IMU mechanism and unmanned aerial vehicle

Abstract

The present invention discloses an IMU mechanism and an unmanned aerial vehicle. The IMU mechanism includes an IMU module, a bracket, a shock absorbing assembly and a base; the IMU module is installed on the bracket; the shock absorbing assembly includes a vibration detection conversion device and a piezoelectric device, both of which are installed on the base, and the piezoelectric device is connected to the bracket; the vibration detection conversion device is configured to detect the vibration of the base, and convert the detected vibration into an electrical signal, so that the piezoelectric device generates mechanical deformation to filter the vibration of the base. The piezoelectric device can filter the vibration of the base through mechanical deformation, effectively eliminating the influence of the vibration on the IMU module, thereby ensuring the detection accuracy of the IMU module.

Description

Technical Field

[0001] The present invention relates to the field of inertial measurement units, and more specifically, to an IMU mechanism and an unmanned aerial vehicle. Background Art

[0002] IMU (Inertial measurement unit) is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object. The attitude data measured by IMU can be used to calculate the precise adjustment of attitude displacement.

[0003] IMU is mainly used in devices that require motion control, such as automobiles and robots. It is also used in situations where precise displacement calculation based on posture is required, such as inertial navigation equipment in submarines, aircraft, missiles and spacecraft.

[0004] IMU is prone to deviations in measured data due to external vibrations, so it is necessary to perform shock absorption on the IMU. There are two main existing IMU shock absorption methods: one is to cushion and dampen the IMU by covering it with soft materials, and the other is to install shock-absorbing balls on the IMU bracket to achieve shock absorption. The former shock absorption method is prone to affect the normal operation of the IMU due to interference with the IMU. The latter shock absorption method takes up a large space.

[0005] Take drones as an example. When the drone's motor rotates at high speed, the vibration of the motor is transmitted to the drone's IMU, which directly affects the drone's attitude adjustment. If the drone's IMU is covered with soft materials, the IMU will not work properly when it interferes with the soft materials. If a shock-absorbing ball is installed on the drone's IMU mounting bracket, the IMU requires a larger installation space.

[0006] Therefore, there is an urgent need to provide an IMU structure to improve at least one problem in the prior art. Summary of the invention

[0007] An object of the present invention is to provide a new technical solution for an IMU structure.

[0008] According to a first aspect of the present invention, an IMU structure is provided.

[0009] The IMU structure includes an IMU module, a bracket, a shock absorbing assembly and a base; wherein,

[0010] The IMU module is installed on the bracket;

[0011] The shock absorbing assembly includes a vibration detection conversion device and a piezoelectric device, the vibration detection conversion device and the piezoelectric device are both mounted on the base, and the piezoelectric device is connected to the bracket;

[0012] The vibration detection conversion device is configured to detect the vibration of the base and convert the detected vibration into an electrical signal so as to cause the piezoelectric element to generate mechanical deformation to filter the vibration of the base.

[0013] Optionally, an IMU module installation cavity is provided on the bracket, and the IMU module is located in the IMU module installation cavity;

[0014] The IMU mechanism also includes a first epoxy block, which covers the surface of the IMU module so that the IMU module is fixed in the bracket.

[0015] Optionally, the shock absorbing assembly further includes an elastic buffer;

[0016] Two ends of the elastic buffer are respectively connected to the bracket and the piezoelectric component.

[0017] Optionally, the elastic buffer is made of foam material.

[0018] Optionally, the elastic buffer has a cylindrical shape;

[0019] One bottom surface of the elastic buffer is glued to the surface of the bracket, and the other bottom surface of the elastic buffer is glued to the piezoelectric component.

[0020] Optionally, the vibration detection conversion device includes a vibration sensor;

[0021] A vibration sensor cavity is provided on the base, and the vibration sensor is located in the vibration sensor cavity;

[0022] The shock absorbing assembly further comprises a second epoxy block, wherein the second epoxy block covers the vibration sensor so that the vibration sensor is fixed in the base.

[0023] Optionally, the piezoelectric element is a sheet-like structure, a piezoelectric element cavity is provided on the base, and the piezoelectric element is fixed in the piezoelectric cavity.

[0024] Optionally, the vibration sensor cavity and the piezoelectric element cavity are connected, and the piezoelectric element cavity is located between the vibration sensor cavity and the bracket.

[0025] Optionally, a projection area of ​​the bracket on the plane where the piezoelectric element is located is smaller than a surface area of ​​the piezoelectric element.

[0026] According to a second aspect of the present invention, a drone is provided.

[0027] The drone includes the IMU mechanism of the present invention;

[0028] The IMU mechanism is installed in the drone through the base.

[0029] According to an embodiment of the present disclosure, the piezoelectric component of the IMU mechanism can filter the vibration of the base through mechanical deformation, thereby realizing active shock absorption of the IMU mechanism and effectively eliminating the influence of vibration on the IMU module, thereby ensuring the detection accuracy of the IMU module.

[0030] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0032] Figure 1 It is a structural schematic diagram of an embodiment of the IMU mechanism disclosed in the present invention.

[0033] Figure 2 It is a cross-sectional view of an embodiment of the IMU mechanism disclosed in the present invention.

[0034] Figure 3 An exploded view of an IMU mechanism embodiment of the present disclosure.

[0035] The following are marked in the figure:

[0036] IMU module-1, bracket-2, IMU module installation cavity-20, shock absorption assembly-3, vibration detection conversion device-31, vibration sensor-310, piezoelectric component-32, elastic buffer component-33, second epoxy block-34, fixing component-35, base-4, vibration sensor cavity-41, piezoelectric component cavity-42, first epoxy block-5. DETAILED DESCRIPTION

[0037] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0038] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0039] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0040] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0041] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0042] like Figures 1 to 3 As shown, the IMU mechanism of the present disclosure includes an IMU module 1, a bracket 2, a shock absorbing assembly 3 and a base 4. The IMU module 1 may generally include an accelerometer and a gyroscope. The shape of the bracket 2 may be set according to actual needs, for example, the bracket 2 has a frame structure or a cavity structure. The base 4 may be used to install the IMU mechanism on related equipment, such as automobiles, robots, and drones.

[0043] The IMU module 1 is mounted on the bracket 2. The IMU module 1 can be mounted on the bracket 2 by gluing or clamping.

[0044] The shock absorbing assembly 3 includes a vibration detection conversion device 31 and a piezoelectric device 32. The vibration detection conversion device 31 refers to a device that can detect vibration and convert the detected vibration into an electrical signal. The vibration detection conversion device 31 and the piezoelectric device 32 are both mounted on the base 4, and the piezoelectric device 32 is connected to the bracket 2. The vibration detection conversion device 31 and the piezoelectric device 32 can be mounted on the base 4 by gluing or clamping. The connection between the piezoelectric device 32 and the bracket 2 can be achieved by welding or gluing.

[0045] The vibration detection conversion device 31 can detect the vibration of the base 4 and convert the detected vibration into an electrical signal, so that the piezoelectric element 32 generates mechanical deformation to filter the vibration of the base 4. The mechanical deformation generated by the piezoelectric element 32 filters or weakens the vibration of the base 4, effectively reducing or eliminating the influence of the vibration on the bracket 2 connected to the piezoelectric element 32, thereby ensuring the detection accuracy of the IMU module 1 installed on the bracket 2.

[0046] The vibration detection conversion device 31 may be a single functional device, or may be composed of multiple parts. For example, the vibration detection conversion device 31 may include a vibration detection sensor and a control element, and the vibration detection sensor may be, for example, a vibration sensor or an IMU module. The vibration detection sensor may detect vibrations, and the control element may convert the vibrations detected by the vibration detection sensor into electrical signals, which may cause the piezoelectric element 32 to produce mechanical deformation that may filter the vibrations of the base 4. For another example, the vibration detection conversion device 31 is a single sensor, which may directly convert the detected vibrations into electrical signals that may cause the piezoelectric element 32 to produce mechanical deformation. The piezoelectric element 32 refers to a structural element made of piezoelectric material, and the piezoelectric element 32 may have a sheet-like or block-like structure. In a specific implementation, the electrical signal of the vibration detection conversion device 31 may be directly transmitted to the piezoelectric element 32, or the piezoelectric element 32 may be exposed to the electric field formed by the electrical signal of the vibration detection conversion device 31, so that the piezoelectric element 32 produces mechanical deformation.

[0047] When external vibration is transmitted to the base 4, the vibration detection conversion device 31 converts the detected vibration into an electrical signal, and the piezoelectric element 32 generates mechanical deformation under the action of the electrical signal. The mechanical deformation generated by the piezoelectric element 32 filters the vibration of the base 4, realizes the active shock absorption of the IMU mechanism, and effectively eliminates the influence of the vibration on the IMU module 1, thereby ensuring the detection accuracy of the IMU module 1. According to the difference in the vibration of the base 4, the shock absorbing assembly 3 of the present invention can actively make corresponding adjustments to the vibration of the base 4 to achieve the effect of active shock absorption.

[0048] Optionally, the IMU mechanism further includes a first epoxy block 5. An IMU module installation cavity 21 is provided on the bracket 2, and the IMU module 1 is located in the IMU module installation cavity 21. The first epoxy block 5 covers the surface of the IMU module 1 so that the IMU module 1 is fixed in the bracket 21. Generally, the shape of the IMU module installation cavity 21 matches the shape of the measurement part of the IMU module 1. The first epoxy block 5 can be formed by directly injecting epoxy glue into the IMU module installation cavity 21 through a glue gun, and the first epoxy block 5 can be configured to fill the IMU module installation cavity 21 so that the top surface of the first epoxy block 5 is flush with the peripheral surface of the IMU module installation cavity 21 on the bracket 2. The first epoxy block 5 can play a role of bonding. In addition, the first epoxy block 5 can also play a role in maintaining the temperature of the IMU module 1 and slowing down the temperature change rate of the IMU module 1, so that the performance of the IMU module 1 is more stable and the measurement is more accurate.

[0049] Optionally, the shock absorbing assembly 3 further includes an elastic buffer 33. The two ends of the elastic buffer 33 are respectively connected to the bracket 2 and the piezoelectric element 32. Connecting the bracket 2 and the piezoelectric element 32 together through the elastic buffer 33 is conducive to more effectively filtering or weakening the vibration transmitted from the base 4. The elastic buffer 33 can be made of foam or silicone material. In this way, the shock absorbing assembly 3 can actively adjust the vibration of the base 4 according to the different vibrations of the base 4, and the elastic buffer 33 can passively filter or weaken the vibration transmitted by the base 4, so as to achieve the shock absorption effect of combining active shock absorption and passive shock absorption.

[0050] Furthermore, the elastic buffer 33 is made of foam material. The elastic buffer 33 made of foam material has a larger hardness adjustment range.

[0051] Furthermore, the elastic buffer 33 has a cylindrical shape. One bottom surface of the elastic buffer 33 is glued to the surface of the bracket 2, and the other bottom surface of the elastic buffer 33 is glued to the piezoelectric element 32. The cylindrical elastic buffer 33 has a good shock absorption effect.

[0052] In addition, an elastic buffer installation cavity for placing an elastic buffer may also be provided on the bracket 2. The elastic buffer installation cavity may be adjacent to the IMU module installation cavity 20, and the two cavities are separated by a partition. One bottom surface of the elastic buffer 33 is adhesively connected to the bottom wall of the elastic buffer installation cavity, and part of the side surface of the elastic buffer 33 is located in the elastic buffer installation cavity, and the other bottom surface of the elastic buffer 33 is adhesively connected to the piezoelectric element 32.

[0053] Optionally, the shock absorbing assembly 3 also includes a second epoxy block 34. The vibration detection conversion device 31 includes a vibration sensor 310. A vibration sensor cavity 41 is provided on the base 4, and the vibration sensor 310 is located in the vibration sensor cavity 41. The second epoxy block 34 covers the vibration sensor 41 so that the vibration sensor 41 is fixed in the base 4. Generally, the shape of the vibration sensor cavity 41 matches the shape of the vibration sensor 310. The second epoxy block 34 can be formed by directly injecting epoxy glue into the vibration sensor cavity 41 through a glue gun. The second epoxy block 34 can play a role of gluing. In addition, the second epoxy block 34 is also conducive to maintaining the temperature of the vibration sensor 41, so that the measurement of the vibration sensor 41 is more accurate.

[0054] Furthermore, the piezoelectric element 32 is a sheet-like structure. A piezoelectric element cavity 42 is provided on the base 4, and the piezoelectric element 32 is fixed in the piezoelectric cavity 42. The fixing of the piezoelectric element 32 in the piezoelectric cavity 42 can be achieved in a variety of ways, for example, the piezoelectric element 32 is fixed in the piezoelectric cavity 42 by gluing or bolting. In specific implementation, a fixing member 35 such as a bolt or an epoxy block can be used to fix the piezoelectric element 32 in the piezoelectric cavity 42. Generally, a plurality of fixing members 35 can be provided, and a plurality of fixing members 35 are in contact with the edge of the piezoelectric element 32, so as to fix the piezoelectric element 32 without affecting the mechanical deformation of the piezoelectric element 32.

[0055] Furthermore, the vibration sensor cavity 41 and the piezoelectric element cavity 42 are connected, and the piezoelectric element cavity 42 is located between the vibration sensor cavity 41 and the bracket 2. That is, the piezoelectric element cavity 42 is located above the vibration sensor cavity 41 and below the bracket 2, the above-mentioned above refers to the direction in which the base 4 is close to the bracket 2, and the above-mentioned below refers to the direction in which the bracket 2 is close to the base 4. This arrangement is conducive to the piezoelectric element 32 filtering vibrations more efficiently. The terms "upper" and "lower" only indicate the relative position relationship between the components of the IMU mechanism, and this relative position relationship will not change when the IMU mechanism is displaced, flipped or inverted.

[0056] Furthermore, the projection area of ​​the bracket 2 on the plane where the piezoelectric element 32 is located is smaller than the surface area of ​​the piezoelectric element 32, so as to filter the vibration more efficiently.

[0057] Below, the IMU mechanism of the present disclosure is described by taking the embodiment shown in the accompanying drawings as an example:

[0058] like Figure 3 As shown, the IMU mechanism includes an IMU module 1, a bracket 2, a shock absorbing assembly 3, a base 4 and a first epoxy block 5.

[0059] The bracket 2 has a block structure. An IMU module installation cavity 20 is provided on one surface of the bracket 2, and the IMU module 1 is fixed in the IMU module installation cavity 20 by a first epoxy glue block 5 formed by injecting epoxy glue.

[0060] The base 4 has a vibration sensor cavity 41 and a piezoelectric element cavity 42 . The vibration sensor cavity 41 and the piezoelectric element cavity 42 are connected, and the piezoelectric element cavity 42 is closer to the bracket 2 than the vibration sensor cavity 41 .

[0061] The shock absorbing assembly 3 includes a vibration detection conversion device 31, a piezoelectric device 32, an elastic buffer 33, a second epoxy block 34 and a fixing member 35. The vibration detection conversion device 31 includes a vibration sensor 310, and the vibration sensor 310 is fixed in the vibration sensor cavity 41 of the base 4 by injecting epoxy glue to form a second epoxy block 34. The piezoelectric device 32 is fixed in the piezoelectric device cavity 42 of the base 4 by a fixing member 35 formed by injecting epoxy glue. The elastic buffer 33 is made of foam and has a cylindrical shape. One bottom surface of the elastic buffer 33 is glued to the surface of the bracket 2, and the other bottom surface of the elastic buffer 33 is glued to the surface of the piezoelectric device 32.

[0062] The vibration sensor 310 in this embodiment can detect the vibration of the base 4, and the vibration detection conversion device 31 can convert the detected vibration into an electrical signal, so that the piezoelectric element 32 generates mechanical deformation to filter the vibration of the base 4. When the external vibration is transmitted to the base 4, the vibration sensor 310 detects the vibration and the vibration detection conversion device 31 converts the detected vibration into an electrical signal, and the piezoelectric element 32 generates mechanical deformation under the action of the electrical signal. The mechanical deformation generated by the piezoelectric element 32 filters the vibration of the base 4, effectively reducing or eliminating the influence of the vibration on the bracket 2 connected to the piezoelectric element 32, thereby ensuring the detection accuracy of the IMU module 1 installed on the bracket 2.

[0063] The invention also discloses a drone.

[0064] The drone includes the IMU mechanism of the present disclosure. The IMU mechanism is installed in the drone via a base 4. The installation position and installation method of the base 4 can be designed according to the specific structure of the drone. For example, the base 4 can be fixedly connected to the battery compartment and the housing of the drone via screws or bolts.

[0065] The piezoelectric element of the IMU mechanism of the drone disclosed in the present invention can filter the vibration transmitted from the drone to the base 4 through mechanical deformation, effectively eliminating the influence of the vibration on the IMU module 1, thereby ensuring the detection accuracy of the IMU module 1.

[0066] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. An IMU mechanism, characterized in that: It includes an IMU module, a bracket, a shock-absorbing assembly and a base; wherein, The IMU module is installed on the bracket; The shock absorbing assembly includes a vibration detection conversion device and a piezoelectric device, the vibration detection conversion device and the piezoelectric device are both mounted on the base, and the piezoelectric device is connected to the bracket; The vibration detection conversion device is configured to detect the vibration of the base and convert the detected vibration into an electrical signal, so that the piezoelectric element generates mechanical deformation to filter the vibration of the base; The bracket is provided with an IMU module installation cavity, and the IMU module is located in the IMU module installation cavity; The IMU mechanism also includes a first epoxy block, the first epoxy block covers the surface of the IMU module so that the IMU module is fixed in the bracket, and the top surface of the first epoxy block is flush with the peripheral surface of the IMU module installation cavity on the bracket; The vibration detection conversion device includes a vibration sensor, a vibration sensor cavity is provided on the base, and the vibration sensor is located in the vibration sensor cavity; The piezoelectric element is a sheet-like structure, a piezoelectric element cavity is provided on the base, and the piezoelectric element is fixed in the piezoelectric element cavity; the vibration sensor cavity is connected to the piezoelectric element cavity, and the piezoelectric element cavity is located between the vibration sensor cavity and the bracket; The projection area of ​​the bracket on the plane where the piezoelectric element is located is smaller than the surface area of ​​the piezoelectric element.

2. The IMU mechanism according to claim 1, characterized in that: The shock absorbing assembly also includes an elastic buffer; Two ends of the elastic buffer are respectively connected to the bracket and the piezoelectric component.

3. The IMU mechanism according to claim 2, characterized in that: The elastic buffer is made of foam material.

4. The IMU mechanism according to claim 3, characterized in that: The elastic buffer has a cylindrical shape; One bottom surface of the elastic buffer is glued to the surface of the bracket, and the other bottom surface of the elastic buffer is glued to the piezoelectric component.

5. The IMU mechanism according to claim 1, characterized in that: The shock absorbing assembly further includes a second epoxy block, and the second epoxy block covers the vibration sensor so that the vibration sensor is fixed in the base.

6. A drone, characterized in that: The IMU mechanism comprising any one of claims 1 to 5; The IMU mechanism is installed in the drone through the base.

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