An RTK receiver automated calibration device

Abstract

The application relates to the field of surveying equipment, in particular to an RTK receiver automatic calibration device, which comprises a device support frame, a power supply and control unit installed on the device support frame, a screw motion unit installed on the device support frame and electrically connected with the power supply and control unit, a mechanical arm motion unit movably installed on the screw motion unit, an RTK receiver installed on the mechanical arm motion unit, and the mechanical arm motion unit being used for adjusting the height and angle of the RTK receiver, and a calibration table arranged in the calibration direction of the RTK receiver and used for providing an object for data collection of the RTK receiver. Compared with the prior art, the screw motion unit and the mechanical arm motion unit are matched, and under the driving of the power supply and control unit, the height and angle adjustment of the RTK receiver can be automatically completed, the traditional manual multiple-angle collection operation mode is replaced, the manual intervention link is reduced, the labor cost is reduced, and the calibration efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of surveying equipment technology, and in particular to an automated calibration device for an RTK receiver. Background Technology

[0002] With the development of surveying and mapping technology, RTK receivers have integrated multiple functional modules such as inertial navigation IMU (inertial measurement unit), laser ranging, and camera acquisition. To ensure measurement accuracy, these modules need to achieve a position that is approximately on the same straight line during calibration, that is, to ensure that the coordinate reference of each module is near a preset straight line reference through calibration.

[0003] In existing calibration methods, a calibration grid is used as a reference object. Data from the calibration grid is collected manually from different angles multiple times. The backend system processes the collected data and matches it with the coordinates of the calibration grid, laser ranging, inertial navigation IMU, and camera. Finally, the software-based data compensation is used to calibrate the position of each module, so that the angle between modules is controlled within a preset range.

[0004] However, the above calibration process relies on manual data collection, which not only requires operators to repeatedly adjust the collection angle and number of times, consuming a lot of time and manpower, resulting in high labor costs, but also has low efficiency and is difficult to meet the needs of mass production of RTK receivers. Utility Model Content

[0005] This application provides an automated calibration device for RTK receivers to solve the technical problem that the existing RTK receiver calibration process relies on manual data acquisition, resulting in high labor costs.

[0006] This application provides an automated calibration device for an RTK receiver, comprising:

[0007] Device support frame;

[0008] A power supply and control unit is mounted on the support frame of the device;

[0009] The lead screw motion unit is mounted on the support frame of the device and is electrically connected to the power supply and control unit;

[0010] A robotic arm motion unit is movably mounted on the lead screw motion unit. An RTK receiver is mounted on the robotic arm motion unit, and the robotic arm motion unit is used to adjust the height and angle of the RTK receiver.

[0011] A calibration station, positioned in the calibration direction of the RTK receiver, serves as the object for data acquisition by the RTK receiver.

[0012] Furthermore, the device support frame includes a support platform and a support frame assembly. The support frame assembly includes at least one first slide rail, a reinforcing plate, and two first fixing blocks. The two first fixing blocks are respectively disposed at both ends of the first slide rail and fixedly connected to the first slide rail. One of the first fixing blocks is fixedly connected to the support platform. The reinforcing plate is disposed between the first slide rail and the first fixing block and is fixedly connected to the first slide rail.

[0013] Furthermore, the device support frame also includes casters, which are located at the bottom of the support platform to drive the support frame assembly to move.

[0014] Furthermore, the lead screw motion unit includes a lead screw body, a first driving member, a second slide rail, a second fixed block, and a sliding assembly. The two ends of the lead screw body are respectively rotatably connected to the second fixed block. One end of the first driving member is fixedly installed on the support platform, and the other end is fixedly connected to the second fixed block. The second fixed block at the top of the lead screw body is fixedly connected to the first fixed block. The driving end of the first driving member is transmittedly connected to the lead screw body. The sliding assembly is slidably connected to both the first slide rail and the second slide rail.

[0015] Furthermore, the sliding assembly includes a first slider, a second slider, and a robot arm fixing support, wherein both the first slider and the second slider are fixedly mounted on the robot arm fixing support.

[0016] Furthermore, the robotic arm motion unit includes a rotating component, a connecting component, and a vertical swinging component. One end of the rotating component is connected to the mounting part of the robotic arm fixed support, and the other end is connected to the vertical swinging component through the connecting component. The RTK receiver is installed at the end of the vertical swinging component.

[0017] Furthermore, the rotating assembly includes a second driving member, a first fixed base, a first rotary bearing, and a first bearing mounting base. The first fixed base is fixedly installed on the mounting portion of the robot arm fixed support. The second driving member is installed on the first fixed base. The driving end of the second driving member is rotatably connected to the first rotary bearing. The first rotary bearing is installed inside the first bearing mounting base. The first bearing mounting base is fixedly connected to the connecting member.

[0018] Furthermore, the up-and-down swing assembly includes a third driving member, a second fixed seat, a second rotary bearing, a second bearing mounting seat, and a swing arm. The driving end of the third driving member passes through the connecting member and is fixedly connected to the second fixed seat. The second rotary bearing is installed in the second bearing mounting seat, and the second bearing mounting seat is installed in the second fixed seat. The second rotary bearing is rotatably connected to the driving end of the third driving member, and the second fixed seat is located at the end of the swing arm.

[0019] Furthermore, the other end of the swing arm is provided with a quick positioning slot, on which a quick installer is installed, and the quick installer is detachably connected to the RTK receiver.

[0020] Furthermore, the calibration platform includes a support base and a square plate, the square plate being fixedly installed above the support base, and the surface of the square plate having several square grids.

[0021] The technical solution provided in this application has the following advantages compared with the prior art:

[0022] This application utilizes a lead screw motion unit in conjunction with a robotic arm motion unit, driven by a power supply and control unit, to automatically adjust the height and angle of the RTK receiver. This replaces the traditional manual operation mode of multiple, multi-angle data acquisitions, reducing manual intervention and solving the problems of time-consuming, labor-intensive, and costly manual calibration, thus improving calibration efficiency. The precise control of the motion unit by the power supply and control unit ensures that the calibration process (such as adjusting the trajectory and acquisition angle) of each RTK receiver remains standardized, avoiding inconsistencies in calibration accuracy caused by individual differences during manual operation. This helps ensure the stability of product calibration quality in mass production. At the same time, the calibration platform provides a fixed and uniform object for data acquisition. Combined with the stability of automated adjustment, it can reduce accidental errors caused by shaking during manual acquisition, indirectly improving the reliability of calibration data. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0026] Figure 1 A schematic diagram of an automated calibration device for an RTK receiver provided in this application embodiment;

[0027] Figure 2 for Figure 1 A schematic diagram of the assembly structure of the power supply and control unit and the device support frame;

[0028] Figure 3 for Figure 2 Exploded view;

[0029] Figure 4 for Figure 2 A structural diagram excluding the power supply and control unit;

[0030] Figure 5 for Figure 1 A schematic diagram of the motion unit of the robotic arm;

[0031] Figure 6 for Figure 5 Exploded view;

[0032] Figure 7 for Figure 1 Partial exploded view of the motion unit of the robotic arm.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1. Device support frame; 11. Support platform; 12. Support frame assembly; 121. First slide rail; 122. Reinforcing plate; 123. First fixing block; 13. Casters;

[0035] 2. Power supply and control unit;

[0036] 3. Lead screw motion unit; 31. Lead screw body; 32. First drive component; 33. Second slide rail; 34. Second fixed block; 35. Sliding assembly; 351. First slider; 352. Second slider; 353. Robot arm fixing support;

[0037] 4. Robotic arm motion unit; 41. Rotating assembly; 411. Second drive component; 412. First fixed base; 413. First rotary bearing; 414. First bearing mounting base; 42. Connecting component; 43. Up-and-down swing assembly; 431. Third drive component; 432. Second fixed base; 433. Second rotary bearing; 434. Second bearing mounting base; 435. Swing arm; 436. Quick positioning slot; 437. Quick installer;

[0038] 5. Calibration platform; 51. Support base; 52. Square plate; 521. Square grid;

[0039] 6. RTK receiver. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0042] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0043] To address the technical problem of high labor costs resulting from manual data acquisition in the existing RTK receiver calibration process, this application provides an automated RTK receiver calibration device. Its lead screw motion unit 3, in conjunction with the robotic arm motion unit 4, can automatically adjust the height and angle of the RTK receiver 6 under the drive of the power supply and control unit 2. This replaces the traditional manual operation mode of multiple, multi-angle data acquisitions, reducing manual intervention and thus solving the problems of time-consuming, labor-intensive, and costly manual calibration, thereby improving calibration efficiency.

[0044] Please see Figures 1 to 7 This application provides an automated calibration device for an RTK receiver, comprising: a device support frame 1; a power supply and control unit 2 mounted on the device support frame 1; a lead screw motion unit 3 mounted on the device support frame 1 and electrically connected to the power supply and control unit 2; a robotic arm motion unit 4 movably mounted on the lead screw motion unit 3, on which an RTK receiver 6 is mounted, and the robotic arm motion unit 4 is used to adjust the height and angle of the RTK receiver 6; and a calibration stage 5 set in the calibration direction of the RTK receiver 6, used to provide the object for data acquisition from the RTK receiver 6.

[0045] Specifically, the device support frame 1, as the basic load-bearing structure of the equipment, adopts a rigid frame design (such as metal welding or profile assembly). Its core function is to provide physical support and spatial positioning reference for other components. The power supply and control unit 2 includes a power supply module and a control module. The power supply module provides drive power to the lead screw motion unit 3 and the robot motion unit 4 via cables. The control module has a built-in programmable logic controller (PLC) or industrial computer to generate motion command sequences. The power supply module and control module are integrated in the mounting box and fixed to the back of the device support frame 1, and connected to the motion units via cables. The lead screw motion unit 3 is rigidly connected to the device support frame 1 (such as bolt fixing) and drives the lead screw to rotate through the first drive component 32, converting it into linear motion of the sliding module. The first drive component 32 receives commands from the control unit and drives the robot motion unit 4 to rise and fall. The robot motion unit 4 relies on the lead screw motion unit 3 to achieve Z-axis displacement; it adjusts the pitch / yaw angle of the RTK receiver 6 through a rotary joint or swing mechanism (such as a motor-driven hinge), and integrates quick-release interfaces (such as slots or clamps) to fix the RTK receiver 6. The calibration stage 5 is independently located outside the equipment and maintains optical line of sight with the robotic arm motion unit 4, serving as a data acquisition target (such as a high-precision grid plate) for the RTK receiver 6.

[0046] Compared to existing technologies, this embodiment replaces manual adjustment by programmatically controlling the spatial pose (height + angle) of the robotic arm motion unit 4, eliminating calibration deviations caused by differences in operator skill. The power supply and control unit 2 coordinates the timing of the actions of the lead screw motion unit 3 and the robotic arm motion unit 4 to achieve an unattended calibration process. It also supports precise adjustment of height (Z-axis) and angle (pitch / yaw) to meet the spatial calibration requirements of the RTK receiver 6's multiple sensors (such as cameras and lasers). The robotic arm motion unit 4 integrates vertical lifting and angular rotation dual degrees of freedom, forming a three-dimensional observation perspective on the calibration platform 5.

[0047] Furthermore, an RTK (Real-Time Kinematic) receiver is a receiving device that integrates real-time dynamic differential positioning technology. It is mainly used to receive satellite signals from global navigation satellite systems (such as GPS, BeiDou, etc.) and calculate and output high-precision position information in real time by receiving differential data sent by the base station. It can be widely used in scenarios with high requirements for positioning accuracy, such as surveying, engineering surveying, and precision agriculture.

[0048] like Figure 1-3 As shown, the device support frame 1 includes a support platform 11 and a support frame assembly 12. The support frame assembly 12 includes at least one first slide rail 121, a reinforcing plate 122, and two first fixing blocks 123. The two first fixing blocks 123 are respectively disposed at both ends of the first slide rail 121 and fixedly connected to the first slide rail 121. One of the first fixing blocks 123 is fixedly connected to the support platform 11. The reinforcing plate 122 is disposed between the first slide rail 121 and the first fixing block 123 and is fixedly connected to the first slide rail 121.

[0049] Specifically, the support platform 11, serving as the base of the overall equipment, is made of rigid materials (such as metal sheets) with a flat surface to provide a stable support plane. Its function is to provide a fixed reference for other components, ensuring the stability of the entire structure on the ground or workbench. The support frame assembly 12 includes at least one first slide rail 121 (in this embodiment, there are two first slide rails 121). The slide rail is a long strip-shaped guide component, arranged in parallel to form a linear motion track. Two first fixing blocks 123 are fixed to both ends of the slide rail by bolts or welding, ensuring that the ends of the slide rail are rigidly constrained to prevent displacement or deformation. One of the first fixing blocks 123 is directly fixed to the support platform 11 by screws or riveting, achieving seamless integration between the support frame assembly 12 and the base, ensuring a continuous force transmission path. The reinforcing plate 122 is located in the connection area between the first slide rail 121 and the first fixing block 123, and is fixed to the first slide rail 121 by welding or bolts. Its function is to increase local stiffness and bending resistance, resisting the deflection or vibration of the slide rail under load, and improving overall stability. This structure, through the rigid fixation of the two ends of the slide rail by the first fixing block 123 and the local reinforcement of the reinforcing plate 122, significantly reduces the risk of deformation of the slide rail under dynamic load, while ensuring accurate guidance and reliable support of the equipment during movement (such as the movement of parts on the slide rail), and avoids positioning deviation caused by structural loosening.

[0050] It is understood that the support platform 11 in this embodiment is square in shape. In other embodiments, the support platform 11 may also be triangular, circular, rhomboid, or other shapes. The specific shape can be selected according to the actual situation and is not limited here.

[0051] like Figure 1-2 As shown, the device support frame 1 also includes casters 13, which are located at the bottom of the support platform 11 to drive the support frame assembly 12 to move.

[0052] Specifically, in this embodiment, the omnidirectional wheels 13 are adapted to the shape of the support platform 11. There are four wheels, each secured by bolts or quick-release interfaces. Each omnidirectional wheel 13 integrates a 360° rotation mechanism and a locking device (such as a foot brake). The four omnidirectional wheels 13 are evenly distributed at the four corners of the bottom surface of the support platform 11, forming stable support points and ensuring balanced load distribution. The spherical roller structure of the omnidirectional wheels 13 allows the equipment to move in any direction, driven manually or by external traction. The locking device can fix the wheel body after positioning, preventing accidental displacement of the equipment. This design gives the omnidirectional wheels 13 the ability to move freely, allowing for rapid movement in workshops, laboratories, and other scenarios without hoisting or disassembly, solving the problem of rigid deployment of traditional fixed calibration equipment.

[0053] like Figure 3-4As shown, the lead screw motion unit 3 includes a lead screw body 31, a first drive member 32, a second slide rail 33, a second fixing block 34, and a sliding assembly 35. The two ends of the lead screw body 31 are respectively rotatably connected to the second fixing block 34. One end of the first drive member 32 is fixedly installed on the support platform 11, and the other end is fixedly connected to the second fixing block 34. The second fixing block 34 at the top of the lead screw body 31 is fixedly connected to the first fixing block 123. The drive end of the first drive member 32 is connected to the lead screw body 31 for transmission. The sliding assembly 35 is simultaneously slidably connected to the first slide rail 121 and the second slide rail 33.

[0054] Specifically, the lead screw body 31 serves as the core transmission shaft, with both ends connected to the second fixed block 34 via bearings, forming a rotational degree of freedom. One end of the first driving component 32 is rigidly fixed to the support platform 11, and the other end is connected to the second fixed block 34, ensuring that the driving force is directly transmitted to the lead screw transmission chain. Two second fixed blocks 34 are respectively located at both ends of the lead screw body 31, constraining its axial displacement. The second slide rail 33 is arranged parallel to the lead screw body 31, forming a three-rail guiding system with the two first slide rails 121. The sliding component 35 is simultaneously slidably connected to both the first slide rail 121 and the second slide rail 33, achieving four-degree-of-freedom constraint (only the translational degree of freedom along the slide rail direction is retained). The second fixed block 34 at the top of the lead screw body 31 is fixedly connected to the first fixed block 123 of the support frame assembly 12 (e.g., bolted), forming a rigid linkage across the components to resist torsional vibration. The first slide rail 121 (support frame assembly 12) and the second slide rail 33 (lead screw motion unit 3) are arranged in parallel, and the sliding component 35 is synchronously controlled by three sliders, eliminating the risk of single-rail deviation.

[0055] like Figure 3-4 As shown, the sliding assembly 35 includes a first slider 351, a second slider 352, and a robot arm fixing support 353. The first slider 351 and the second slider 352 are both fixedly installed on the robot arm fixing support 353.

[0056] Specifically, both the first slider 351 and the second slider 352 are rigidly fixed to the side of the robot arm mounting bracket 353 by bolts or welding, forming a non-removable integral structure. The two first sliders 351 respectively cooperate with the first slide rail 121 of the support frame assembly 12, and the second slider 352 cooperates with the second slide rail 33 of the lead screw motion unit 3, realizing three-rail synchronous sliding constraint. This design enhances motion accuracy and anti-eccentric load capacity, and avoids single-point failure. The robot arm mounting bracket 353 serves as a load-bearing platform, with a pre-set installation interface (such as screw holes / slots) on the top for fixing the robot arm motion unit 4; one side is integrated with the double sliders to evenly transfer the robot arm load to the slide rail system.

[0057] like Figure 1 and Figure 5As shown, the robotic arm motion unit 4 includes a rotating component 41, a connector 42, and a vertical swing component 43. One end of the rotating component 41 is connected to the mounting part of the robotic arm fixed support 353, and the other end is connected to the vertical swing component 43 through the connector 42. An RTK receiver 6 is installed at the end of the vertical swing component 43.

[0058] Specifically, the rotating component 41 serves as a motion base, with one end rigidly connected to the mounting portion of the robot arm fixing support 353 via bolts or a flange, and the other end extending to a power output interface. It incorporates a built-in drive structure to achieve 0-360° rotation around the vertical axis (Z-axis). The connecting component 42 employs a rigid linkage or hinge mechanism, with both ends fixed to the output end of the rotating component 41 and the input shaft of the vertical swing component 43, respectively. The vertical swing component 43 can swing in the pitch direction around its connection point with the connecting component 42. The RTK receiver 6 is fixed to the end of the vertical swing component 43 via a mounting structure (such as a clamping seat or fixing bolts). In actual operation, the rotation of the rotating component 41 can drive the RTK receiver 6 to adjust its orientation in the horizontal direction, and the swing of the vertical swing component 43 can drive the RTK receiver 6 to adjust its tilt angle in the vertical direction. The two components work together to achieve multi-angle attitude adjustment of the RTK receiver 6. By forming a coordinated motion structure through the rotating component 41 and the vertical swing component 43 connected by the connector 42, the attitude adjustment of the rotation direction and vertical swing direction of the RTK receiver 6 can be realized respectively, thereby covering a more comprehensive calibration angle range.

[0059] like Figure 6 As shown, the rotating assembly 41 includes a second driving member 411, a first fixed base 412, a first rotary bearing 413, and a first bearing mounting base 414. The first fixed base 412 is fixedly installed on the mounting part of the robot arm fixed support 353. The second driving member 411 is installed on the first fixed base 412. The driving end of the second driving member 411 is rotatably connected to the first rotary bearing 413. The first rotary bearing 413 is installed in the first bearing mounting base 414. The first bearing mounting base 414 is fixedly connected to the connecting member 42.

[0060] Specifically, the first fixed base 412 is rigidly fixed to the mounting part of the robot arm fixed support 353 by bolts or welding, providing a stable support base. This fixed base serves as the basic load-bearing structure of the component, ensuring overall rigidity and force transmission efficiency. The second drive component 411 is directly mounted on the first fixed base 412, fixed by bolts or slots. Its drive end (output shaft) forms a rotatable connection with the first rotary bearing 413, achieving efficient input of rotational power. The second drive component 411 receives external control signals and drives rotational motion. The first rotary bearing 413 is nested within the first bearing mounting base 414, fixed by interference fit or retaining rings, ensuring free rotation of the bearing within the mounting base. The inner ring of the bearing meshes with the drive end of the second drive component 411 (e.g., a keyway or coupling), converting the rotational torque of the drive component into bearing rotation. The first bearing mounting base 414 is fixedly connected to the connecting component 42 by bolts or welding, forming a rigid power transmission link. The bearing mounting base, as the bearing's supporting housing, bears the rotational load and transmits the motion to the connecting component 42, ultimately driving the up-and-down swing assembly 43 to move. The overall structure achieves stable output of rotational motion through the orderly assembly of various components, improving the accuracy and reliability of rotational adjustment. At the same time, the modular component design facilitates assembly and maintenance.

[0061] like Figure 6 As shown, the up-and-down swing assembly 43 includes a third drive member 431, a second fixed base 432, a second rotary bearing 433, a second bearing mounting base 434, and a swing arm 435. The drive end of the third drive member 431 passes through the connector 42 and is fixedly connected to the second fixed base 432. The second rotary bearing 433 is installed in the second bearing mounting base 434, and the second bearing mounting base 434 is installed in the second fixed base 432. The second rotary bearing 433 is rotatably connected to the drive end of the third drive member 431. The second fixed base 432 is located at the end of the swing arm 435.

[0062] Specifically, the third driving component 431 is fixed in a preset position by bolts or a snap-fit ​​structure. Its driving end passes axially through the connecting component 42 and is fixed to the second fixed seat 432 by welding or threaded connection, ensuring synchronous movement of both. The second rotary bearing 433 is installed in the second bearing mounting seat 434 with an interference fit, forming a stable bearing assembly. This bearing assembly is fixed inside the second fixed seat 432 by a slot or fastener, keeping the second bearing mounting seat 434 and the second fixed seat 432 relatively stationary. The driving end of the third driving component 431 passes through the inner ring of the second rotary bearing 433 and forms a rotational fit, meaning the driving end can rotate freely relative to the second rotary bearing 433. The end of the swing arm 435 is provided with a mounting structure (such as a boss and groove fit) adapted to the second fixed seat 432. The second fixed seat 432 is fixed to this end by bolts or welding, achieving a rigid connection with the swing arm 435. When the third driving component 431 works, its driving end rotates and drives the swing arm 435 to swing synchronously through the second fixed seat 432.

[0063] It is understood that in this embodiment, the first drive component 32, the second drive component 411, and the third drive component 431 are all servo motors. In other embodiments, the above-mentioned drive components may also be pneumatic drive systems, hydraulic drive systems, etc. The specific choice can be made according to the actual situation, and no limitation is made here.

[0064] like Figure 7 As shown, the other end of the swing arm 435 is provided with a quick positioning slot 436, and a quick installer 437 is installed on the quick positioning slot 436. The quick installer 437 is detachably connected to the RTK receiver 6.

[0065] Specifically, the other end (i.e., the free end) of the swing arm 435 integrates a quick-positioning slot 436. This slot is made of high-strength alloy casting and has an internally machined T-shaped guide groove or dovetail groove structure to form a mechanical positioning reference surface. The slot is rigidly connected to the end of the swing arm 435 by four screws to ensure no relative displacement. The quick installer 437 is nested within the quick-positioning slot 436 and is detachably fixed via a snap-fit ​​or slider mechanism. The main body of the installer is made of lightweight composite material, and the top integrates a standardized interface (such as a threaded post) for directly supporting the RTK receiver 6. Its core function is to provide a quick locking and unlocking mechanism (knob unlocking), allowing the operator to complete the installation or removal of the equipment without tools. In this way, the preset guidance of the slot and the quick-release design of the quick installer 437 form a "plug-and-play" operation flow, eliminating the cumbersome steps of traditional bolt fixing. The operator only needs simple actions to complete the installation and removal of the equipment, greatly reducing the time of a single operation.

[0066] like Figure 1As shown, the calibration platform 5 includes a support base 51 and a square plate 52. The square plate 52 is fixedly installed above the support base 51, and the surface of the square plate 52 is provided with several square grids 521.

[0067] Specifically, the calibration platform 5 with square grid 521 is placed independently and consists of a marble support base 51 and a square grid 521 sub-plate. The support base 51 adopts a rigid frame or solid base structure to provide basic support for the overall calibration platform 5. The square plate 52 is installed on top of the support base 51 by bolt connection, welding, or snap-fit, ensuring that the connection between the two is stable and that the square plate 52 remains horizontal. Several square grids 521 on the surface of the square plate 52 can be formed by printing, etching, or pasting. The arrangement of the square grids 521 can be regularly distributed according to calibration requirements, serving as the specific objects for data acquisition by the RTK receiver 6. In this structure, the fixed connection between the support base 51 and the square plate 52 provides a stable installation foundation for the square plate 52, reducing positional displacement caused by external vibration or slight collisions, and ensuring the positional stability of the acquisition objects during calibration. The square grids 521 on the surface of the square plate 52, as standardized acquisition objects, can provide a unified reference feature for the RTK receiver 6, facilitating the identification and matching of data acquisition.

[0068] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0069] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0070] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0071] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0072] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0073] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0074] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Since these modifications and variations fall within the scope of the claims and their equivalents, this application also intends to include these modifications and variations.

[0075] The above description describes specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automated calibration device for an RTK receiver, characterized in that, include: Device support frame; A power supply and control unit is mounted on the support frame of the device; The lead screw motion unit is mounted on the support frame of the device and is electrically connected to the power supply and control unit; A robotic arm motion unit is movably mounted on the lead screw motion unit. An RTK receiver is mounted on the robotic arm motion unit, and the robotic arm motion unit is used to adjust the height and angle of the RTK receiver. A calibration station, positioned in the calibration direction of the RTK receiver, serves as the object for data acquisition by the RTK receiver.

2. The automated calibration device for an RTK receiver according to claim 1, characterized in that, The device support frame includes a support platform and a support frame assembly. The support frame assembly includes at least one first slide rail, a reinforcing plate, and two first fixing blocks. The two first fixing blocks are respectively disposed at both ends of the first slide rail and fixedly connected to the first slide rail. One of the first fixing blocks is fixedly connected to the support platform. The reinforcing plate is disposed between the first slide rail and the first fixing block and is fixedly connected to the first slide rail.

3. The automated calibration device for an RTK receiver according to claim 2, characterized in that, The device support frame also includes casters, which are located at the bottom of the support platform to drive the support frame assembly to move.

4. The automated calibration device for an RTK receiver according to claim 2, characterized in that, The lead screw motion unit includes a lead screw body, a first driving member, a second slide rail, a second fixed block, and a sliding assembly. The two ends of the lead screw body are respectively rotatably connected to the second fixed block. One end of the first driving member is fixedly installed on the support platform, and the other end is fixedly connected to the second fixed block. The second fixed block at the top of the lead screw body is fixedly connected to the first fixed block. The driving end of the first driving member is connected to the lead screw body for transmission. The sliding assembly is slidably connected to both the first slide rail and the second slide rail.

5. The automated calibration device for an RTK receiver according to claim 4, characterized in that, The sliding assembly includes a first slider, a second slider, and a robot arm mounting bracket, wherein both the first slider and the second slider are fixedly mounted on the robot arm mounting bracket.

6. The automated calibration device for an RTK receiver according to claim 5, characterized in that, The robotic arm motion unit includes a rotating component, a connecting component, and a vertical swinging component. One end of the rotating component is connected to the mounting part of the robotic arm fixed support, and the other end is connected to the vertical swinging component through the connecting component. The RTK receiver is installed at the end of the vertical swinging component.

7. The automated calibration device for an RTK receiver according to claim 6, characterized in that, The rotating assembly includes a second driving component, a first fixed base, a first rotary bearing, and a first bearing mounting base. The first fixed base is fixedly mounted on the mounting part of the robot arm fixed support. The second driving component is mounted on the first fixed base. The driving end of the second driving component is rotatably connected to the first rotary bearing. The first rotary bearing is mounted inside the first bearing mounting base. The first bearing mounting base is fixedly connected to the connecting component.

8. The automated calibration device for an RTK receiver according to claim 6, characterized in that, The up-and-down swing assembly includes a third driving component, a second fixed base, a second rotary bearing, a second bearing mounting base, and a swing arm. The driving end of the third driving component passes through the connecting component and is fixedly connected to the second fixed base. The second rotary bearing is installed in the second bearing mounting base, and the second bearing mounting base is installed in the second fixed base. The second rotary bearing is rotatably connected to the driving end of the third driving component. The second fixed base is located at the end of the swing arm.

9. The automated calibration device for an RTK receiver according to claim 8, characterized in that, The other end of the swing arm is provided with a quick positioning slot, on which a quick installer is installed. The quick installer is detachably connected to the RTK receiver.

10. The automated calibration device for an RTK receiver according to claim 1, characterized in that, The calibration platform includes a support base and a square plate. The square plate is fixedly installed above the support base, and the surface of the square plate is provided with several square grids.

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