CN2914033Y - Gyro-theodolite - Google Patents

Abstract

The utility model discloses a gyro theodolite, including a gyro and a theodolite, which is characterized in that: the small-scaled two-axis gyro is combined with the theodolite and is directly equipped on the vertical axis set of the theodolite; two sensitive axes of the two-axis gyro is positioned horizontally; the vertical axis set of the theodolite is the load bearing rotary table for the two-axis gyro. The utility model solves the problems of the traditional gyro about complicated structure, limited north-finding time by swing period, long north-finding time, not easy realization of automatic measure and high cost.

Description

A kind of gyro-theodolite

Technical field

The utility model relates to a kind of surveying instrument.

Background technology

Existing gyro-theodolite is to adopt the pendulum type gyroscope north searching instrument of hang spring suspension and the combination of transit basically.The basic structure of gyro part is that a metal hang spring hangs the rotor case body, and the gyro motor (be gyrorotor, armature spindle is level and installs) of high speed rotating is housed in the room body.The tie point of hang spring and rotor case body (promptly descends hitch point, the last hitch point of hang spring is connected the lower end of transit vertical shaft series, the rotatable hitch point of going up when rotating the transit Z-axis) becomes the freely-suspended rotating shaft of rotor case body, so constitute the free gyro system that a barycenter moves down.Because the center of gravity of rotor case is below the suspension rotating shaft, so free gyro will be subjected to the constraint of gravitational torque and constitute one hanging pendulum around the rotation of transverse axis (normally winding the transverse axis perpendicular to armature spindle).

Having under the condition of damping, the interaction of the gyroscopic inertia of gyro and precession and gravity pendulum square makes the gyrorotor axle sinusoidal decay motion of meridian ellipse occur being tending towards automatically and finally be parked in to finish in the meridian ellipse seeking north.In order to seek north fast and accurately, can adopt the multiple northern metering system of seeking.

The major advantage of above-mentioned gyro-theodolite is:

1, because the hang spring hang can seek the pedal line direction automatically when making gyro work, thereby the leveling error of transit does not directly influence north finding precision;

When 2, seeking the north measurement, insensitive to the inclination speed of setting up basal plane;

3, be easy to reach degree of precision.

Its shortcoming is:

1, complex structure, the production debug difficulties, the generation cycle is long;

2, seek north and the time be subjected to the restriction of hunting period, it is long to seek the north time;

3, be difficult for realizing measuring robotization, cost height.

Summary of the invention

The purpose of this utility model provides a kind of gyro-theodolite, to solve the complex structure that traditional gyro-theodolite exists, seeks north and the time is subjected to the restriction of hunting period, and it is long to seek the north time, is difficult for realizing problems such as measurement robotization and cost height.

The technical scheme of a kind of gyro-theodolite described in the utility model is: it comprises gyro and transit two parts, with small Twin-shaft gyro and transit combination, the small Twin-shaft gyro is directly installed on the vertical shaft series of transit, two sensitive axes of twin shaft gyro are horizontal positioned, and the vertical shaft series of transit becomes the carrying turntable of twin shaft gyro.

Aforesaid a kind of gyro-theodolite, described small Twin-shaft gyro adopts the twin shaft flexible gyroscope.

Aforesaid a kind of gyro-theodolite, wherein transit adopts electronic theodolite.

Aforesaid a kind of gyro-theodolite, at no telescope and do not have in the horizontal alidade structure, described twin shaft gyro is directly installed on repeating circle azimuth rotating platform top.

Aforesaid a kind of gyro-theodolite, repeating circle have telescopical on during hanging hang structure, described twin shaft gyro is installed on the alidade.

Aforesaid a kind of gyro-theodolite, transit have telescopical in during hanging hang structure, described twin shaft gyro is installed in repeating circle azimuth rotating platform top.

Aforesaid a kind of gyro-theodolite, described twin shaft gyro are installed in the transit below.

Aforesaid a kind of gyro-theodolite, the azimuth rotation mechanism of described twin shaft gyro and transit turntable is manual or automatic.

Aforesaid a kind of gyro-theodolite, described twin shaft gyro is covered with a magnetic shielding cover.

Advantage of the present utility model and good effect are as follows:

1, provides a kind of gyro-theodolite simple in structure;

2, this gyro-theodolite production debugging operations is simple, with short production cycle;

3, seek north time weak point;

4, cost is low, easily realizes measuring robotization.

Description of drawings:

Fig. 1 is the northern schematic diagram of seeking of the utility model twin shaft gyro.

Fig. 2 is the structural representation that no telescope of the present utility model does not have horizontal alidade.

Fig. 3 is the telescopical structural representation of going up hanging hang structure that has of the present utility model.

Fig. 4 is the telescopical middle structure synoptic diagram that has of the present utility model.

Fig. 5 is the telescopical hanging structural representation down that has of the present utility model.

Fig. 6 is the northern measuring operation process flow diagram of seeking of the present utility model.

Fig. 7 is a Circuits System theory diagram of the present utility model.

Embodiment

The utility model is an example with the flexible gyroscope, illustrates that its double-shaft level seeks northern principle:

Fig. 1 seeks the synoptic diagram of northern principle for double-shaft level.Two of gyro sensitive axes X among the figure, Y all is in the surface level.The output of two repacking slowdown monitoring circuits is respectively responsive separately rotational-angular velocity of the earth component and the constant value drift that arrives on arbitrary orientation:

ω _x1＝ω _ecosλ×cosα _N+ω _x0 (1)

ω _y1＝ω _ecosλ×sinα _N+ω _y0 (2)

In the formula

λ measures the latitude in place

α _NThe x axle angle by north of desiring to ask

ω _eRotational-angular velocity of the earth (15 °/h)

ω _X0The X output shaft constant value drift of gyro

ω _Y0The output shaft constant value drift of gyro

In order to eliminate the influence of constant value drift, make the gyro sensitive axes carry out second position measurement for 180 ° around the axle of the plummet rotation by rotating transit.

In order to eliminate the influence of terrestrial magnetic field, gyro partly need be provided with one deck or two-layer magnetic shielding cover.

ω _x2＝-ω _ecosλ×cosα _N+ω _x0 (3)

ω _y2＝-ω _ecosλ×sinα _N+ω _y0 (4)

(3)-(1)，(4)-(2)

ω _x2-ω _x1＝2ω _ecosλ×cosα _N

ω _y2-ω _y1＝2ω _ecosλ×sinα _N

Then the gyro X-axis be with angle north orientation:

$a_N=\mathrm{arctg}\left(\frac{{\mathrm{\ω}}_{y2}-{\mathrm{\ω}}_{y1}}{{\mathrm{\ω}}_{x2}{-\mathrm{\ω}}_{x1}}\right)---\left(6\right)$

The mounting means of gyro on transit has following four kinds:

Form 1:

No telescope does not have horizontal alidade structure, as Fig. 2.Only utilize the horizontal dial and the vertical shaft series of electronic theodolite this moment.Owing to there is not telescope, orientation output need be exported and transmit by the benchmark right-angle prism realization orientation that outside autocollimator transit collimation is sought on the northern instrument; 1 is gyro among Fig. 2, the 2nd, and azimuth rotation motor, the 3rd, transit horizontal dial, the 4th, socket, the 5th, electronic box, the 6th, tripod, the 7th, direction locking and fine motion handwheel, the 8th, leveling pin spiral shell, the 9th, orientation output right-angle prism and window, the 10th, magnetic shielding cover.

Form 2:

The telescopical hanging hang structure of going up is arranged, as Fig. 3.As an annex, gyro is installed on the alidade.This moment, installing space was big, and it is little to require transit to change.The gyro heating is little for the transit influence.1 is gyro among Fig. 3, the 3rd, and transit horizontal dial, the 4th, socket, the 5th, electronic box, the 6th, tripod, the 7th, direction locking and fine motion handwheel, the 8th, leveling pin spiral shell, the 11st, telescope.

Form 3:

The telescope middle structure is arranged, as Fig. 4.Gyro is installed in the telescope below.This moment, installing space was too narrow and small but the system architecture size is little, good stability.The explanation of parts sequence number is the same among Fig. 4.

Form 4:

Hanging structure under the telescope is arranged, as Fig. 5.Gyro is installed in the transit below.The explanation of parts sequence number is the same among Fig. 5.More than various forms of structures, the azimuth rotation mechanism of described twin shaft gyro and transit turntable all can comprise manual or automatic two kinds.

The circuit system explanation:

Be that example illustrates circuit system structure of the present invention now with form 3.

Gyro is installed in the alidade center of theodolite telescope below, the X of gyro, and two sensitive axes of Y are perpendicular to vertical (orientation) axle of transit, and wherein the X-axis summary is parallel to the telescope pitch axis.

The gyro motor driving circuit is that gyro (synchronously) motor provides driving power, and the position control loop that makes gyro motor work in constant rotational speed, two force feedback loop formation gyrorotors makes rotor follow the tracks of the gyro shell and constitutes a rate gyro.Two force feedback loops are exported a signal that is proportional to input angle speed separately and are that digital quantity is delivered to CPU and handled by the AD transducer.Fig. 7 is the circuit system block diagram.

Electronic surveying and the positioning indicator with the display construction system read at the position angle of electronic theodolite.The miniature keyboard of electronic theodolite is finished the latitude input.

All operations process (comprising manual or automatic), duty, measurement result and fault are pointed out by display (comprising hummer) and are indicated.

For the ease of operation, the duty of seeking northern instrument goes on foot the operation that needs with each and all shows on display.

The same with common gyro-theodolite, seek when north is measured and need set up and leveling.

Seek the north time in order to shorten, gyro motor carries out fast braking when seeking north measurement end.Seek northern instrument after the end of braking and can remove receipts.Operating process is seen Fig. 6.

Claims (9)

1, a kind of gyro-theodolite, it comprises gyro and transit two parts, it is characterized in that: with small Twin-shaft gyro and transit combination, the small Twin-shaft gyro is directly installed on the vertical shaft series of transit, two sensitive axes of twin shaft gyro are horizontal positioned, and the vertical shaft series of transit becomes the carrying turntable of twin shaft gyro.

2, a kind of gyro-theodolite as claimed in claim 1 is characterized in that: described small Twin-shaft gyro adopts the twin shaft flexible gyroscope.

3, a kind of gyro-theodolite as claimed in claim 1 is characterized in that: transit adopts electronic theodolite.

4, a kind of gyro-theodolite as claimed in claim 1 is characterized in that: at no telescope and do not have in the horizontal alidade structure, described twin shaft gyro is directly installed on repeating circle azimuth rotating platform top.

5, a kind of gyro-theodolite as claimed in claim 1 is characterized in that: transit have telescopical on during hanging hang structure, described twin shaft gyro is installed on the alidade.

6, a kind of gyro-theodolite as claimed in claim 1 is characterized in that: transit have telescopical in during hanging hang structure, described twin shaft gyro is installed in repeating circle azimuth rotating platform top.

7, a kind of gyro-theodolite as claimed in claim 1 is characterized in that: described twin shaft gyro is installed in the transit below.

8, as claim 1,4,5,6 or 7 described a kind of gyro-theodolites, it is characterized in that: the azimuth rotation mechanism of described twin shaft gyro and transit turntable is for manual or automatic.

9, as claim 1,4,5,6 or 7 described a kind of gyro-theodolites, it is characterized in that: described twin shaft gyro is covered with a magnetic shielding cover.

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