A dynamic positioning and navigation device based on optical fiber inertial navigation and three-dimensional laser radar

Abstract

The application relates to the technical field of dynamic positioning, and discloses a dynamic positioning and navigation equipment for a shuttle vehicle based on optical fiber inertial navigation and a three-dimensional laser radar, which comprises a laser radar device, metal support frames are fixedly connected to the left side and the right side of the laser radar device, a navigation square frame is fixedly connected to the top of the metal support frame, and the navigation square frame is symmetrically arranged about the central axis of the laser radar device. The center shaft drives the strip-shaped sleeve ring to rotate synchronously, the strip-shaped sleeve ring gradually winds the traction rope to run, the traction rope drags the setting strip to run, the side edge of the setting strip presses the center shaft piece, the optical fiber tail fiber navigation instruction piece reflects a specific guide straight line through the reflection arc plate, and the specific guide straight line is compared with a detection point of radar laser emission, so that the direction of navigation is ensured to be correct, the equipment has the navigation function, the opening of the navigation is ensured to be synchronous by using the force of the received signal, and the equipment has rapidity and synchronism compared with the prior art.

Description

Technical Field

[0001] This invention relates to the field of dynamic positioning technology, specifically to a dynamic positioning and navigation device for a shuttle car based on fiber optic inertial navigation and three-dimensional lidar. Background Technology

[0002] Dynamic positioning and navigation mainly refers to determining the position of a point of interest relative to its surrounding fixed positions during an observation period. Depending on the receiver's motion state, it can be further divided into: continuous dynamic positioning, where the position data of the receiver carrier is obtained automatically at specified time intervals; and quasi-dynamic positioning, where a mobile receiver sequentially observes at a series of selected mobile stations for a certain period before moving to the next station. It is often used in conjunction with three-dimensional lidar process testing instruments. Among these, the fiber optic strapdown inertial navigation system uses miniaturized inertial sensing elements and possesses technical functions such as parameter setting, normal alignment, rapid alignment, navigation, position correction, parameter calibration, testing, non-volatile storage, and fault detection.

[0003] Existing vehicle dynamic positioning technologies mainly rely on the positioning time, positioning accuracy, vehicle mileage, and GPS of navigation products to assist in achieving dynamic positioning. However, the dynamic positioning function of navigation products requires a certain speed of movement to complete. During movement, the signal is often weak, and the feedback of the movement signal is slow, which can easily cause errors or interruptions. This results in the user interface and the operation interface being out of sync, affecting the dynamic positioning navigation. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a dynamic positioning and navigation device for shuttle cars based on fiber optic inertial navigation and three-dimensional lidar, thus solving the aforementioned problems.

[0005] To achieve the above-mentioned goals of improving navigation performance and timely feedback of navigation signals during dynamic motion, this invention provides the following technical solution: A dynamic positioning and navigation device for a shuttle car based on fiber optic inertial navigation and three-dimensional lidar, including a lidar device. The lidar device ensures normal signal transmission and reception within the device, maintains cleanliness, and improves the ease of navigation and positioning. Metal supports are fixedly connected to the left and right sides of the lidar device. A navigation square frame is fixedly connected to the top of each metal support, and the navigation square frame is symmetrically arranged about the central axis of the lidar device. A navigation device is rotatably connected to the outer side of the navigation square frame, and the navigation device passes through it. The navigation square frame, through the setting of the navigation device, ensures that the equipment can have a precise navigation effect. As long as it is not subjected to external collisions, it can navigate normally. At the same time, it works in conjunction with the lidar to improve the synchronization and accuracy of the equipment. A reflective arc plate is fixedly connected to the side of the navigation square frame near the lidar device. A coupling device is fixedly connected to the upper surface of the middle part of the reflective arc plate. A crossbeam is fixedly connected to the side of the metal support frame near the lidar device, and the crossbeam is located above the lidar device. An enclosing cavity is fixedly connected to the side of the crossbeam frame away from the metal support frame. A fiber optic junction box is fixedly connected to the left side of the bottom of the lidar device. A drag bar is slidably connected inside the fiber optic junction box.

[0006] The lidar device includes a housing. The lidar device ensures normal signal transmission and reception of the internal laser, maintains internal cleanliness, and improves the ease of navigation and positioning. A strip-shaped collar is rotatably connected to both the left and right sides of the housing. A traction rope is driven to the top of the strip-shaped collar, and a mounting bar is fixedly connected to the top of the traction rope. A central shaft is fixedly connected to the end of the strip-shaped collar away from the traction rope. A geared disc is fixedly connected to the outer surface of the central shaft, and a signal transceiver is meshed to the top of the geared disc. A dust removal device is fixedly connected to the upper outer surface of the signal transceiver. The dust removal device ensures that internal dust can be removed, providing dual protection. A swing head is fixedly connected to the top of the mounting bar, on the side away from the traction rope.

[0007] Preferably, the crossbeams are symmetrically arranged about the central axis of the surrounding cavity, and the crossbeams are inserted into the interior of the surrounding cavity, with the surrounding cavity located between the two crossbeams.

[0008] Preferably, the signal transceiver further includes a core rotating shaft, a circular disk fixedly connected to the top of the core rotating shaft, a signal beam disk slidably connected inside the circular disk, a limiting guide movably connected at the angle between the circular disk and the signal beam disk, an upper plate slidably connected to the upper surface of the limiting guide, the upper plate itself having certain holes at its top, the holes of the upper plate increasing internal flow and ensuring smooth ventilation, positioning devices fixedly connected to the left and right sides of the upper plate, a processor fixedly connected to the side of the positioning device near the signal beam disk, a positioning device fixedly connected between the front and back inner walls of the surrounding cavity, the signal beam disk consisting of a toothed plate body and a disk-shaped body, and the toothed plate body of the signal beam disk having evenly distributed teeth, the positioning device further including a metal support plate, the metal support plate... An indented guide rail is fixedly connected to the side of the plate near the signal beam disk, and the indented guide rail is located in the groove inside the upper plate strip. A mounting plate is fixedly connected to the bottom of the indented guide rail, and a receiving joint is fixedly connected to the bottom of the mounting plate. A fine rotating head is rotatably connected to the middle of the receiving joint. A metal disc is movably connected to the outer surface of the fine rotating head. A displacement plate is movably connected to the top of the metal disc. The displacement plate pushes the positioning lock to move through the clockwise engagement of the metal disc. The positioning lock is inserted into the positioning disk and passes through the corresponding locking groove inside the positioning disk. A positioning lock is fixedly connected to the bottom right side of the displacement plate, and a positioning disk is movably connected to the right side of the positioning lock. The middle of the displacement plate has teeth that match the metal disc. The groove inside the indented guide rail is quadrilateral. There are two displacement plates in total, and the displacement plates are made of stainless steel.

[0009] Preferably, the navigation device includes a central shaft that rotates gradually for navigation. A dedicated auxiliary tool is used to fine-tune the rotation of the first, second, and third gyroscope rings. A fiber optic navigation command component projects a specific guide line through a reflective arc plate. A pressing block is movably connected to the outer surface of the central shaft. An auxiliary pusher is fixedly connected to the outer side of the pressing block. A navigation locking bar is movably connected to the inner side of the pressing block, and the navigation locking bar is located at the top of the left and right sides of the reflective arc plate. A first gyroscope ring is fixedly connected to the side of the navigation locking bar away from the pressing block. A second gyroscope ring is movably connected inside the first gyroscope ring. A third gyroscope ring is movably connected inside the second gyroscope ring. A navigation command component is movably connected inside the third gyroscope ring. A fiber optic pigtail is fixedly connected to the center of the navigation command component. The diameter of the first gyroscope ring is larger than the diameter of the second gyroscope ring, and the diameter of the second gyroscope ring is larger than the diameter of the third gyroscope ring. The first gyroscope ring is made of stainless steel.

[0010] Preferably, the dust removal device further includes a deflector, with heat dissipation blocks symmetrically arranged at both ends of the deflector. The heat dissipation blocks are movably connected to both ends of the deflector, and both ends of the heat dissipation blocks are inserted into the interior of the deflector. An assembly plate is fixedly connected to the bottom of the inner wall of the surrounding cavity. A draining component is movably connected inside the assembly plate. The deflector rotates, causing the heat dissipation blocks to move. The heat dissipation blocks gradually wipe the dust inside. When the deflector rotates, it is at a deflection angle, forming a certain rotational margin. The deflector swings the draining component in the left and right directions, and the draining component is movably connected to the outer surface of the deflector.

[0011] During operation, first check the installation, fixation, and safety protection of this invention. Place the device in a suitable position for the target to be detected, and use external force to drag the drag bar from inside the fiber optic junction box outwards. One end of the drag bar is fixedly connected to the central shaft in the lidar device. The central shaft gradually rotates, and the gear disk fixedly connected to the outer surface of the central shaft moves synchronously. The gear disk meshes with the core rotating shaft in the signal transceiver device, thereby giving the device an automatic positioning and heat dissipation processing foundation and good laying conditions.

[0012] When the core shaft rotates, the signal beam disk moves in conjunction with the core shaft. The outer surface of the signal beam disk matches the groove inside the circular disk, and the rotation of the signal beam disk compresses the limiting guide. The signal beam disk rises upward through the guiding action of the groove inside the circular disk and the limiting guide. As the signal beam disk gradually moves upward, it gradually transmits the signal to the upper end. After processing by the processor, the signal command is transmitted normally and effectively inside the radar. Then, it is convenient to compare the received echo signal reflected from the target with the transmitted signal, which facilitates the detection of the surrounding target and provides auxiliary operation. Compared with the existing technology, it reduces complexity, improves the azimuth parameters of the detection, and reduces unnecessary and cumbersome steps.

[0013] Meanwhile, because the top of the upper slats has certain holes, the holes in the upper slats enhance the internal flow, ensuring smooth ventilation, improving the internal ventilation performance, achieving the effects of signal transmission and automatic air cooling, and preventing the internal lifespan from decreasing due to prolonged operation.

[0014] As the signal beam disk moves upward, it consists of a toothed plate and a disc-shaped body. The signal beam disk moves upward along the groove inside the upper plate. When the toothed plate moves upward, the signal beam disk meshes with the metal disc, and the metal disc gradually rotates clockwise. The mounting plate and the fine rotating head provide auxiliary support. The displacement plate meshes with the metal disc, and the displacement plate pushes the positioning lock to move through the clockwise meshing action of the metal disc. The positioning lock is inserted into the positioning disk. Through the corresponding locking groove inside the positioning disk, the positioning effect is ensured, preventing equipment shaking during signal transmission. At the same time, it provides reliable stability for signal transmission, making it more robust than existing technologies.

[0015] When the central shaft rotates, it drives the bar-shaped collar to rotate synchronously. The bar-shaped collar gradually winds the traction rope, which in turn pulls the mounting strip, which is T-shaped. The side of the mounting strip presses down on the central shaft, activating the inductive switch on the central shaft. The central shaft then begins to operate, and the coupling device distributes power. The fiber optic pigtail facilitates the transmission and reception of fiber optic information. The central shaft rotates for navigation, and specialized auxiliary tools are used to fine-tune the rotation of the first, second, and third gyroscope rings. The fiber optic pigtail navigation command unit projects a specific guide line through a reflective arc plate to find the reference navigation position. Simultaneously, it compares the position with the detection point emitted by the radar laser to ensure that the navigation direction is correct. This enables the device to have navigation functionality. The synchronous activation of navigation is ensured by the force of the transmitted and received signals, making it faster and more synchronous than existing technologies.

[0016] When the traction rope pushes the placement bar, the placement bar is pulled downward by the traction force of the traction rope. The swing head above the placement bar launches and flips sideways. The swing head gradually deviates and squeezes the auxiliary push bar in contact. The auxiliary push bar pushes the navigation lock bar to move through the squeezing block. The navigation lock bar gradually coincides with the corresponding plug on the outer surface of the first gyro ring, thereby determining the navigation route and preventing deviations caused by frequent changes, thus providing a certain degree of continuity.

[0017] Simultaneously, when the core shaft rotates, the deflector plate fixedly connected to the outer surface of the core shaft swings accordingly. The rotation of the deflector plate drives the heat sink to move, and the heat sink gradually wipes away the dust inside. When the deflector plate rotates, it is at a deflection angle, forming a certain rotational margin. The deflector plate swings the unclogging component in the left and right directions. The assembly plate is fixedly supported. The swinging of the unclogging component, in conjunction with the core shaft, gradually removes the dust inside and blows it to the bottom of the outer casing, making it convenient for people to remove dust and reducing the frequency and time of dust removal.

[0018] This invention provides a dynamic positioning and navigation device for a shuttle car based on fiber optic inertial navigation and three-dimensional lidar. It has the following beneficial effects:

[0019] (I) The dynamic positioning and navigation equipment based on fiber optic inertial navigation and three-dimensional lidar shuttle uses external force to drag a drag bar from inside the fiber optic junction box. One end of the drag bar is fixedly connected to the central shaft in the lidar device. The central shaft gradually rotates, and the gear disk fixedly connected to the outer surface of the central shaft runs synchronously. The gear disk meshes with the core rotating shaft in the signal transceiver device, thereby giving the equipment an automatic positioning and heat dissipation processing foundation and laying good conditions.

[0020] (II) The dynamic positioning and navigation device based on fiber optic inertial navigation and three-dimensional lidar shuttle car matches the outer surface of the signal beam disk with the inner groove of the circular disk. When the signal beam disk rotates, it squeezes the limiting guide. The signal beam disk rises upward through the guiding action of the inner groove of the circular disk and the limiting guide. The signal beam disk gradually moves upward and transmits the signal to the upper end. After processing by the processor, the signal command is transmitted normally and effectively inside the radar. Then, it is convenient to compare the received echo signal reflected from the target with the transmitted signal, which facilitates the detection of the surrounding target and provides auxiliary operation. Compared with the existing technology, it reduces complexity, improves the azimuth parameters of the detection, and reduces unnecessary and cumbersome steps.

[0021] (III) The dynamic positioning and navigation equipment for shuttle cars based on fiber optic inertial navigation and three-dimensional lidar has certain holes on the top of the upper slats. The holes in the upper slats enhance the internal flow, ensure smooth ventilation, improve the internal ventilation performance, achieve the effect of signal transmission and automatic air cooling, and avoid the internal service life from being reduced due to excessive operating time.

[0022] (iv) The dynamic positioning and navigation device for shuttle cars based on fiber optic inertial navigation and three-dimensional lidar uses a signal beam disk that meshes with a metal disk. The metal disk gradually rotates clockwise. The mounting plate and the fine rotating head provide auxiliary support. The displacement plate meshes with the metal disk. The displacement plate pushes the positioning lock to move through the clockwise meshing action of the metal disk. The positioning lock is inserted into the positioning disk. Through the corresponding locking groove inside the positioning disk, the positioning effect is ensured, and the shaking of the equipment is prevented when the equipment transmits signals. At the same time, it provides reliable stability for the transmission of signals and is more robust than the existing technology.

[0023] (V) This dynamic positioning and navigation device for a shuttle car based on fiber optic inertial navigation and three-dimensional lidar uses a central shaft component that is pressed down by the side of the mounting strip. The inductive switch on the central shaft component is activated, and the central shaft component gradually begins to work. The coupling device distributes the power, and the fiber optic pigtail facilitates the transmission and reception of fiber optic information. The central shaft component gradually rotates for navigation, and the rotation of the first, second, and third gyroscope rings is finely adjusted using special auxiliary tools. The fiber optic pigtail navigation command component reflects a specific guide line through a reflective arc plate to find the reference navigation position. At the same time, it compares with the detection point emitted by the radar laser to ensure that the navigation direction is correct, thus enabling the device to have a navigation function. The force of the transmitted and received signals ensures the synchronous activation of navigation, which is faster and more synchronous than existing technologies.

[0024] (vi) The dynamic positioning and navigation device for shuttle cars based on fiber optic inertial navigation and three-dimensional lidar gradually forms an offset by swinging the head. The swinging head squeezes the contacting auxiliary push bar. The auxiliary push bar pushes the navigation lock bar to move through the squeezing block. The navigation lock bar gradually coincides with the corresponding plug on the outer surface of the first gyroscope ring, thereby determining the navigation route, preventing frequent changes and deviations, and providing a certain degree of continuity.

[0025] (vii) The dynamic positioning and navigation device of the shuttle car based on fiber optic inertial navigation and three-dimensional laser radar swings the deflector fixedly connected to the outer surface of the core shaft. The rotation of the deflector drives the heat sink to move, and the heat sink gradually wipes the dust inside. When the deflector rotates, it is at a deflection angle, forming a certain rotation margin. The deflector swings the unblocking parts in the left and right directions. The assembly plate is fixedly supported. The swing of the unblocking parts, together with the core shaft, makes the dust inside gradually removed and blown to the bottom of the outer shell, which is convenient for people to remove dust and reduces the frequency and time of dust removal. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the coupling device of the present invention;

[0028] Figure 3 This is a schematic diagram of the structure of the traction rope of the present invention;

[0029] Figure 4 This is a schematic diagram of the deflection disk of the present invention;

[0030] Figure 5 This is a schematic diagram of the signal transceiver device of the present invention;

[0031] Figure 6 This is a schematic diagram of the upper plate structure in the signal transceiver device of the present invention;

[0032] Figure 7 This is a schematic diagram of the structure of the metal support plate of the present invention;

[0033] Figure 8 This is a schematic diagram of the navigation device of the present invention;

[0034] Figure 9 This is a schematic diagram of the structure of the optical fiber pigtail of the present invention.

[0035] In the diagram: 1. Metal support frame; 2. LiDAR device; 3. Navigation square frame; 4. Navigation device; 5. Enclosing cavity; 6. Reflector plate; 7. Coupler; 8. Crossbeam frame; 9. Fiber optic junction box; 10. Drag bar; 21. Housing; 22. Central shaft; 23. Gear disc; 24. Strip collar; 25. Traction rope; 26. Mounting strip; 27. Swing head; 28. Signal transceiver; 29. ​​Dust removal device; 281. Core shaft; 282. Circular disc; 283. Limiting guide; 284. Signal beam disc; 285. Positioning device; 286. Upper slats; 28 7. Processor; 2851. Metal support plate; 2852. Recessed guide rail; 2853. Mounting plate; 2854. Socket joint; 2855. Fine rotating head; 2856. Metal disc; 2857. Displacement plate; 2858. Positioning lock; 2859. Positioning disk; 291. Deflection disk; 292. Heat sink; 293. Assembly plate; 294. Unblocking component; 41. Central shaft component; 42. Extrusion block; 43. Auxiliary push bar; 44. Navigation lock bar; 45. First gyroscope ring; 46. Second gyroscope ring; 47. Third gyroscope ring; 48. Navigation command component; 49. Fiber optic pigtail. Detailed Implementation

[0036] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

[0037] Example 1

[0038] Please see Figures 1-7 This invention provides a technical solution: a dynamic positioning and navigation device for a shuttle car based on fiber optic inertial navigation and three-dimensional lidar, including a lidar device 2. The lidar device 2 ensures that the internal laser can transmit and receive signals normally, ensuring the cleanliness of the internal environment, while improving the convenience of navigation and positioning. Metal supports 1 are fixedly connected to the left and right sides of the lidar device 2. A navigation square frame 3 is fixedly connected to the top of the metal supports 1, and the navigation square frame 3 is symmetrically arranged about the central axis of the lidar device 2. A navigation device 4 is rotatably connected to the outside of the navigation square frame 3, and the navigation device 4 passes through the navigation square frame 3. The navigation device 4 ensures that the device can have accurate navigation. As long as it is not subjected to external collisions, it can navigate normally. At the same time, it works in conjunction with the lidar to improve the synchronization and accuracy of the device.

[0039] The navigation device 4 includes a central shaft 41, which rotates gradually for navigation. Special auxiliary tools are used to fine-tune the rotation of the first gyroscope ring 45, the second gyroscope ring 46, and the third gyroscope ring 47. An optical fiber pigtail 49 and a navigation command element 48 project a specific guide line through a reflective arc plate 6. A pressing block 42 is movably connected to the outer surface of the central shaft 41. An auxiliary pusher 43 is fixedly connected to the outer side of the pressing block 42. A navigation locking bar 44 is movably connected to the inner side of the pressing block 42, and the navigation locking bar 44 is located at the top of the left and right sides of the reflective arc plate 6. A first gyroscope ring 45 is fixedly connected to the side of the navigation lock bar 44 away from the compression block 42. A second gyroscope ring 46 is movably connected inside the first gyroscope ring 45. A third gyroscope ring 47 is movably connected inside the second gyroscope ring 46. A navigation command component 48 is movably connected inside the third gyroscope ring 47. An optical fiber pigtail 49 is fixedly connected to the center of the navigation command component 48. The diameter of the first gyroscope ring 45 is larger than the diameter of the second gyroscope ring 46, and the diameter of the second gyroscope ring 46 is larger than the diameter of the third gyroscope ring 47. The first gyroscope ring 45 is made of stainless steel.

[0040] During operation, the drag bar 10 is pulled out of the fiber optic junction box 9 by external force. One end of the drag bar 10 is fixedly connected to the central shaft 22 in the lidar device 2. The central shaft 22 gradually rotates, and the gear disk 23 fixedly connected to the outer surface of the middle part of the central shaft 22 runs synchronously. The gear disk 23 meshes with the core rotating shaft 281 in the signal transceiver device 28, thereby enabling the equipment to have the foundation for automatic positioning and heat dissipation, and laying good conditions.

[0041] When the central shaft 22 rotates, it drives the strip collar 24 to rotate synchronously. The strip collar 24 gradually winds the traction rope 25, which in turn drags the mounting strip 26. The mounting strip 26 is T-shaped, and its side presses down on the central shaft 41. The inductive switch on the central shaft 41 is activated, and the central shaft 41 gradually begins to work. The coupling device 7 distributes the power, and the fiber optic pigtail 49 facilitates the transmission and reception of fiber optic information. The central shaft 41 gradually rotates for navigation, and special auxiliary tools are used to fine-tune the rotation of the first gyroscope ring 45, the second gyroscope ring 46, and the third gyroscope ring 47. The navigation command component 48 of the fiber optic pigtail reflects a specific guide line through the reflector plate 6 to find the reference navigation position. At the same time, it compares with the detection point emitted by the radar laser to ensure that the navigation direction is correct, thus enabling the device to have a navigation function. The synchronous activation of navigation is ensured by the force of the transmitted and received signals, which is faster and more synchronous than existing technologies.

[0042] When the traction rope 25 pushes the mounting strip 26 to move, the mounting strip 26 is pulled downward by the traction force of the traction rope 25. The swing head 27 above the mounting strip 26 launches and flips sideways. The swing head 27 gradually deviates and squeezes the contacting auxiliary push bar 43. The auxiliary push bar 43 pushes the navigation lock bar 44 to move through the squeezing block 42. The navigation lock bar 44 gradually coincides with the corresponding plug on the outer surface of the first gyro ring 45, thereby determining the navigation route, preventing frequent changes and deviations, and providing a certain degree of continuity.

[0043] Example 2

[0044] Please see Figures 1-9 The present invention provides a technical solution: Based on the first embodiment, a reflective arc plate 6 is fixedly connected to the side of the navigation square frame 3 near the lidar device 2, and a coupling device 7 is fixedly connected to the upper surface of the middle part of the reflective arc plate 6. A crossbeam frame 8 is fixedly connected to the side of the metal support frame 1 near the lidar device 2, and the crossbeam frame 8 is located above the lidar device 2. A surrounding cavity 5 is fixedly connected to the side of the crossbeam frame 8 away from the metal support frame 1. An optical fiber junction box 9 is fixedly connected to the left side of the bottom of the lidar device 2, and a drag bar 10 is slidably connected inside the optical fiber junction box 9.

[0045] The lidar device 2 includes a housing 21. The lidar device 2 ensures that the internal laser can transmit and receive signals normally, maintains the cleanliness of the internal environment, and improves the convenience of navigation and positioning. The left and right sides of the housing 21 are rotatably connected to strip-shaped collars 24. The top of the strip-shaped collars 24 is connected to a traction rope 25. The top of the traction rope 25 is fixedly connected to a mounting bar 26. The end of the strip-shaped collars 24 away from the traction rope 25 is fixedly connected to a central shaft 22. The outer surface of the central shaft 22 is fixedly connected to a geared disc 23. The top of the geared disc 23 is meshed with a signal transceiver 28. The upper outer surface of the signal transceiver 28 is fixedly connected to a dust removal device 29. The dust removal device 29 ensures that the internal dust can be treated, achieving a double protection purpose. The top of the mounting bar 26 and the side away from the traction rope 25 is fixedly connected to a swing head 27.

[0046] The crossbeam frame 8 is symmetrically arranged about the central axis of the surrounding cavity 5, and the crossbeam frame 8 is inserted into the interior of the surrounding cavity 5, with the surrounding cavity 5 located between the two crossbeam frames 8.

[0047] The signal transceiver device 28 also includes a core rotating shaft 281. A circular disk 282 is fixedly connected to the top of the core rotating shaft 281. A signal beam disk 284 is slidably connected inside the circular disk 282. A limiting guide 283 is movably connected at the angle between the circular disk 282 and the signal beam disk 284. An upper layer slat 286 is slidably connected to the upper surface of the limiting guide 283. The upper layer slat 286 itself has certain holes on its top. The holes in the upper layer slat 286 enhance the internal flow and ensure smooth ventilation. Positioning devices 285 are fixedly connected to both the left and right sides. A processor 287 is fixedly connected to the side of the positioning device 285 near the signal beam disk 284. The positioning device 285 is fixedly connected between the two inner walls of the front and back of the surrounding cavity 5. The signal beam disk 284 consists of two parts: a toothed plate body and a disk-shaped body. The toothed plate body of the signal beam disk 284 is provided with evenly distributed teeth. The positioning device 285 also includes a metal support plate 2851. An indented guide rail 2 is fixedly connected to the side of the metal support plate 2851 near the signal beam disk 284. 852, and the recessed guide rail 2852 is located in the groove inside the upper plate 286. The bottom of the recessed guide rail 2852 is fixedly connected to the mounting plate 2853. The bottom of the mounting plate 2853 is fixedly connected to the receiving joint 2854. The middle of the receiving joint 2854 is rotatably connected to the fine rotating head 2855. The outer surface of the fine rotating head 2855 is movably connected to the metal disc 2856. The top of the metal disc 2856 is movably connected to the displacement plate 2857. The displacement plate 2857 is pushed by the clockwise meshing action of the metal disc 2856. The positioning lock 2858 moves and is inserted into the positioning plate 2859. The positioning lock 2858 is fixedly connected to the bottom right side of the displacement plate 2857 through the corresponding locking groove inside the positioning plate 2859. The positioning plate 2859 is movably connected to the right side of the positioning lock 2858. The middle part of the displacement plate 2857 has teeth that match the metal disc 2856. The groove inside the recessed guide rail 2852 is quadrilateral. There are two displacement plates 2857 in total, and the displacement plates 2857 are made of stainless steel.

[0048] The dust removal device 29 also includes a deflector 291. Heat sinks 292 are symmetrically arranged at both ends of the deflector 291. The heat sinks 292 are movably connected to both ends of the deflector 291, and the heat sinks 292 are inserted into the interior of the deflector 291. An assembly plate 293 is fixedly connected to the bottom of the inner wall of the cavity 5. A draining component 294 is movably connected inside the assembly plate 293. The deflector 291 rotates, driving the heat sinks 292 to run. The heat sinks 292 gradually wipe the dust inside. When the deflector 291 rotates, it is at a deflection angle, forming a certain rotational margin. The deflector 291 swings the draining component 294 in the left and right directions, and the draining component 294 is movably connected to the outer surface of the deflector 291.

[0049] During operation, first check the installation, fixation, and safety protection of the present invention. Place the device in a suitable position for the target to be detected, and use external force to drag the drag bar 10 out of the fiber optic junction box 9. One end of the drag bar 10 is fixedly connected to the central shaft 22 in the lidar device 2. The central shaft 22 gradually rotates, and the gear disk 23 fixedly connected to the outer surface of the middle part of the central shaft 22 runs synchronously. The gear disk 23 meshes with the core rotating shaft 281 in the signal transceiver device 28, thereby giving the device an automatic positioning and heat dissipation processing foundation and good laying conditions.

[0050] When the core shaft 281 rotates, the core shaft 281 moves in conjunction with the signal beam disk 284. The outer surface of the signal beam disk 284 matches the inner groove of the circular disk 282, and the rotation of the signal beam disk 284 compresses the limiting guide 283. The signal beam disk 284 rises upward through the guiding action of the inner groove of the circular disk 282 and the limiting guide 283. The signal beam disk 284 gradually moves upward, gradually transmitting the signal to the upper end. After processing by the processor 287, the signal command is transmitted normally and effectively inside the radar. Then, it is convenient to compare the received echo signal reflected from the target with the transmitted signal, which facilitates the detection of the surrounding target and provides auxiliary operation. Compared with the existing technology, it reduces complexity, improves the detection azimuth parameters, and reduces unnecessary and cumbersome steps.

[0051] Meanwhile, since the top of the upper slat 286 has certain holes, the holes in the upper slat 286 enhance the internal flow, ensure smooth ventilation, improve the internal ventilation performance, achieve the effect of signal transmission and automatic air cooling, and avoid the internal service life from decreasing due to excessive operating time.

[0052] When the signal beam disk 284 moves upward, it consists of a toothed plate and a disc-shaped body. The signal beam disk 284 moves upward along the groove inside the upper plate 286. When the toothed plate of the signal beam disk 284 moves upward, it meshes with the metal disc 2856. The metal disc 2856 gradually rotates clockwise. The mounting plate 2853 and the fine rotating head 2855 provide auxiliary support. The displacement plate 2857 meshes with the metal disc 2856. The displacement plate 2857 pushes the positioning lock 2858 to move through the clockwise meshing action of the metal disc 2856. The positioning lock 2858 is inserted into the positioning disk 2859. Through the corresponding locking groove inside the positioning disk 2859, the positioning effect is ensured, preventing the equipment from shaking when transmitting signals. At the same time, it provides reliable stability for signal transmission, which is more robust than the existing technology.

[0053] When the central shaft 22 rotates, it drives the strip collar 24 to rotate synchronously. The strip collar 24 gradually winds the traction rope 25, which in turn drags the mounting strip 26. The mounting strip 26 is T-shaped, and its side presses down on the central shaft 41. The inductive switch on the central shaft 41 is activated, and the central shaft 41 gradually begins to work. The coupling device 7 distributes the power, and the fiber optic pigtail 49 facilitates the transmission and reception of fiber optic information. The central shaft 41 gradually rotates for navigation, and special auxiliary tools are used to fine-tune the rotation of the first gyroscope ring 45, the second gyroscope ring 46, and the third gyroscope ring 47. The navigation command component 48 of the fiber optic pigtail reflects a specific guide line through the reflector plate 6 to find the reference navigation position. At the same time, it compares with the detection point emitted by the radar laser to ensure that the navigation direction is correct, thus enabling the device to have a navigation function. The synchronous activation of navigation is ensured by the force of the transmitted and received signals, which is faster and more synchronous than existing technologies.

[0054] When the traction rope 25 pushes the mounting strip 26 to move, the mounting strip 26 is pulled downward by the traction force of the traction rope 25. The swing head 27 above the mounting strip 26 launches and flips sideways. The swing head 27 gradually deviates and squeezes the contacting auxiliary push bar 43. The auxiliary push bar 43 pushes the navigation lock bar 44 to move through the squeezing block 42. The navigation lock bar 44 gradually coincides with the corresponding plug on the outer surface of the first gyro ring 45, thereby determining the navigation route, preventing frequent changes and deviations, and providing a certain degree of continuity.

[0055] Simultaneously, when the core shaft 281 rotates, the deflection disk 291 fixedly connected to the outer surface of the core shaft 281 swings accordingly. The rotation of the deflection disk 291 drives the heat sink 292 to operate, and the heat sink 292 gradually wipes away the dust inside. When the deflection disk 291 rotates, it is at a deflection angle, forming a certain rotational margin. The deflection disk 291 swings the unblocking component 294 in the left and right directions, and the assembly plate 293 is fixedly supported. The swinging of the unblocking component 294, in conjunction with the core shaft 281, gradually removes the dust inside and blows it to the bottom of the outer casing 21, making it convenient for people to remove dust and reducing the frequency and time of dust removal.

[0056] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art and related fields based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention, unless otherwise specified or limited, shall be implemented according to conventional means in the art.

Claims

1. A dynamic positioning and navigation device for a shuttle car based on fiber optic inertial navigation and three-dimensional lidar, comprising a lidar device (2), characterized in that: Metal support frames (1) are fixedly connected to the left and right sides of the laser radar device (2). A navigation square frame (3) is fixedly connected to the top of the metal support frame (1), and the navigation square frame (3) is symmetrically arranged about the central axis of the laser radar device (2). A navigation device (4) is rotatably connected to the outside of the navigation square frame (3), and the navigation device (4) passes through the navigation square frame (3). A reflective arc plate (6) is fixedly connected to the side of the navigation square frame (3) close to the laser radar device (2). A coupling device (7) is fixedly connected to the upper surface of the middle part of the reflective arc plate (6). A crossbeam frame (8) is fixedly connected to the side of the metal support frame (1) close to the laser radar device (2), and the crossbeam frame (8) is located above the laser radar device (2). A surrounding cavity (5) is fixedly connected to the side of the crossbeam frame (8) away from the metal support frame (1). A fiber optic junction box (9) is fixedly connected to the left side of the bottom of the laser radar device (2). A drag bar (10) is slidably connected inside the fiber optic junction box (9). The lidar device (2) includes a housing (21). A strip-shaped collar (24) is rotatably connected to both the left and right sides of the housing (21). A traction rope (25) is driven to the top of the strip-shaped collar (24). A mounting strip (26) is fixedly connected to the top of the traction rope (25). A central shaft (22) is fixedly connected to the end of the strip-shaped collar (24) away from the traction rope (25). A gear plate (23) is fixedly connected to the outer surface of the central shaft (22). A signal transceiver device (28) is meshed to the top of the gear plate (23). A dust removal device (29) is fixedly connected to the upper outer surface of the signal transceiver device (28). A swing head (27) is fixedly connected to the top of the mounting strip (26) and to the side away from the traction rope (25).

2. The dynamic positioning and navigation device for a shuttle car based on fiber optic inertial navigation and three-dimensional lidar as described in claim 1, characterized in that: The crossbeam frame (8) is symmetrically arranged about the central axis of the surrounding cavity (5), and the crossbeam frame (8) is inserted into the interior of the surrounding cavity (5), and the surrounding cavity (5) is located between the two crossbeam frames (8).

3. The dynamic positioning and navigation device for a shuttle car based on fiber optic inertial navigation and three-dimensional lidar as described in claim 1, characterized in that: The signal transceiver device (28) further includes a core rotating shaft (281), a circular disk (282) is fixedly connected to the top of the core rotating shaft (281), a signal beam disk (284) is slidably connected inside the circular disk (282), a limiting guide (283) is movably connected at the angle between the circular disk (282) and the signal beam disk (284), an upper plate (286) is slidably connected to the upper surface of the limiting guide (283), a positioning device (285) is fixedly connected to the left and right sides of the upper plate (286), and a processor (287) is fixedly connected to the side of the positioning device (285) near the signal beam disk (284).

4. The dynamic positioning and navigation device for a shuttle car based on fiber optic inertial navigation and three-dimensional lidar as described in claim 3, characterized in that: A positioning device (285) is fixedly connected between the two inner walls of the front and back sides of the surrounding cavity (5). The signal beam disk (284) consists of two parts: a toothed plate body and a disk-shaped body. The toothed plate body of the signal beam disk (284) is provided with evenly distributed teeth.

5. The dynamic positioning and navigation device for a shuttle car based on fiber optic inertial navigation and three-dimensional lidar according to claim 3, characterized in that: The positioning device (285) further includes a metal support plate (2851), on which a recessed guide rail (2852) is fixedly connected. The recessed guide rail (2852) is located in a groove inside the upper strip (286). A mounting plate (2853) is fixedly connected to the bottom of the recessed guide rail (2852), and a receiving joint (285) is fixedly connected to the bottom of the mounting plate (2853). 4) A thin rotating head (2855) is rotatably connected to the middle of the receiving joint (2854). A metal disc (2856) is movably connected to the outer surface of the thin rotating head (2855). A displacement plate (2857) is movably connected to the top of the metal disc (2856). A positioning lock (2858) is fixedly connected to the bottom right side of the displacement plate (2857). A positioning disk (2859) is movably connected to the right side of the positioning lock (2858).

6. The dynamic positioning and navigation device for a shuttle car based on fiber optic inertial navigation and three-dimensional lidar as described in claim 5, characterized in that: The displacement plate (2857) has teeth in the middle that match the metal disc (2856), and the groove inside the recessed guide rail (2852) is quadrilateral. There are two displacement plates (2857), and the displacement plates (2857) are made of stainless steel.

7. The dynamic positioning and navigation device for a shuttle car based on fiber optic inertial navigation and three-dimensional lidar according to claim 1, characterized in that: The navigation device (4) includes a central shaft (41), a pressing block (42) is movably connected to the outer surface of the central shaft (41), an auxiliary pusher (43) is fixedly connected to the outer side of the pressing block (42), a navigation lock bar (44) is movably connected to the inner side of the pressing block (42), and the navigation lock bar (44) is located at the top of the left and right sides of the reflective arc plate (6). A first gyroscope ring (45) is fixedly connected to the side of the navigation lock bar (44) away from the pressing block (42). A second gyroscope ring (46) is movably connected inside the first gyroscope ring (45). A third gyroscope ring (47) is movably connected inside the second gyroscope ring (46). A navigation command component (48) is movably connected inside the third gyroscope ring (47). An optical fiber pigtail (49) is fixedly connected to the center of the navigation command component (48).

8. The dynamic positioning and navigation device for a shuttle car based on fiber optic inertial navigation and three-dimensional lidar according to claim 7, characterized in that: The diameter of the first gyroscope ring (45) is larger than that of the second gyroscope ring (46), the diameter of the second gyroscope ring (46) is larger than that of the third gyroscope ring (47), and the first gyroscope ring (45) is made of stainless steel.

9. A dynamic positioning and navigation device for a shuttle car based on fiber optic inertial navigation and three-dimensional lidar according to claim 1, characterized in that: The dust removal device (29) also includes a deflection disk (291), with heat dissipation blocks (292) symmetrically arranged at both ends of the deflection disk (291). The heat dissipation blocks (292) are movably connected to both ends of the deflection disk (291), and both ends of the heat dissipation blocks (292) are inserted into the interior of the deflection disk (291). An assembly plate (293) is fixedly connected to the bottom of the inner wall of the surrounding cavity (5). A draining component (294) is movably connected inside the assembly plate (293), and a draining component (294) is movably connected to the outer surface of the deflection disk (291).

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