CN219161322U

CN219161322U - Auxiliary azimuth correction equipment under pedestrian movement

Info

Publication number: CN219161322U
Application number: CN202222606009.XU
Authority: CN
Inventors: 赵汉高; 王源; 何晓晓
Original assignee: Suzhou Qianshouqianyan Technology Co ltd
Current assignee: Suzhou Qianshouqianyan Technology Co ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2023-06-09
Anticipated expiration: 2032-09-30

Abstract

The utility model discloses auxiliary correction equipment for azimuth under pedestrian movement, which comprises a base, an auxiliary mechanism, a moving mechanism and a jacking mechanism, wherein the auxiliary mechanism comprises an auxiliary shell, a servo motor, a support bearing and a screw rod, the auxiliary shell is arranged above the base, the top of the auxiliary shell is of an open structure, and the servo motor is fixed on the inner wall surface of one end of the auxiliary shell through bolts. This auxiliary correction equipment in position under pedestrian's motion can carry out the multiposition installation to check out test set through setting up the moving structure, can drive the reciprocal translation of check out test set through auxiliary structure, simulate the motion of horizontal road situation, can realize auxiliary structure's rotation and angle modulation through climbing mechanism to simulate the motion of different slope road situations, auxiliary correction equipment in position under this pedestrian's motion is rational in infrastructure, and degree of automation is high, can simulate the motion state under the multiple road conditions, and measured data is diversified, has effectively improved the position correction effect.

Description

Auxiliary azimuth correction equipment under pedestrian movement

Technical Field

The utility model relates to the technical field of azimuth angle calibration, in particular to azimuth auxiliary correction equipment under pedestrian movement.

Background

The strapdown inertial navigation system can realize complete autonomous navigation without external facilities. In recent years, based on low cost strapdown inertial navigation systems, small MEMS inertial sensors have received increasing attention in some military and civilian navigational positioning, especially in situations where satellite navigation is not available, such as indoors, underwater or underground. For the strapdown inertial navigation positioning system, the resolution of the azimuth angle of the carrier is mainly finished by a gyroscope, and the gyroscope has integral drift characteristics, and when the azimuth angle deviation is large, the deviation becomes a main source of position error. Therefore, according to the current situation of the accuracy of the MEMS gyroscope, the deviation increases rapidly with time, and it is difficult to support accurate navigation positioning for a long time without adopting necessary azimuthal error periodic correction measures.

In the prior art, in order to improve the azimuth estimation precision of the MEMS strapdown inertial navigation system, the device is required to be corrected by auxiliary equipment, so that the device loaded with the MEMS gyroscope is required to be moved, but when the device loaded with the MEMS gyroscope is moved, the device is usually simply moved horizontally, other road condition movements such as slope movement and the like cannot be simulated, and the movement state of the device under various inclination angles cannot be simulated, so that the problem that measured data is single and the correction effect is influenced is solved.

Disclosure of Invention

The utility model aims to provide azimuth auxiliary correction equipment under pedestrian movement, so as to solve the problems that the existing azimuth auxiliary correction equipment provided in the background technology is simpler in moving mode, single in measured data and affects correction effect.

In order to achieve the above purpose, the utility model provides a technical scheme that the azimuth auxiliary correction device under the movement of pedestrians comprises a base, an auxiliary mechanism, a moving mechanism and a jacking mechanism.

The auxiliary mechanism comprises an auxiliary shell, a servo motor, a support bearing and a screw rod, wherein the auxiliary shell is arranged above the base, the top of the auxiliary shell is of an open structure, the servo motor is fixed on the inner wall surface of one end of the auxiliary shell through a bolt, the support bearing is fixedly embedded on the inner wall surface of the other end of the auxiliary shell, one end of the screw rod is fixedly connected with a motor shaft of the servo motor, the other end of the screw rod is fixed in an inner ring of the support bearing, and a positioning groove is formed in the inner bottom surface of the auxiliary shell;

the moving mechanism comprises a movable block, a connecting piece, a mounting plate and an assembling block, wherein the movable block moves on the inner side of the auxiliary shell, the lower end of the connecting piece is fixed at the top of the movable block, the upper end of the connecting piece is fixedly connected with the mounting plate, the assembling block is connected to the surface of the mounting plate, and one end, far away from the mounting plate, of the assembling block is provided with detection equipment;

the jacking mechanism comprises an air cylinder, a bottom block, a fixing frame, a rotating frame and two groups of pulleys, wherein the air cylinder is obliquely arranged at the top of the base, the bottom block and the rotating frame are respectively fixed at two sides of the bottom of the auxiliary shell, the fixing frame is fixed at the top of the base, and the pulleys are arranged at the upper end of the output end of the air cylinder.

Preferably, a transmission hole is formed in the movable block in a penetrating manner, and the surface of the screw rod is connected with the inner wall surface of the transmission hole through a thread structure.

Preferably, the movable block bottom is fixedly connected with a sliding block, the sliding block is movably connected in the positioning groove, and the width of the sliding block is matched with the width of the opening of the positioning groove.

Preferably, the surface of the mounting plate is provided with a plurality of groups of mounting holes in a regular annular array.

Preferably, one side of the assembly block, which is close to the mounting plate, is of an arc-shaped structure, arc-shaped protruding blocks are integrally connected to the edges of two sides of the assembly block, and bolts are connected to the inner sides of the arc-shaped protruding blocks and the inside of the mounting holes through threaded structures.

Preferably, two groups of jacking grooves are formed in the bottom of the bottom block at intervals, and the two groups of pulleys are respectively and movably connected in the two groups of jacking grooves.

Preferably, the middle part of the fixing frame is of a cylindrical structure, and the rotating frame is movably sleeved at the middle part of the fixing frame.

Compared with the prior art, the utility model has the beneficial effects that: this auxiliary correction equipment in position under pedestrian's motion can carry out the multiposition installation to check out test set through setting up the moving structure, can drive the reciprocal translation of check out test set through auxiliary structure, simulate the motion of horizontal road situation, can realize auxiliary structure's rotation and angle modulation through climbing mechanism to simulate the motion of different slope road situations, auxiliary correction equipment in position under this pedestrian's motion is rational in infrastructure, and degree of automation is high, can simulate the motion state under the multiple road conditions, and measured data is diversified, has effectively improved the position correction effect.

Drawings

FIG. 1 is a front elevational view in cross-section of an orientation assist correction apparatus for pedestrian movement in accordance with the present utility model;

FIG. 2 is a schematic diagram of the front structure of an orientation assisting correction device under the movement of a pedestrian in accordance with the present utility model;

FIG. 3 is a schematic diagram showing the front structure of an auxiliary housing of the auxiliary correction device for pedestrian movement after being turned over;

FIG. 4 is a partial side structural cross-sectional view of an orientation aid correction device under pedestrian movement in accordance with the present utility model;

FIG. 5 is a side cross-sectional view of a mounting plate of the orientation aid correction device under pedestrian movement of the present utility model;

FIG. 6 is a partial side sectional view of a pulley of the orientation assist correction apparatus of the present utility model in pedestrian motion;

FIG. 7 is a schematic view of a side sill block construction of an orientation assist correction apparatus for pedestrian movement in accordance with the present utility model.

In the figure:

1. a base;

2. an auxiliary mechanism;

21. an auxiliary housing; 211. a positioning groove;

22. a servo motor; 23. a support bearing; 24. a screw rod;

3. a moving mechanism; 31. a movable block; 311. a transmission hole; 312. a slide block;

32. a connecting piece;

33. a mounting plate; 331. a mounting hole;

34. a mounting block; 341. arc-shaped protruding blocks;

4. a jacking mechanism; 41. a cylinder;

42. a bottom block; 423. a jacking groove;

43. a fixing frame; 44. a rotating frame; 45. a pulley;

5. and a detection device.

Detailed Description

The following description of the embodiments of the present utility model 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 utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-7, the present utility model provides a technical solution: an azimuth auxiliary correction device under pedestrian movement comprises a base 1, an auxiliary mechanism 2, a moving mechanism 3 and a jacking mechanism 4.

The auxiliary mechanism 2 comprises an auxiliary shell 21, a servo motor 22, a support bearing 23 and a screw rod 24, wherein the auxiliary shell 21 is arranged above the base 1, the top of the auxiliary shell is of an open structure, the servo motor 22 is fixed on the inner wall surface of one end of the auxiliary shell 21 through bolts, the support bearing 23 is fixedly embedded on the inner wall surface of the other end of the auxiliary shell 21, one end of the screw rod 24 is fixedly connected with a motor shaft of the servo motor 22, the other end of the screw rod 24 is fixed in the inner ring of the support bearing 23, and a positioning groove 211 is formed in the inner bottom surface of the auxiliary shell 21.

The moving mechanism 3 comprises a movable block 31, a connecting piece 32, a mounting plate 33 and an assembling block 34, wherein the movable block 31 moves on the inner side of the auxiliary shell 21, the lower end of the connecting piece 32 is fixed on the top of the movable block 31, the upper end of the connecting piece 32 is fixedly connected with the mounting plate 33, the assembling block 34 is connected to the surface of the mounting plate 33, and a detection device 5 is installed at one end, far away from the mounting plate 33, of the assembling block 34, wherein the detection device 5 is an electronic device with an MEMS gyroscope.

The bottom of the movable block 31 is fixedly connected with a sliding block 312, the sliding block 312 is movably connected in the positioning groove 211, and the width of the sliding block 312 is matched with the width of the opening of the positioning groove 211, wherein the sliding block 312 and the positioning groove 211 are of cuboid structures, and the positioning groove 211 has synchronous positioning function on the sliding block 312 and the movable block 31.

The transmission hole 311 is formed in the movable block 31 in a penetrating manner, the surface of the screw rod 24 is connected with the inner wall surface of the transmission hole 311 through a threaded structure, and the screw rod 24 can be driven to rotate through the servo motor 22, so that the movable block 31 can reciprocate on the inner side of the auxiliary shell 21.

The mounting plate 33 surface is regular annular array and has seted up multiunit mounting hole 331, and assembly piece 34 is close to mounting plate 33 one side and is arc structure, and assembly piece 34 both sides edge an organic whole is connected with arc lug 341, is connected with the bolt through the helicitic texture in the inboard and the mounting hole 331 of arc lug 341, wherein, mounting plate 33 is cylindrical structure, assembly piece 34 arc one side meets with mounting plate 33 circumference, the stability of assembly piece 34 and mounting plate 33 connection has been improved, and can be to assembly piece 34 multiposition installation through multiunit mounting hole 331, wherein, set up in the arc lug 341 with bolt assorted screw hole.

The jacking mechanism 4 comprises an air cylinder 41, a bottom block 42, a fixing frame 43, a rotating frame 44 and two groups of pulleys 45, wherein the air cylinder 41 is obliquely arranged at the top of the base 1, the bottom block 42 and the rotating frame 44 are respectively fixed at two sides of the bottom of the auxiliary shell 21, the fixing frame 43 is fixed at the top of the base 1, and the pulleys 45 are arranged at the upper end of the output end of the air cylinder 41.

The middle part of mount 43 is cylindrical structure, and the movable sleeve of revolving rack 44 locates the middle part of mount 43, has seted up corresponding through-hole in the revolving rack 44, and revolving rack 44, auxiliary housing 21 rotate with revolving rack 44 as the axle center.

Two groups of jacking grooves 423 are formed in the bottom of the bottom block 42 at intervals, two groups of pulleys 45 are respectively and movably connected in the two groups of jacking grooves 423, the jacking grooves 423 are of a cuboid structure, and stability of movement of the pulleys 45 is improved, so that when the pulleys 45 are jacked by the air cylinders 41, corresponding rotation of the bottom block 42 and the auxiliary shell 21 can be realized, and further, the movement state of the simulation detection equipment 5 in inclined road conditions is realized.

Working principle: when the auxiliary correction device for the azimuth under the pedestrian motion is used, the detection device 5 is firstly installed on the assembly block 34, the assembly block 34 is fixed on the surface of the assembly block 34 through bolts and arc-shaped protruding blocks 341, the screw rod 24 can be driven to rotate through the servo motor 22, so that the reciprocating movement of the movable block 31 and the detection device 5 on the inner side of the auxiliary shell 21 can be realized, when the auxiliary shell 21 is in a horizontal state, the horizontal movement of the detection device 5 can be simulated, when the pulley 45 is pushed by the cylinder 41, the corresponding rotation of the bottom block 42 and the auxiliary shell 21 can be realized, the movement state of the detection device 5 under the inclined road condition can be simulated, and the detection device 5 can be installed on the side face, the bottom or the top of the installation plate 33 through the assembly block 34, so that the movement state of the detection device 5 under various angles can be simulated.

Although the present utility model has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present utility model.

Claims

1. An orientation auxiliary correction device under pedestrian movement, characterized in that: comprises a base (1), an auxiliary mechanism (2), a moving mechanism (3) and a jacking mechanism (4);

the auxiliary mechanism (2) comprises an auxiliary shell (21), a servo motor (22), a support bearing (23) and a screw rod (24), wherein the auxiliary shell (21) is arranged above the base (1) and is of an open structure at the top, the servo motor (22) is fixed on the inner wall surface of one end of the auxiliary shell (21) through bolts, the support bearing (23) is fixedly embedded on the inner wall surface of the other end of the auxiliary shell (21), one end of the screw rod (24) is fixedly connected with a motor shaft of the servo motor (22), the other end of the screw rod (24) is fixed in an inner ring of the support bearing (23), and a positioning groove (211) is formed in the inner bottom surface of the auxiliary shell (21);

the moving mechanism (3) comprises a movable block (31), a connecting piece (32), a mounting plate (33) and an assembling block (34), wherein the movable block (31) moves on the inner side of the auxiliary shell (21), the lower end of the connecting piece (32) is fixed at the top of the movable block (31), the upper end of the connecting piece (32) is fixedly connected with the mounting plate (33), the assembling block (34) is connected to the surface of the mounting plate (33), and one end, far away from the mounting plate (33), of the assembling block (34) is provided with a detection device (5);

the lifting mechanism (4) comprises an air cylinder (41), a bottom block (42), a fixing frame (43), a rotating frame (44) and two groups of pulleys (45), wherein the air cylinder (41) is obliquely arranged at the top of the base (1), the bottom block (42) and the rotating frame (44) are respectively fixed at two sides of the bottom of the auxiliary shell (21), the fixing frame (43) is fixed at the top of the base (1), and the pulleys (45) are arranged at the upper end of the output end of the air cylinder (41).

2. The orientation assist correction apparatus under pedestrian motion according to claim 1, wherein: the movable block (31) is internally provided with a transmission hole (311) in a penetrating way, and the surface of the screw rod (24) is connected with the inner wall surface of the transmission hole (311) through a thread structure.

3. The orientation assist correction apparatus under pedestrian motion according to claim 1, wherein: the bottom of the movable block (31) is fixedly connected with a sliding block (312), the sliding block (312) is movably connected in the positioning groove (211), and the width of the sliding block (312) is matched with the width of the opening of the positioning groove (211).

4. The orientation assist correction apparatus under pedestrian motion according to claim 1, wherein: a plurality of groups of mounting holes (331) are formed in the surface of the mounting plate (33) in a regular annular array.

5. The orientation assist correction apparatus under pedestrian motion according to claim 1, wherein: one side of the assembly block (34) close to the mounting plate (33) is of an arc-shaped structure, arc-shaped protruding blocks (341) are integrally connected to the edges of two sides of the assembly block (34), and bolts are connected to the inner sides of the arc-shaped protruding blocks (341) and the inside of the mounting holes (331) through threaded structures.

6. The orientation assist correction apparatus under pedestrian motion according to claim 1, wherein: two groups of jacking grooves (423) are formed in the bottom of the bottom block (42) at intervals, and two groups of pulleys (45) are respectively and movably connected in the two groups of jacking grooves (423).

7. The orientation assist correction apparatus under pedestrian motion according to claim 1, wherein: the middle part of mount (43) is cylindrical structure, and the movable sleeve of revolving rack (44) locates the middle part of mount (43).