CN104913778A - Independent unmanned aerial vehicle inertia measurement device - Google Patents
Independent unmanned aerial vehicle inertia measurement device Download PDFInfo
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- CN104913778A CN104913778A CN201510392419.0A CN201510392419A CN104913778A CN 104913778 A CN104913778 A CN 104913778A CN 201510392419 A CN201510392419 A CN 201510392419A CN 104913778 A CN104913778 A CN 104913778A
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- balancing weight
- housing
- circuit board
- vibration
- connecting hole
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Gyroscopes (AREA)
Abstract
An independent unmanned aerial vehicle inertia measurement device comprises a first shell, a second shell, a plurality of vibration-absorption pieces, a first balancing weight, a second balancing weight, a circuit board and an inertia sensor, wherein the inertia sensor is arranged on the circuit board; the circuit board is arranged between the first balancing weight and the second balancing weight; the circuit board is connected with the first balancing weight and the second balancing weight respectively; the first shell and the second shell are arranged on the outer sides of the first balancing weight and the second balancing weight; the first shell is connected with the second shell; the vibration-absorption pieces are arranged among the mounting surfaces of the first balancing weight and the second balancing weight, and the first shell and the second shell. The independent unmanned aerial vehicle inertia measurement device has the beneficial effects of simple structure, convenience for maintenance, good vibration-absorption effect and low cost.
Description
Technical field
The present invention relates to unmanned vehicle field, particularly, relate to a kind of independent unmanned aircraft inertia measuring device.
Background technology
In unmanned vehicle field, violent random vibration is the main mechanical environment faced during inertial measuring unit runs, and vibration easily causes inertia measuring module unstable properties or electronic devices and components to damage, very large to the stability influence of inertial measuring unit.In order to reduce the impact of random vibration on inertial measuring unit of unmanned vehicle, the patent of invention of Chinese Patent Application No. 201010250948.8 discloses a kind of Miniature inertia measurement system, this system comprises sensory package, interior vibration damper, the parts such as Inertial Measurement Unit housing and lower cover, sensory package comprises sensing support, inertial sensor and Flexible Measurement & Control circuit board, inertial sensor is welded on Flexible Measurement & Control circuit board, Flexible Measurement & Control circuit board covers each plane of sensing support, inertia detection unit housing and lower cover form inner chamber, hold sensing support and interior vibration damper, interior vibration damper comprises multiple interior damper unit, each interior damper unit is arranged between inertia detection unit inner walls and each plane of sensory package.This Miniature inertia measurement system achieves the rigidity shock absorptions such as three-dimensional, the anti-noise ability of inertial measurement system is improved, reduces the relative amplitude of inertial sensor installed surface.But this system adopts flexible PCB to realize inertial sensor layout, flexible PCB easily occurs connecting unstable phenomenon, and flexible PCB easily occurs aging, and cause inertial measurement system to damage, failure rate is high.Further, easily there is irregular phenomenon in the installed surface of flexible PCB, makes the installed surface out-of-flatness of interior damper unit, have a strong impact on effectiveness in vibration suppression.In addition, once flexible circuit board breaks down and cannot safeguard, can only scrap whole inertial measurement system, scrappage is higher, causes serious waste of resources.In addition, flexible PCB is with high costs, causes the production cost of inertial measurement system high, and the die sinking cost of the sensing support of integral type is high, further increases cost of products, and high cost constrains its widespread use.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of independent unmanned aircraft inertia measuring device.
According to an aspect of the present invention, a kind of independent unmanned aircraft inertia measuring device is provided, comprise: the first housing, second housing, multiple vibration-damped component, first balancing weight, second balancing weight, circuit board and inertial sensor, inertial sensor is arranged on circuit boards, described circuit board is arranged between described first balancing weight and the second balancing weight, and described circuit board is connected with described first balancing weight and the second balancing weight respectively, first housing and the second housing are arranged on outside the first balancing weight and the second balancing weight, and the first housing is connected with the second housing, vibration-damped component be arranged on the first balancing weight and the second balancing weight each installed surface and between the first housing and the second housing.
Preferably, also comprise multiple fixture, first balancing weight is provided with multiple first connecting portion, second balancing weight is provided with multiple second connecting portion, each first connecting portion is provided with circuit board mounting groove, and the first connecting portion is provided with the first connecting hole, second connecting portion is provided with the second connecting hole, circuit board is provided with multiple 3rd connecting hole, circuit board is arranged in circuit board mounting groove, second balancing weight is corresponding with the first balancing weight, and fixture is connected with the second connecting hole with the 3rd connecting hole through the first connecting hole.
Preferably, the quantity of vibration-damped component is 6, and wherein, two is cushion blocking, and four is damping washer.
Preferably, the quantity of the first connecting portion, the second connecting portion and the 3rd connecting hole is 4.
Preferably, also comprise flexible connection line, flexible connection line one end is connected with circuit board, and the other end is connected with the first housing or the second housing.
The present invention, respectively at each installed surface of the first balancing weight and the second balancing weight and arrange cushion blocking and damping washer between the first housing and the second housing, effectively can reduce the impact of operating vibration frequency on inertial sensor of unmanned vehicle.Balancing weight of the present invention adopts split-type design, can realize the independent external setting of inertial measuring unit, easy to use.Rear four sides of balancing weight assembling of split-type design are hollow structure, reduce the contact area of balancing weight and housing, effectively reduce vibration transfer path, reduce vibration passing, enhance effectiveness in vibration suppression, greatly improve the stability that inertial sensor is measured.Further, present invention achieves elastic centre point and overlap with physics center of gravity, promote effectiveness in vibration suppression further.Meanwhile, cushion blocking of the present invention directly contacts with balancing weight with damping washer, and the installed surface of each cushion blocking and damping washer is smooth, ensures that each cushion blocking and damping washer can give full play to its vibration-damping function, reaches best effectiveness in vibration suppression.In addition, independent unmanned aircraft inertia measuring apparatus structure of the present invention is simple, convenient for installation and maintenance, balancing weight adopts split-type design, first balancing weight and the second balancing weight connect to form balancing weight by fixture and realizing circuit plate fixing, and stable connection is reliable, ensure that the stability that inertia measuring module connects, failure rate is low, effectively extends the serviceable life of inertia measuring module.Further, if generation part fault, the first balancing weight and the second balancing weight can be taken apart and keep in repair, greatly reduce scrappage, effectively economize on resources, reduce cost of products.Therefore, compared with prior art, the present invention have that structure is simple, easy to use, easy to maintenance, good damping result and beneficial effect that is with low cost, that economize on resources.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the structural representation of independence unmanned aircraft inertia measuring device of the present invention;
Fig. 2 is the STRUCTURE DECOMPOSITION figure of independence unmanned aircraft inertia measuring device of the present invention;
Fig. 3 is the syndeton exploded view of the first balancing weight of independence unmanned aircraft inertia measuring device of the present invention, the second balancing weight and circuit board.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
Please refer to Fig. 1 to Fig. 3, a kind of independent unmanned aircraft inertia measuring device, comprise: the first housing 1, second housing 2, 6 vibration-damped components 3, first balancing weight 4, second balancing weight 5, circuit board 6, inertial sensor, fixture 7, with flexible connection line 8, inertial sensor is arranged on circuit board 6, circuit board 6 is arranged between the first balancing weight 4 and the second balancing weight 5, and circuit board 6 is connected with the first balancing weight 4 and the second balancing weight 5 respectively, first balancing weight 4 is provided with 4 the first connecting portions 41, second balancing weight 5 is provided with 4 the second connecting portions 51, each first connecting portion 41 is provided with circuit board mounting groove 42, and the first connecting portion 41 is provided with the first connecting hole 43, second connecting portion 51 is provided with the second connecting hole 52, circuit board 6 is provided with 4 the 3rd connecting holes 61, circuit board 6 is arranged in circuit board mounting groove 42, second balancing weight 5 is corresponding with the first balancing weight 4, fixture 7 is connected with the second connecting hole 52 with the 3rd connecting hole 61 through the first connecting hole 43, first housing 1 and the second housing 2 are arranged on outside the first balancing weight 4 and the second balancing weight 5, and the first housing 1 is connected with the second housing 2, vibration-damped component 3 is arranged between each installed surface of the first balancing weight 4 and the second balancing weight 5 and the first housing 1 and the second housing 2, flexible connection line 8 one end is connected with circuit board 6, the other end is connected with the second housing 2.
Particularly, inertial sensor comprises three electronic gyroscope and accelerometer, and the measurement axle of three electronic gyroscope is mutually orthogonal, respectively in order to measure the axial angular velocity change of each measurement.
In this example, the second housing 2 is provided with and flexibly connects line interface, flexible connection line 8 is connected with the second housing 2.But it should be noted that, the present invention is not limited thereto, in practical application, also can arrange on the first housing 1 and flexibly connect line interface, flexible connection line is connected with the first housing 1, flexible connection line 8 specifically can be selected according to actual needs to be connected with the first housing 1 or the second housing 2 connects.Therefore, above employing flexible connection line 8 is connected a just embodiment with the second housing 2, be not intended to limit the present invention.
As shown in Figure 2,6 vibration-damped components comprise two cushion blockings and four damping washers, two cushion blockings are separately positioned between the Plane Installation face of the first balancing weight 4 and the second balancing weight 5 and the first housing 1 and the second housing 2, and four damping washers are separately positioned between four sides of the first balancing weight 4 and the second balancing weight 5 and the first housing 1 and the second housing 2.Balancing weight of the present invention adopts split-type design, four sides of the balancing weight after assembling are hollow structure, reduce the contact area of balancing weight and housing, effectively reduce vibration transfer path, enhance effectiveness in vibration suppression, and, side adopts damping washer, without the need to adopting the cushion blocking of monoblock, effectively saves damping material, save material, reduce cost of products.
In a preferred embodiment of the present invention, fixture 7 is screw, and the second connecting hole 52 is threaded hole, and fixture 7 is threaded with the second connecting hole 52.But; it should be noted that; the present invention does not limit the concrete connected mode of fixture 7 and the second connecting hole 52; anyly in prior art can realize the connected mode that fixture 7 is fixedly connected with the second connecting hole 52 and all should drop in protection scope of the present invention; more than adopting fixture 7 to be threaded with the second connecting hole 52 is an embodiment, is not intended to limit the present invention.
The present invention, respectively at each installed surface of the first balancing weight and the second balancing weight and arrange cushion blocking and damping washer between the first housing and the second housing, effectively can reduce the impact of operating vibration frequency on inertial sensor of unmanned vehicle.And, balancing weight adopts split-type design, four sides of the balancing weight after assembling are hollow structure, reduce the contact area of balancing weight and housing, effectively reduce vibration transfer path, reduce further vibration passing, enhance effectiveness in vibration suppression, greatly improve the stability that inertial sensor is measured.In addition, independent unmanned aircraft inertia measuring apparatus structure of the present invention is simple, convenient for installation and maintenance, balancing weight adopts split-type design, first balancing weight and the second balancing weight connect to form balancing weight by fixture and realizing circuit plate fixing, and stable connection is reliable, ensure that the stability that inertia measuring module connects, failure rate is low, effectively extends the serviceable life of inertia measuring module.Further, if generation part fault, the first balancing weight and the second balancing weight can be taken apart and keep in repair, greatly reduce scrappage, effectively economize on resources, reduce cost of products.
Balancing weight of the present invention adopts split-type design, can realize the independent external setting of inertial measuring unit, easy to use, and achieves elastic centre point and overlap with physics center of gravity, effectively promotes effectiveness in vibration suppression.
Cushion blocking of the present invention directly contacts with balancing weight with damping washer, and the installed surface of each cushion blocking and damping washer is smooth, ensures that each cushion blocking and damping washer can give full play to its vibration-damping function, thus reaches best effectiveness in vibration suppression.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (5)
1. an independent unmanned aircraft inertia measuring device, it is characterized in that, comprise: the first housing, second housing, multiple vibration-damped component, first balancing weight, second balancing weight, circuit board and inertial sensor, described inertial sensor is arranged on described circuit board, described circuit board is arranged between described first balancing weight and the second balancing weight, and described circuit board is connected with described first balancing weight and the second balancing weight respectively, described first housing and the second housing are arranged on outside described first balancing weight and the second balancing weight, and described first housing is connected with the second housing, described vibration-damped component is arranged between each installed surface of described first balancing weight and the second balancing weight and described first housing and the second housing.
2. independent unmanned aircraft inertia measuring device according to claim 1, it is characterized in that, also comprise multiple fixture, described first balancing weight is provided with multiple first connecting portion, described second balancing weight is provided with multiple second connecting portion, each described first connecting portion is provided with circuit board mounting groove, and described first connecting portion is provided with the first connecting hole, described second connecting portion is provided with the second connecting hole, described circuit board is provided with multiple 3rd connecting hole, described circuit board is arranged in described circuit board mounting groove, described second balancing weight is corresponding with described first balancing weight, described fixture is connected with described second connecting hole with the 3rd connecting hole through described first connecting hole.
3. independent unmanned aircraft inertia measuring device according to claim 1, is characterized in that, the quantity of described vibration-damped component is 6, and wherein, two is cushion blocking, and four is damping washer.
4. independent unmanned aircraft inertia measuring device according to claim 1, is characterized in that, the quantity of described first connecting portion, the second connecting portion and the 3rd connecting hole is 4.
5. independent unmanned aircraft inertia measuring device according to claim 1, is characterized in that, also comprise flexible connection line, and described flexible connection line one end is connected with described circuit board, and the other end is connected with the first housing or the second housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510392419.0A CN104913778A (en) | 2015-07-06 | 2015-07-06 | Independent unmanned aerial vehicle inertia measurement device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510392419.0A CN104913778A (en) | 2015-07-06 | 2015-07-06 | Independent unmanned aerial vehicle inertia measurement device |
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| CN104913778A true CN104913778A (en) | 2015-09-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510392419.0A Pending CN104913778A (en) | 2015-07-06 | 2015-07-06 | Independent unmanned aerial vehicle inertia measurement device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105698791A (en) * | 2016-04-15 | 2016-06-22 | 江西中船航海仪器有限公司 | Laser gyroscopic compass for warships |
| WO2018090300A1 (en) * | 2016-11-17 | 2018-05-24 | XDynamics Limited | A damping assembly |
| CN109596141A (en) * | 2019-01-22 | 2019-04-09 | 广州极飞科技有限公司 | Sensor module, inertial measurement cluster and mobile device |
| CN110017835A (en) * | 2015-10-30 | 2019-07-16 | 深圳市大疆创新科技有限公司 | The movable fixture of Inertial Measurement Unit and the application Inertial Measurement Unit |
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| CN101922938A (en) * | 2010-07-14 | 2010-12-22 | 北京航空航天大学 | High-precision laser gyroscope inertia measurement system for POS |
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| CN203786564U (en) * | 2014-04-22 | 2014-08-20 | 零度智控（北京）智能科技有限公司 | Dual-redundancy flight control system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110017835A (en) * | 2015-10-30 | 2019-07-16 | 深圳市大疆创新科技有限公司 | The movable fixture of Inertial Measurement Unit and the application Inertial Measurement Unit |
| US10788508B2 (en) | 2015-10-30 | 2020-09-29 | SZ DJI Technology Co., Ltd. | Inertial measurement unit and movable device using the same |
| US11408905B2 (en) | 2015-10-30 | 2022-08-09 | SZ DJI Technology Co., Ltd. | Inertial measurement unit and movable device using the same |
| US11821908B2 (en) | 2015-10-30 | 2023-11-21 | SZ DJI Technology Co., Ltd. | Inertial measurement unit and movable device using the same |
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| CN109596141A (en) * | 2019-01-22 | 2019-04-09 | 广州极飞科技有限公司 | Sensor module, inertial measurement cluster and mobile device |
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Application publication date: 20150916 |