Inertial navigation positioning measurement full-energy gear train system

Abstract

The invention discloses an inertial navigation positioning measurement full-energy gear train system which comprises center rod fine adjustment and deadlocking mechanisms, a multi-pipe diameter serialgear train supporting arm system, an inertial navigation positioning instrument suspension shock absorption system, an inertial navigation positioning instrument multi-pipe diameter gear train and asupporting arm serial system; the inertial navigation positioning instrument suspension shock absorption system is installed at the top end of an inertia instrument rigid skeleton to provide rigid supporting and soft connection when an inertial navigation positioning instrument performs measurement and running; the two ends of the inertia instrument rigid skeleton are provided with bearing straight rails through adapter flanges respectively; each bearing straight rail is provided with a linear bearing; the position, close to the end part, of each bearing straight rail is provided with the corresponding fine adjustment and deadlocking mechanism; and the fine adjustment and deadlocking mechanisms are connected with the linear bearings through fine adjustment springs respectively. By adoptingthe inertial navigation positioning measurement full-energy gear train system provided by the invention, the center rod fine adjustment and deadlocking mechanisms provide the spring pressure, and thespring pressure is converted to the adhesion force of the gear train to the pipe wall and the friction force of a tread to the pipe wall when the gear train advances, so that a gyroscope gear train is ensured not to slip and lose rotation, and the measurement accuracy of an inertial navigation gyroscope is ensured.

Description

technical field [0001] The invention relates to the technical field of navigation and positioning gear trains, in particular to an inertial navigation, positioning and measurement all-round gear train system. Background technique [0002] With the rapid development of modern cities, the underground pipeline network system is increasingly developed, and various pipelines such as electricity, telecommunications, gas, water supply and drainage, rainwater and sewage are densely covered with cobwebs and intricate. However, due to historical and technical reasons, the established underground pipelines seldom provide accurate pipeline location and buried depth, which affects the management and maintenance of the increasingly large pipeline network system. How to accurately detect the location and buried depth of underground pipelines such as power pipelines has become an urgent problem to be solved. Traditional pipeline detection methods mostly use geophysical methods, or use elec...

AI Technical Summary

Problems solved by technology

[0013] At present, the gear train system of the existing inertial navigation locator at home and abroad adopts a three-wheel adaptive gear train mechanism. Although it can adapt to the inner diameter of the pipeline during measurement, due to the uncertain factors of adaptive size in the adaptive gear train, if it encounters the inner diameter of the pipeline When foreign objects or pipelines are bent, the gear train will be greatly deformed, causing the attitude of the inertial navigation locator to change, that is, the gyroscope and the central axis of the pipeline will deviate, resulting in a serious drop in measurement accuracy

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