Abstract

The invention relates to the technical field of compasses and discloses an electronic compass suitable for a high-speed motion state, which comprises a compass body, wherein a base is arranged on the lower surface of the compass body, a round groove is formed in the upper surface of the base, an inertial measurement unit is arranged in the round groove, the lower surface of the base is fixedly connected with a ball sleeve, a universal ball is rotatably arranged in the ball sleeve, the outer surface of the universal ball is fixedly connected with a connecting rod, the bottom end of the connecting rod is rotatably connected with a hinged support, the outer surface of the hinged support is fixedly connected with an adjusting plate, and one end of the adjusting plate is connected with an output shaft of a brushless motor. According to the electronic compass suitable for the high-speed motion state, the detected data are sent to the microprocessor in real time through the inertia measurement list, and the microprocessor immediately starts the brushless motor to cooperate with the adjusting plate, the hinged support, the connecting rod, the universal ball and the ball head sleeve to adjust the horizontal position of the bearing table of the base, so that the horizontal position of the compass body can be adjusted in time, and the accuracy of the compass body is improved.

Description

Electronic compass adapting to high-speed motion state

Technical Field

The invention relates to the technical field of compasses, in particular to an electronic compass suitable for a high-speed motion state.

Background

Electronic compasses, also called digital compasses, have been widely used as navigation instruments or attitude sensors in modern technical conditions. Compared with the traditional compass with pointer and balance frame structure, the electronic compass has low energy consumption, small volume, light weight, high precision and microminiaturization, and the output signal can realize digital display through processing, can be used for pointing, and the digital signal can be directly sent to an automatic rudder to control the operation of a ship.

The existing electronic compass utilizes a triaxial magnetic sensor to measure X, Y, Z triaxial magnetic signals, the magnetic signals are input into a computer after AD acquisition, and meanwhile, inclination angle (pitch angle and roll angle) data obtained by accelerometer or inclinometer measurement are also input into the computer for calculation to obtain azimuth angles.

However, when the electronic compass is in a motion state, particularly in a high-speed motion state, the accelerometer in the compass can be affected by the motion, the inclination angle can not be truly measured, a larger error can be brought to the inclination angle value, and finally, a larger error can be brought to the course angle of the electronic compass by the error of the inclination angle value, so that the course angle precision of the electronic compass in the motion state is reduced.

Disclosure of Invention

(one) solving the technical problems

Aiming at the defects of the prior art, the invention provides the electronic compass which is suitable for the high-speed movement state, and the electronic compass has the advantages that the stability of the electronic compass can be kept under the high-speed movement state, so that devices in the electronic compass can be kept stable, the direction angle measured by the electronic compass is more accurate, and the problems that the current electronic compass is only suitable for the stable state and the measurement is not accurate enough under the high-speed movement state are solved.

(II) technical scheme

In order to achieve the purpose that the electronic compass can be kept stable under the high-speed motion state, so that devices in the electronic compass can be kept stable, and the direction angle measured by the electronic compass is more accurate, the invention provides the following technical scheme: the utility model provides an adaptation high-speed motion's electron compass, includes the compass body, the lower surface of compass body sets up the base, the circular slot is seted up to the upper surface of base, set up inertial measurement unit in the circular slot, the lower fixed surface of base connects the ball cover, the ball cover internal rotation sets up the universal ball, the surface fixed connection connecting rod of universal ball, the bottom of connecting rod rotates and connects the free bearing, the surface fixed connection regulating plate of free bearing, brushless motor's output shaft is connected to the one end of regulating plate, brushless motor's bottom fixed connection base, the upper surface of base runs through the through-hole of seting up, alternate the damping pole in the through-hole, damping pole's bottom fixed connection piston, the surface of piston sets up the sleeve, the surface of damping pole cup joints the pressure spring, just the top fixed connection spacing piece of damping pole, the upper surface fixed connection microprocessor of base.

Preferably, the base comprises a bearing table, a groove, a spring, a pin plate and a clamping block, wherein the groove is formed in the top surface of the bearing table, the spring and the pin plate are arranged in the groove, and the clamping block is fixedly connected to the upper surface of the pin plate.

Through above technical scheme, the diameter of circular slot is greater than the bottom surface diameter of compass body about one millimeter for the compass body can be placed in the circular slot, and the compass body is located the upper surface central point of plummer this moment, and plummer is used for bearing the compass body, and two clamp splice then can fix the compass body.

Preferably, one side of the clamping block is provided with an arc surface, and a round angle is arranged between the upper surface of the clamping block and the arc surface.

Through above technical scheme, when placing the in-process at the circular slot with the compass body, the cambered surface of clamp splice is contacted to the bottom of compass body, presses the compass body slightly and makes can extrude the clamp splice, and the clamp splice drives the pin plate compression spring, and after the laminating of compass body bottom surface was in the circular slot, two clamp splice can grasp the compass body under the effect of spring for the compass body is placed steadily, and also conveniently dismantles the compass body if necessary.

Preferably, the inertial measurement unit comprises a gyro sensor and an accelerometer, and the gyro sensor and the accelerometer are electrically connected with the microprocessor.

Through above technical scheme, inertial measurement unit comprises gyro sensor and accelerometer, and the accelerometer is used for detecting the gravity direction of base, and then can detect the gravity direction of compass body, and the gyro sensor keeps rotatory in-process can detect the horizontal angle of base, namely can measure the angular velocity change of compass body, and the inertial measurement unit that gyro sensor and accelerometer constitute can send the data that detects to microprocessor in real time.

Preferably, the brushless motor is electrically connected with the microprocessor.

Through above technical scheme, can know the angular velocity change and the change of gravity direction that the compass body took place at the first time after microprocessor obtained the data that inertial measurement unit detected, microprocessor then starts brushless motor immediately, and brushless motor then can drive the regulating plate and rotate, and the regulating plate drives the hinged support, and the hinged support drives the connecting rod, and the connecting rod drives the universal ball, and the universal ball can be at ball head cover internal rotation, and can drive the ball head cover, and the ball head cover drives the timely adjustment horizontal direction of base, and then can drive compass body adjustment horizontal direction.

Preferably, the ball head sleeve circumferentially surrounds the axis direction of the compass body, and the hinge support and the connecting rod are connected with a pin shaft in a rotating mode.

Through above technical scheme, brushless motor, regulating plate, free bearing, connecting rod are provided with four groups equally with the universal ball to the symmetric distribution is at the lower surface of base, and four groups brushless motor all receive microprocessor control, so can be in the position of its horizontal direction of four position adjustment of base, and then ensure even produced under the state of high-speed motion and rock, and the compass body still keeps in the horizontality, makes the precision of compass body obtain improving.

Preferably, the top end of the pressure spring abuts against the limiting piece, and the bottom end of the pressure spring abuts against the base.

Through above technical scheme, if produce jolting of upper and lower direction when high-speed motion, then vibration force conduction is to sleeve and damping pole, and then vibration force is on the pressure spring through spacing piece conduction, and the pressure spring compresses and absorbs vibration force for the vibration force that the base received reduces, and then makes the vibration force that the compass body received reduce and keep steady.

Preferably, a damping medium is arranged in the sleeve, and a gap is formed between the piston and the inner wall of the sleeve.

Through above technical scheme, vibration force passes through the compression spring compression and absorbs the back, and the back is stretched to the spacing piece to the back reaction force, and the spacing piece drives the damping rod, and the damping rod drives piston reciprocating motion in the sleeve, and the clearance department of piston and sleeve inner wall constantly shuttles back and forth damping medium and produces damping force, consequently can be by a wide margin and constantly attenuate vibration force, and make the base be in steady state fast, and then further makes compass body keep stable.

Compared with the prior art, the invention provides the electronic compass adapting to the high-speed movement state, which has the following beneficial effects:

1. according to the electronic compass suitable for the high-speed motion state, the inertial measurement unit is arranged to detect the angular speed change and the gravity direction change of the compass body, the inertial measurement unit sends detected data to the microprocessor in real time, and the microprocessor immediately starts the brushless motor to adjust the horizontal position of the bearing table of the base by matching with the adjusting plate, the hinged support, the connecting rod, the universal ball and the ball head sleeve, so that the horizontal position of the compass body can be adjusted in time, shaking is generated in time in the high-speed motion state, the compass body still remains in the horizontal state, and the accuracy of the compass body is improved.

2. According to the electronic compass suitable for the high-speed motion state, if jolt is generated in the high-speed motion process, the compression spring is compressed to absorb vibration force, so that vibration force borne by the base is reduced, the compression spring exerts reaction force on the limiting piece after being stretched, the limiting piece drives the damping rod, the damping rod drives the piston to reciprocate in the sleeve, and a gap between the piston and the inner wall of the sleeve continuously shuttles damping medium to generate damping force, so that vibration force can be greatly and continuously attenuated, the base is in a stable state rapidly, and the compass body is further kept stable.

3. According to the electronic compass suitable for the high-speed movement state, the base is arranged, when the compass body is placed in the circular groove, the bottom of the compass body is contacted with the cambered surface of the clamping block, the clamping block is pressed slightly to enable the compass body to be extruded, the clamping block drives the pin plate to compress the spring, after the bottom surface of the compass body is attached to the circular groove, the two clamping blocks can clamp the compass body under the action of the spring, so that the compass body is placed stably, and the compass body is convenient to detach when necessary.

Drawings

FIG. 1 is a schematic perspective view of the structure of the present invention;

FIG. 2 is a schematic top view of a structural base of the present invention;

FIG. 3 is an enlarged partial schematic view of FIG. 2A of the structure of the present invention;

FIG. 4 is a schematic diagram of the front of the structure of the present invention;

FIG. 5 is a schematic cross-sectional view of A-A of FIG. 4, which is a structural diagram of the present invention.

Wherein: 1. a compass body; 2. a base; 21. a carrying platform; 22. a groove; 23. a spring; 24. a pin plate; 25. clamping blocks; 3. a circular groove; 4. an inertial measurement unit; 41. a gyro sensor; 42. an accelerometer; 5. a ball sleeve; 6. a universal ball; 7. a connecting rod; 8. a hinged support; 9. an adjusting plate; 10. a brushless motor; 11. a base; 12. a through hole; 13. a damping rod; 14. a piston; 15. a sleeve; 16. a pressure spring; 17. a limiting piece; 18. and a microprocessor.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-5, an electronic compass adapted to a high-speed motion state includes a compass body 1, a base 2 is disposed on a lower surface of the compass body 1, a circular groove 3 is disposed on an upper surface of the base 2, an inertial measurement unit 4 is disposed in the circular groove 3, a ball sleeve 5 is fixedly connected to a lower surface of the base 2, a universal ball 6 is rotatably disposed in the ball sleeve 5, a connecting rod 7 is fixedly connected to an outer surface of the universal ball 6, a bottom end of the connecting rod 7 is rotatably connected to a hinged support 8, an outer surface of the hinged support 8 is fixedly connected to an adjusting plate 9, one end of the adjusting plate 9 is connected to an output shaft of a brushless motor 10, a bottom of the brushless motor 10 is fixedly connected to a base 11, a through hole 12 is formed in an upper surface of the base 11, a damping rod 13 is inserted into the through hole 12, a piston 14 is fixedly connected to a bottom end of the damping rod 13, a sleeve 15 is disposed on an outer surface of the piston 14, a compression spring 16 is sleeved on an outer surface of the damping rod 13, a top end of the damping rod 13 is fixedly connected to a limit plate 17, and an upper surface of the base 11 is fixedly connected to a microprocessor 18.

Specifically, the base 2 includes a bearing table 21, a groove 22, a spring 23, a pin plate 24 and a clamping block 25, the top surface of the bearing table 21 is provided with the groove 22, the spring 23 and the pin plate 24 are arranged in the groove 22, and the upper surface of the pin plate 24 is fixedly connected with the clamping block 25. The compass has the advantages that the diameter of the circular groove 3 is larger than that of the bottom surface of the compass body 1 by about one millimeter, so that the compass body 1 can be placed in the circular groove 3, the compass body 1 is located at the center of the upper surface of the bearing table 21, the bearing table 21 is used for supporting the compass body 1, and the compass body 1 can be fixed by the two clamping blocks 25.

Specifically, one side of the clamping block 25 is provided with an arc surface, and a round angle is arranged between the upper surface of the clamping block 25 and the arc surface. The advantage is, when placing compass body 1 at the in-process of circular slot 3, the cambered surface of clamp splice 25 is contacted to the bottom of compass body 1, presses compass body 1 slightly and makes can extrude clamp splice 25, and clamp splice 25 drives pin plate 24 compression spring 23, and after the laminating of compass body 1 bottom surface was in circular slot 3, two clamp splice 25 can grasp compass body 1 under spring 23's effect for compass body 1 is placed steadily, and also conveniently dismantles compass body 1 if necessary.

Specifically, the inertial measurement unit 4 includes a gyro sensor 41 and an accelerometer 42, and the gyro sensor 41 and the accelerometer 42 are electrically connected to the microprocessor 18. The advantage is that inertial measurement unit 4 comprises gyro sensor 41 and accelerometer 42, and accelerometer 42 is used for detecting the direction of gravity of base 2, and then can detect the direction of gravity of compass body 1, and gyro sensor 41 keeps rotatory in-process can detect the horizontal angle of base 2, namely can measure the angular velocity change of compass body 1, and inertial measurement unit 4 that gyro sensor 41 and accelerometer 42 constitute can send the data that detects to microprocessor 18 in real time.

Specifically, the brushless motor 10 is electrically connected to the microprocessor 18. The advantage is, microprocessor 18 can know the angular velocity change and the change of gravity direction that compass body 1 took place at the first time after obtaining the data that inertial measurement unit 4 detected, microprocessor 18 then starts brushless motor 10 immediately, brushless motor 10 then can drive regulating plate 9 and rotate, regulating plate 9 drives hinged support 8, hinged support 8 drives connecting rod 7, connecting rod 7 drives universal ball 6, universal ball 6 can rotate in bulb cover 5, and can drive bulb cover 5, bulb cover 5 drives the timely adjustment horizontal direction of base 2, and then can drive compass body 1 adjustment horizontal direction.

Specifically, the ball sleeve 5 is circumferentially arranged four times around the axis direction of the compass body 1, and a connecting pin shaft is rotatably connected between the hinge seat 8 and the connecting rod 7. The advantage is that brushless motor 10, regulating plate 9, free bearing 8, connecting rod 7 are provided with four groups equally with universal ball 6 to the symmetric distribution is at the lower surface of base 2, and four groups brushless motor 10 all receive microprocessor 18 control, so can adjust its horizontal direction's position in four positions of base 2, and then ensure even produced rocking under the state of high-speed motion, and compass body 1 still keeps in the horizontality, makes compass body 1's precision obtain improving.

Specifically, the top end of the compression spring 16 abuts against the limiting piece 17, and the bottom end of the compression spring 16 abuts against the base 11. The advantage is that if jolt in the up-down direction is generated during high-speed movement, the vibration force is transmitted to the sleeve 15 and the damping rod 13, then the vibration force is transmitted to the pressure spring 16 through the limiting piece, the pressure spring 16 is compressed to absorb the vibration force, so that the vibration force borne by the base 11 is reduced, and the vibration force borne by the compass body 1 is reduced and kept stable.

Specifically, a damping medium is disposed in the sleeve 15, and a gap is formed between the piston 14 and the inner wall of the sleeve 15. The vibration force is compressed and absorbed through the pressure spring 16, the pressure spring 16 exerts a reaction force on the limiting piece 17 after being stretched, the limiting piece 17 drives the damping rod 13, the damping rod 13 drives the piston 14 to reciprocate in the sleeve 15, and the gap between the piston 14 and the inner wall of the sleeve 15 continuously shuttles through damping media to generate damping force, so that the vibration force can be greatly and continuously attenuated, the base 11 is in a stable state rapidly, and the compass body 1 is further kept stable.

When the compass is used, firstly, if the compass shakes back and forth and left and right in the process of high-speed movement, the accelerometer 42 in the inertial measurement unit 4 can detect the gravity direction of the base 2, so that the gravity direction of the compass body 1 can be detected, the horizontal angle of the base 2 can be detected in the process that the gyroscope sensor 41 keeps rotating, namely, the angular velocity change of the compass body 1 can be measured, the inertial measurement unit 4 can send detected data to the microprocessor 18 in real time, the microprocessor 18 knows the change of the angular velocity and the gravity direction of the compass body 1 at the first time after obtaining the data detected by the inertial measurement unit 4, the microprocessor 18 immediately starts the brushless motor 10, the brushless motor 10 can drive the regulating plate 9 to rotate, the regulating plate 9 drives the hinged seat 8, the hinged seat 8 drives the connecting rod 7, the connecting rod 7 drives the universal ball 6, the universal ball 6 can rotate in the ball sleeve 5, the ball sleeve 5 drives the base 2 to adjust the horizontal direction in time, and then the compass body 1 can be driven to adjust the horizontal direction; if jolting up and down occurs in the high-speed movement process, the pressure spring 16 compresses and absorbs vibration force, so that vibration force borne by the base 11 is reduced, the pressure spring 16 exerts reaction force on the limiting piece 17 after stretching, the limiting piece 17 drives the damping rod 13, the damping rod 13 drives the piston 14 to reciprocate in the sleeve 15, and a gap between the piston 14 and the inner wall of the sleeve 15 continuously shuttles damping medium to generate damping force, so that vibration force can be greatly and continuously attenuated, the base 11 is in a stable state rapidly, and the compass body 1 is further kept stable.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (8)

1. The utility model provides an adaptation high-speed motion state's electron compass, includes compass body (1), its characterized in that: the compass comprises a compass body (1), wherein a base (2) is arranged on the lower surface of the compass body (1), a circular groove (3) is formed in the upper surface of the base (2), an inertia measuring unit (4) is arranged in the circular groove (3), a ball sleeve (5) is fixedly connected with the lower surface of the base (2), a universal ball (6) is arranged in the ball sleeve (5) in a rotating mode, a connecting rod (7) is fixedly connected with the outer surface of the universal ball (6), a hinged support (8) is connected with the bottom end of the connecting rod (7) in a rotating mode, an adjusting plate (9) is fixedly connected with the outer surface of the hinged support (8), one end of the adjusting plate (9) is connected with an output shaft of a brushless motor (10), a base (11) is fixedly connected with the bottom of the brushless motor (10), a through hole (12) is formed in the upper surface of the base (11), a damping rod (13) is inserted in the through hole (12), a piston (14) is fixedly connected with the bottom end of the damping rod (13), a sleeve (15) is arranged on the outer surface of the piston (14), a pressing spring (16) is sleeved on the outer surface of the damping rod (13), and the top end of the damping rod (13) is fixedly connected with a microprocessor (17).

2. An electronic compass adapted to high-speed motion according to claim 1, wherein: the base (2) comprises a bearing table (21), a groove (22), a spring (23), a pin plate (24) and a clamping block (25), wherein the groove (22) is formed in the top surface of the bearing table (21), the spring (23) and the pin plate (24) are arranged in the groove (22), and the clamping block (25) is fixedly connected with the upper surface of the pin plate (24).

3. An electronic compass adapted to high-speed motion according to claim 2, wherein: one side of the clamping block (25) is provided with an arc surface, and a round angle is arranged between the upper surface of the clamping block (25) and the arc surface.

4. An electronic compass adapted to high-speed motion according to claim 1, wherein: the inertial measurement unit (4) comprises a gyroscope sensor (41) and an accelerometer (42), wherein the gyroscope sensor (41) and the accelerometer (42) are electrically connected with the microprocessor (18).

5. An electronic compass adapted to high-speed motion according to claim 1, wherein: the brushless motor (10) is electrically connected with the microprocessor (18).

6. An electronic compass adapted to high-speed motion according to claim 1, wherein: the ball head sleeve (5) circumferentially surrounds the axis direction of the compass body (1), and a connecting pin shaft is rotationally connected between the hinged support (8) and the connecting rod (7).

7. An electronic compass adapted to high-speed motion according to claim 1, wherein: the top end of the pressure spring (16) is abutted against the limiting piece (17), and the bottom end of the pressure spring (16) is abutted against the base (11).

8. An electronic compass adapted to high-speed motion according to claim 1, wherein: damping medium is arranged in the sleeve (15), and a gap is reserved between the piston (14) and the inner wall of the sleeve (15).