CN117589165B - Inertial positioning measuring instrument with stabilizing system - Google Patents
Inertial positioning measuring instrument with stabilizing system Download PDFInfo
- Publication number
- CN117589165B CN117589165B CN202311527046.4A CN202311527046A CN117589165B CN 117589165 B CN117589165 B CN 117589165B CN 202311527046 A CN202311527046 A CN 202311527046A CN 117589165 B CN117589165 B CN 117589165B
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- measuring instrument
- frame
- balance
- mounting frame
- stabilizing system
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- 230000000087 stabilizing effect Effects 0.000 title claims abstract description 35
- 238000013016 damping Methods 0.000 claims description 12
- 230000006641 stabilisation Effects 0.000 claims description 10
- 238000011105 stabilization Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 9
- 230000005484 gravity Effects 0.000 description 9
- 238000005259 measurement Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Of Balance (AREA)
Abstract
The inertial positioning measuring instrument with the stabilizing system comprises a measuring instrument body, wherein the measuring instrument body is provided with an inertial IMU module, a resolving PC module and an energy battery bin in a matching way; the balance stabilizing system is matched with the measuring instrument body for use; the balance stabilizing system comprises a connecting frame, a free rotation component and a balance component; the connecting frame is connected with the measuring instrument body, and the free rotation component and the balance component are both installed on the connecting frame. The inertial positioning measuring instrument with the stabilizing system disclosed by the invention is innovatively improved on the basis of the existing inertial positioning measuring instrument, is mainly matched with a pipeline robot to measure the running coordinate data of the inner wall of a pipeline, is additionally provided with the balancing stabilizing system on the basis structure of the traditional measuring instrument, solves the problem of perceived data drift error caused by uncertain random rolling of the existing inertial positioning measuring instrument along with the pipeline robot, can realize the posture balance and stability of the measuring instrument, and greatly improves the measuring precision.
Description
Technical Field
The invention relates to the technical field of pipeline measuring devices, in particular to an inertial positioning measuring instrument with a stabilizing system.
Background
Inertial positioning gauges are the most commonly used devices for operating positioning measurements inside pipes, and inertial positioning gauges typically carry a pipe robot into the pipe to perform the detection and positioning measurements. Therefore, the measurement precision and reliability of the inertial measurement detection technology are very important in the stability of the attitude of the inertial positioning measuring instrument and the internal key element IMU besides the running stability of the carrying pipeline robot. At present, related products at home and abroad rely on software operation to compensate the difficulty of measuring coordinate rolling errors of an inertial sensing element IMU, so that the horizontal errors of measurement precision and the data drift of elevation errors are caused, and the inertial positioning measuring instrument is caused to roll in a pipeline due to uncertainty of the instrument, so that the universal precision of the inertial positioning measuring instrument produced at home is lower than the calibration progress of the IMU, and the uncertainty error is larger.
A stable pipeline detection robot (application number 202222519324.9) is disclosed, which is applied to a pipeline with complex environment and can stably operate. According to the technical scheme disclosed in the patent document, the motor is regulated and controlled to control the linkage rod to rotate, the balancing weight is driven to slide along the slide column, so that the gravity center position of the detection robot is changed, the buoyancy difference generated when the detection robot ascends or descends to different water levels in the pipeline is regulated and controlled to change the gravity center position, the detection robot is kept stable, the detection robot is prevented from shaking or turning over in the pipeline operation process, and the detection robot is favorable for keeping the accuracy of detection data and the stability of the operation state.
The technical proposal disclosed in the patent document can keep the stability of the robot to a certain extent, but the principle is that the gravity center is changed by utilizing the buoyancy difference to regulate and control the balancing weight, thereby achieving the purpose of keeping the stability. The auxiliary facility of the robot has strong pertinence and wide application range, and cannot be applied to an environment without liquid buoyancy.
In addition, since the pipe robot is mounted on the gauge for measurement when the pipe interior is detected, the posture stability of the gauge itself is important, and there is no description of a technique for improving the posture stability of the gauge itself.
Disclosure of Invention
The invention provides an inertial positioning measuring instrument with a stabilizing system, aiming at the technical defects in the background art.
The technical scheme adopted by the invention is as follows: the inertial positioning measuring instrument with the stabilizing system comprises a measuring instrument body, wherein the measuring instrument body is provided with an inertial IMU module, a resolving PC module and an energy battery bin in a matching way; the balance stabilizing system is matched with the measuring instrument body for use; the balance stabilizing system comprises a connecting frame, a free rotation component and a balance component; the connecting frame is connected with the measuring instrument body, and the free rotation component and the balance component are both installed on the connecting frame.
As a preferable technical scheme: the balance stabilizing system is arranged outside the measuring instrument body; the connecting frame in the balance stabilizing system comprises a first mounting frame and a second mounting frame; the first mounting frame is connected with the mounting sleeve, and the second mounting frame is connected with the outer end face of the measuring instrument body; the first mounting frame is movably connected with the second mounting frame through a free rotation component.
As a preferable technical scheme: the rotating assembly comprises a connecting shaft, a damping sleeve, a bearing sleeve and a limiting ring; the damping sleeve is arranged in the central hole of the first mounting frame, and one end of the connecting shaft is inserted into the damping sleeve; the other end of the connecting shaft is inserted into the central hole of the second mounting frame, the bearing sleeve is sleeved outside the connecting shaft, and one end of the bearing sleeve is inserted into the central hole of the second mounting frame. The inner end of the damping sleeve is a conical sleeve.
As a preferable technical scheme: the balance component is a cradle head motor and is arranged on the inner side of the junction of the end part of the measuring body and the second mounting frame.
As a preferable technical scheme: the balance component is a balancing weight and is installed on the inner wall of the second installation frame near the end part side of the measuring instrument body through a connecting piece.
As a preferable technical scheme: the balance stabilizing system is arranged inside the measuring instrument body; the inertial IMU module is arranged in the balance stabilization system; the connecting frame in the balance stabilizing system comprises a first mounting frame and a second mounting frame; the first mounting frame and the second mounting frame are respectively connected with the inner wall of the measuring instrument body; the first mounting frame and the second mounting frame are movably provided with a free rotation component.
As a preferable technical scheme: the free rotation component comprises a bearing, an adaptive slip ring and a swinging frame; bearings are respectively arranged in the central holes of the first mounting frame and the second mounting frame; the outer end surfaces of the bearing inner rings are respectively provided with a free rotating ring, and the free rotating rings are connected with the swinging frame.
As a preferable technical scheme: the swinging frame is of a concave structure, vertical plates at two sides of the swinging frame are respectively fixedly connected with the rotating ring, and a counterweight plate and an inertial IMU module are arranged on a middle transverse plate.
As a preferable technical scheme: an adaptive slip ring is arranged in a central hole in the second mounting frame.
Compared with the prior art, the invention has the beneficial effects that:
The inertial positioning measuring instrument with the stabilizing system disclosed by the invention is innovatively improved on the basis of the existing inertial positioning measuring instrument, is mainly matched with a pipeline robot to measure the running coordinate data of the inner wall of a pipeline, is additionally provided with the balancing stabilizing system on the basis structure of the traditional measuring instrument, solves the problem of perceived data drift error caused by uncertain random rolling of the existing inertial positioning measuring instrument along with the pipeline robot, can realize the posture balance and stability of the measuring instrument, and greatly improves the measuring precision.
Drawings
Fig. 1 is a schematic overall structure of a first embodiment of the present invention.
Fig. 2 is a partial enlarged view of fig. 1.
Fig. 3 is a schematic diagram of the overall structure of a second embodiment of the present invention (not shown in the pipe robot).
Fig. 4 is a partial enlarged view of fig. 3.
Fig. 5 is a schematic diagram of the overall structure of a third embodiment of the present invention (the pipe robot is not shown).
Fig. 6 is a partial enlarged view of fig. 5.
In the figure: the measuring instrument comprises a measuring instrument body 1, a pipeline robot 2, a balance stabilizing system 3 and an inertial IMU module 4.
Detailed Description
The invention is further described below with reference to the drawings and examples.
Referring to fig. 1-6, the inertial positioning measuring instrument disclosed by the invention is additionally provided with a balance stabilizing system on the basis of the existing measuring instrument. The measuring instrument is matched with the pipeline robot and is used for measuring data in the pipeline.
The inertial positioning measuring instrument with the stabilizing system comprises a measuring instrument body 1, wherein the measuring instrument body 1 is provided with an inertial IMU module 4, a resolving PC module and an energy battery bin in a matching mode, and the inertial positioning measuring instrument also comprises a balance stabilizing system 3 matched with the measuring instrument body 1. The balance stabilization system 3 includes a link, a free-turning assembly, and a balancing assembly. The connecting frame is connected with the measuring instrument body 1, and the free rotation component and the balance component are both arranged on the connecting frame.
The present invention is described in detail below with reference to specific examples.
Example 1
Referring to fig. 1-2, in this embodiment, the balance stabilization system 3 is disposed outside the meter body, and as shown, two sets of balance stabilization systems 3 are disposed at both ends outside the meter body, respectively.
The connecting frame in the balance stabilization system 3 comprises a first mounting frame 3-3 and a second mounting frame 3-2; the first mounting frame 3-3 is connected with the mounting sleeve 3-5, and the mounting sleeve 3-5 is mounted on the pipeline robot 2 through a connecting piece. The second mounting frame 3-2 is connected with the outer end face of the measuring instrument body 1, and can be connected with threads or welded and fixed. The first mounting frame is movably connected with the second mounting frame through a free rotation component.
As a preferable technical scheme, the free rotation component comprises a connecting shaft 3-4-1, a damping sleeve 3-4-2, a bearing sleeve 3-4-3 and a limiting ring 3-4-4. The damping sleeve 3-4-2 is arranged in the central hole of the first mounting frame 3-3, and one end of the connecting shaft 3-4-1 is inserted into the damping sleeve 3-4-2. The other end of the connecting shaft 3-4-1 is inserted into the central hole of the second mounting frame 3-2, the bearing sleeve 3-4-3 is sleeved outside the connecting shaft 3-4-1, and one end of the bearing sleeve 3-4-3 is inserted into the central hole of the second mounting frame 3-2. The part of the bearing sleeve 3-4-3 arranged in the second mounting frame 3-2 is fixedly connected with the second mounting frame 3-2. The limiting ring 3-4-4 is sleeved at the outer end of the connecting shaft 3-4-1. The connecting shaft and the inner sleeve of the bearing sleeve are in free-rotating movable connection.
As a preferable technical scheme, the inner end of the damping sleeve 3-4-2 is a conical sleeve and is clamped on the inner wall of the central hole of the first mounting frame 3-3.
In this embodiment, the balance component 3-1 is a pan-tilt motor, the pan-tilt motor is mounted on the inner side of the junction between the end of the measuring instrument body 1 and the second mounting frame 3-2, and the pan-tilt motor shaft 3-4-5 controls the vector through an inertial element or a gravity sensing decoder, so that the relative stability of the connecting shaft 3-4-1 and the measuring instrument body 1 can be realized.
The free rotation component is a gravity free balance buffer mechanism, a composite bearing and the like are adopted to realize the free rotation opposite direction compensation capability of the instrument in the circumferential direction, the free rotation component senses the random rotation angle of the pipeline robot with an IMU or an angle module in the measuring instrument body, a rotation angle signal is fed back at any time to give a large torque to the cradle head motor module, and the direction compensation rotation moment is given to the original product inertial positioning measuring instrument to realize the maintenance of the horizontal posture of the inertial positioning measuring instrument.
Example two
Referring to fig. 3-4, in this embodiment, the structure of the apparatus is the same as that of the first embodiment, except that the balancing component is a balancing weight 3-6, the balancing weight 3-6 is an eccentric lead block, and is mounted on the inner wall of the second mounting frame 3-2 near the end of the measuring instrument body 1 by a connecting member such as a bolt.
The eccentric lead block is used as a gravity stabilizing system to replace the large-torque holder motor in the first embodiment, and the gravity stabilization of the eccentric lead block is overlapped by the self-bias of the original product inertial positioning measuring instrument, so that the horizontal posture of the original product inertial positioning measuring instrument is maintained, and a high-precision method close to the IMU inertial module is realized.
Example III
Referring to fig. 5-6, in this embodiment, the balance stabilization system is disposed within the meter body. The inertial IMU module 4 is installed in a balanced stabilization system.
The connecting frame in the balance stabilizing system comprises a first mounting frame 3-3 and a second mounting frame 3-2; the first mounting frame 3-3 and the second mounting frame 3-2 are respectively connected with the inner wall of the measuring instrument body 1. A free rotation component is movably arranged between the first mounting frame 3-3 and the second mounting frame 3-2.
As a preferred technical scheme, the free rotation component comprises a bearing 3-4-7, an adaptive slip ring 3-4-8 and a swinging frame 3-4-5. A group of bearings 3-4-7 are respectively installed in the central holes of the first mounting frame 3-3 and the second mounting frame 3-2. The outer end face of the inner ring of the bearing 3-4-7 is respectively provided with a rotating ring 3-4-9, and the rotating ring 3-4-9 is connected with the swinging frame 3-4-5.
Referring to fig. 6, the swinging frame 3-4-5 has a concave structure, vertical plates at two sides of the swinging frame are fixedly connected with the rotating ring 3-4-9 respectively, and a counterweight plate 3-4-6 and an inertia module 4 are arranged on a middle transverse plate through bolts. The self-adaptive slip ring 3-4-8 is arranged in the center hole of the second mounting frame 3-2, and the signal output of the inertial module is used for transmitting data through the self-adaptive micro-rotation of the self-adaptive slip ring 3-4-8 and the PC module in the inertial measurement instrument, so that stable data perception accurate positioning of the horizontal plane coordinates and the elevation coordinates of the three-dimensional coordinates of the inertial module is realized.
The inertial module of the inertial positioning measurement key sensing element is arranged on a swinging frame of the gravity self-adaptive stabilizing system, the inertial module swings freely along with the swinging frame through a bearing, and the balance weight plate and the eccentrically arranged inertial module keep a horizontal stable posture under the action of gravity.
Claims (3)
1. The inertial positioning measuring instrument with the stabilizing system comprises a measuring instrument body, wherein the measuring instrument body is provided with an inertial IMU module, a resolving PC module and an energy battery bin in a matching way; the method is characterized in that: the balance stabilizing system is matched with the measuring instrument body for use; the balance stabilizing system comprises a connecting frame, a free rotation component and a balance component; the connecting frame is connected with the measuring instrument body, and the free rotation component and the balance component are both arranged on the connecting frame;
The balance stabilization system is arranged outside the measuring instrument body:
the connecting frame in the balance stabilizing system comprises a first mounting frame and a second mounting frame; the first mounting frame is connected with the mounting sleeve, and the second mounting frame is connected with the outer end face of the measuring instrument body; the first installation frame is movably connected with the second installation frame through a free rotation component;
The free rotation component comprises a connecting shaft, a damping sleeve, a bearing sleeve and a limiting ring; the damping sleeve is arranged in the central hole of the first mounting frame, and one end of the connecting shaft is inserted into the damping sleeve; the other end of the connecting shaft is inserted into the central hole of the second mounting frame, a bearing sleeve is sleeved outside the connecting shaft, and one end of the bearing sleeve is inserted into the central hole of the second mounting frame;
The balancing component is a cradle head motor arranged on the inner side of the junction of the end part of the measuring body and the second mounting frame, or a balancing weight arranged on the inner wall of the second mounting frame near the end part side of the measuring body through a connecting piece.
2. The inertial positioning meter with stabilizing system of claim 1, wherein: the inner end of the damping sleeve is a conical sleeve.
3. The inertial positioning measuring instrument with the stabilizing system comprises a measuring instrument body, wherein the measuring instrument body is provided with an inertial IMU module, a resolving PC module and an energy battery bin in a matching way; the method is characterized in that: the balance stabilizing system is matched with the measuring instrument body for use; the balance stabilizing system comprises a connecting frame, a free rotation component and a balance component; the connecting frame is connected with the measuring instrument body, and the free rotation component and the balance component are both arranged on the connecting frame;
The balance stabilizing system is arranged inside the measuring instrument body;
The inertial IMU module is arranged in the balance stabilization system;
The connecting frame in the balance stabilizing system comprises a first mounting frame and a second mounting frame; the first mounting frame and the second mounting frame are respectively connected with the inner wall of the measuring instrument body; a free rotation component is movably installed between the first installation frame and the second installation frame;
The free rotation component comprises a bearing, a self-adaptive slip ring and a swing frame; bearings are respectively arranged in the central holes of the first mounting frame and the second mounting frame; the outer end surfaces of the bearing inner rings are respectively provided with a free rotating ring which is connected with the swinging frame;
The swinging frame is of a concave structure, vertical plates at two sides of the swinging frame are respectively fixedly connected with the rotating ring, and a counterweight plate and an inertial IMU module are arranged on a middle transverse plate;
an adaptive slip ring is arranged in a central hole in the second mounting frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311527046.4A CN117589165B (en) | 2023-11-16 | 2023-11-16 | Inertial positioning measuring instrument with stabilizing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311527046.4A CN117589165B (en) | 2023-11-16 | 2023-11-16 | Inertial positioning measuring instrument with stabilizing system |
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| Publication Number | Publication Date |
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| CN117589165A CN117589165A (en) | 2024-02-23 |
| CN117589165B true CN117589165B (en) | 2024-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311527046.4A Active CN117589165B (en) | 2023-11-16 | 2023-11-16 | Inertial positioning measuring instrument with stabilizing system |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105045018A (en) * | 2015-07-30 | 2015-11-11 | 极翼机器人(上海)有限公司 | Cloud platform |
| WO2021152081A1 (en) * | 2020-01-30 | 2021-08-05 | Volkswagen Aktiengesellschaft | Methods, balancing module and multi-robot system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100487374C (en) * | 2006-07-21 | 2009-05-13 | 北京航空航天大学 | Contra rotating positioning mechanism for eliminating dynamic regulating gyroinclinometer inertia device constant value error |
| KR101413608B1 (en) * | 2012-12-07 | 2014-07-08 | 부산대학교 산학협력단 | Balancing control apparatus for bicycle robot |
| CN203732075U (en) * | 2014-03-03 | 2014-07-23 | 山西科泰微技术有限公司 | Inertial navigation system with rolling isolating function |
| CN106121630B (en) * | 2016-06-15 | 2019-06-07 | 北京科技大学 | A kind of single-axis servo continuous inclinometer Inertial Measurement Unit |
| CN213745528U (en) * | 2020-12-14 | 2021-07-20 | 唐山市中宇科技发展有限公司 | Inertial navigation locator running gear |
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2023
- 2023-11-16 CN CN202311527046.4A patent/CN117589165B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105045018A (en) * | 2015-07-30 | 2015-11-11 | 极翼机器人(上海)有限公司 | Cloud platform |
| WO2021152081A1 (en) * | 2020-01-30 | 2021-08-05 | Volkswagen Aktiengesellschaft | Methods, balancing module and multi-robot system |
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| CN117589165A (en) | 2024-02-23 |
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