Inertial measurement systems, shock absorber systems, and shock absorbers

Abstract

The present application discloses an inertial measurement system, a shock absorber system, and a shock absorber. The inertial measurement system includes an inertial measurement device, a shock absorber, a current source, a processor, and a vibration sensor, wherein the processor is communicatively connected to the vibration sensor and the current source, respectively, the shock absorber is electrically connected to the current source, and the inertial measurement device is connected to the shock absorber. The shock absorber includes a base, a first elastic component, a mounting seat, and a preload adjustment mechanism. The mounting seat is connected to the inertial measurement device; the first elastic component is disposed on the base and supports the mounting seat upward; and the preload adjustment mechanism is conductively connected to the current source and, driven by the current source, adjusts the preload applied downward to the first elastic component.

Description

Technical Field

[0001] The present application relates to the technical fields of inertial measurement and inertial navigation, and in particular to an inertial measurement system, a shock absorber system, and a shock absorber. Background Art

[0002] Inertial measurement units (IMUs) are installed on vehicles, drones, submarines, and other vehicles to measure the vehicle's attitude and acceleration in real time, thereby further realizing inertial navigation of the vehicle.

[0003] For vehicles with drive motors, especially those equipped with deceleration devices, their own vibrations can generate considerable redundant data for the IMU, impacting the IMU's resolution speed and accuracy. Traditional shock absorbers have fixed elasticity and can only filter vibrations within a fixed frequency and amplitude range. However, actual vehicle vibrations vary with drive speed and environmental factors (such as wind direction, wind resistance, and flow direction and water resistance). Therefore, traditional shock absorbers cannot effectively eliminate the impact of vehicle vibration on the IMU.

[0004] Currently, no effective solution has been proposed to the technical problem that the shock-absorbing device in the existing technology can only filter vibrations within a fixed frequency and amplitude range, and thus cannot effectively eliminate the impact of vehicle vibration on the inertial measurement device. Summary of the Invention

[0005] The present disclosure provides an inertial measurement system, a shock absorber system, and a shock absorber to at least address the technical problem in the prior art that existing shock absorbers can only filter vibrations within a fixed frequency amplitude range, and thus cannot effectively eliminate the impact of vehicle vibration on the inertial measurement device.

[0006] According to one aspect of the present application, an inertial measurement system is provided, comprising: an inertial measurement device, a shock absorber, a current source, a processor, and a vibration sensor, wherein the processor is communicatively connected to the vibration sensor and the current source, respectively; the shock absorber is electrically connected to the current source; and the inertial measurement device is connected to the shock absorber. The shock absorber comprises: a base, a first elastic component, a mounting seat, and a preload adjustment mechanism. The mounting seat is connected to the inertial measurement device; the first elastic component is disposed on the base and supports the mounting seat upward; and the preload adjustment mechanism is conductively connected to the current source and, driven by the current source, adjusts the preload applied downward to the first elastic component.

[0007] According to a second aspect of the present application, a shock absorber system is provided, comprising: a shock absorber, a current source, a processor, and a vibration sensor, wherein the processor is communicatively connected to the vibration sensor and the current source, respectively, and the shock absorber is electrically connected to the current source. The shock absorber comprises: a base, a first elastic component, a mounting seat, and a preload adjustment mechanism. The mounting seat is connected to a shock-absorbing object; the first elastic component is disposed on the base and upwardly supports the mounting seat; and the preload adjustment mechanism is conductively connected to the current source and, driven by the current source, adjusts the preload applied downwardly to the first elastic component.

[0008] According to a third aspect of the present application, a shock absorber is provided, comprising: a base, a first elastic component, a mounting seat, and a preload adjustment mechanism. The mounting seat is connected to a shock-absorbing object; the first elastic component is disposed on the base and upwardly supports the mounting seat; and the preload adjustment mechanism is conductively connected to a current source and, when driven by the current source, adjusts the preload applied downwardly to the first elastic component.

[0009] Therefore, the inertial measurement system disclosed herein not only includes a first elastic component for damping vibration in a shock absorber connected to the inertial measurement device, thereby mitigating the impact of vehicle vibration on the inertial measurement device, but also includes a preload adjustment mechanism connected to a current source. Driven by the current source, the preload applied to the first elastic component is adjusted, thereby adjusting the elasticity of the first elastic component. Furthermore, the present invention includes a vibration sensor and a processor, where the processor adjusts the current output by the current source to the preload adjustment mechanism based on the measurement signal from the vibration sensor. This allows the current output to the preload adjustment mechanism to be adjusted based on vehicle vibration, thereby adjusting the elasticity of the first elastic component. Consequently, even when vehicle vibration is constantly changing, the shock absorber can effectively mitigate the impact of vehicle vibration on the inertial measurement device. This solves the technical problem that existing shock absorbers can only filter vibrations within a fixed frequency and amplitude range, thus failing to effectively eliminate the impact of vehicle vibration on the inertial measurement device.

[0010] Based on the detailed description of the specific embodiments of the present application in conjunction with the accompanying drawings below, those skilled in the art will become more aware of the above and other objects, advantages and features of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Hereinafter, some specific embodiments of the present application will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the drawings:

[0012] Figure 1 is a schematic diagram of an inertial measurement system according to one embodiment of the present application;

[0013] Figure 2A yes Figure 1 a schematic diagram of a shock absorber of the inertial measurement system shown;

[0014] Figure 2B and Figure 2C yes Figure 2A a cross-sectional view of the shock absorber shown; and

[0015] Figure 3 It is a flowchart of the adaptive vibration reduction method of the inertial measurement system based on the present application. DETAILED DESCRIPTION

[0016] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0017] In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0018] It should be noted that the terms "first," "second," and the like in the specification and claims of the present disclosure and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate for the embodiments of the present disclosure described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0019] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0020] Figure 1 Schematic diagram of an inertial measurement system according to an embodiment of the present application. Figure 1As shown, the inertial measurement system includes: an inertial measurement device 100, a shock absorber 200, a current source 300, a processor 400 and a vibration sensor 500. The processor 400 is connected to the vibration sensor 500 and the current source 300 respectively, the shock absorber 200 is connected to the current source 300, and the inertial measurement device 100 is connected to the shock absorber 200. In addition, Figure 2A shows a schematic diagram of a shock absorber 200, Figure 2B and Figure 2C A cross-sectional view of the shock absorber 200 is further shown. Figure 2A and Figure 2B As shown, the shock absorber 200 includes: a base 210, a first elastic component 220, a mounting seat 230 and a preload adjustment mechanism 240. The mounting seat 230 is connected to the inertial measurement device 100; wherein the first elastic component 220 is arranged on the base 210 and moves along a first direction (e.g. Figure 2B The preload adjustment mechanism 240 is electrically connected to the current source 300, and is driven by the current source 300 to adjust the preload along the second direction (for example, Figure 2B , wherein the second direction is opposite to the first direction.

[0021] Specifically, during use, the inertial measurement device 100 (e.g., an IMU equipped with a gyroscope and accelerometer) is first connected and fixed to the mounting base 230 of the shock absorber 200. The base 210 of the shock absorber 200 is then connected to the vehicle, allowing the vehicle to be measured using the inertial measurement device 100. Because the mounting base 230 is supported by the first elastic member 220, the effect of vehicle vibration on the inertial measurement device 100 can be mitigated.

[0022] In addition, reference Figure 2B As shown, the shock absorber 200 is provided with a preload adjustment mechanism 240 conductively connected to the current source 300. The preload adjustment mechanism 240 adjusts the preload of the first elastic component 220 under the drive of the current applied by the current source 300, thereby adjusting the elasticity of the first elastic component 220.

[0023] Furthermore, during use, the vibration sensor 500 is connected to the vehicle to measure the vibration of the vehicle in real time. The measurement signal generated by the vibration sensor 500 is transmitted to the processor 400, and the processor 400 adjusts the current output by the current source 300 according to the received measurement signal.

[0024] As described in the background, the vibration of vehicles with drive motors, especially those equipped with deceleration devices, can generate considerable redundant data for the IMU, impacting the IMU's resolution speed and accuracy. Traditional shock absorbers have fixed elasticity and can only filter vibrations within a fixed frequency and amplitude range. However, actual vehicle vibration varies with drive speed or environmental factors (such as wind direction, wind resistance, and flow direction, water resistance). Therefore, traditional shock absorbers cannot effectively eliminate the impact of vehicle vibration on the IMU.

[0025] In light of this, the inertial measurement system of the present disclosure not only includes a first elastic component 220 for damping vibration within the shock absorber 200 connected to the inertial measurement device 100, thereby mitigating the impact of vehicle vibration on the inertial measurement device 100, but also includes a preload adjustment mechanism 240 connected to a current source 300 within the shock absorber 200. This mechanism adjusts the preload applied to the first elastic component 220, driven by the current from the current source 300, thereby adjusting the elasticity of the first elastic component 220. Furthermore, the present disclosure includes a vibration sensor 500 and a processor 400. The processor 400 adjusts the current output from the current source 300 to the preload adjustment mechanism 240 based on the measurement signal from the vibration sensor 500. This allows the current output to the preload adjustment mechanism 240 to be adjusted based on vehicle vibration, thereby adjusting the elasticity of the first elastic component 220. Consequently, even when vehicle vibration is constantly changing, the shock absorber 200 can effectively mitigate the impact of vehicle vibration on the inertial measurement device 100. This solves the technical problem that the existing shock-absorbing device can only filter vibrations within a fixed frequency amplitude range, and thus cannot effectively eliminate the influence of vehicle vibration on the inertial measurement device.

[0026] In addition, for example, the first elastic component 220 is set to 0-100% according to the degree of hardness, wherein 100% indicates that the hardness of the first elastic component 220 is the maximum, which is similar to a rigid connection without shock absorption.

[0027] Optionally, refer to Figures 2A to 2C As shown, the first elastic component 220 is a tower-shaped corrugated rubber column. Specifically, the present disclosure uses the tower-shaped corrugated rubber column 220 as an elastic component to alleviate vehicle vibration. Since the inside and outside of the tower-shaped corrugated rubber column are corrugated, it can provide axial deformation and produce different stiffness characteristics. In addition, the tower-shaped corrugated rubber column has the function of timely stabilization and straightening, and can show the characteristics of rapid stabilization in severe vibration and sudden vibration conditions. Therefore, the present disclosure can better mitigate the impact of vehicle vibration on the inertial measurement device 100.

[0028] Optionally, refer to Figures 2A to 2CAs shown, the preload adjustment mechanism 240 includes a second elastic component 242 and a magnetic levitation mechanism 241. The second elastic component 242 abuts the mounting seat 230 and applies a downward elastic restoring force to the mounting seat 230. The magnetic levitation mechanism 241 is coupled to the mounting seat 230 and electrically connected to the current source 300. Driven by the current source 300, it applies an upward magnetic levitation force to the mounting seat 230. Consequently, the second elastic component 242 can apply a downward preload force to the first elastic component 220 via the mounting seat 230. For example, the second elastic component 242 can be a compression spring. Thus, the second elastic component 242 abuts the mounting seat 230 with a certain elastic restoring force, thereby applying a downward thrust to the mounting seat 230. This, in turn, compresses the first elastic component 220 through the downward displacement of the mounting seat 230, applying a preload force to the first elastic component 220 and changing its elasticity. Furthermore, the preload adjustment mechanism 240 is provided with a magnetic levitation mechanism 241, which counteracts the elastic restoring force of the second elastic component 242 and provides an upward magnetic levitation force to the mounting seat 230. Thus, through this arrangement, the preload applied to the first elastic component 220 can be adjusted by adjusting the magnitude of the magnetic levitation force. When the elasticity of the first elastic component 220 needs to be further softened, the current applied to the magnetic levitation mechanism 241 is increased, thereby pushing the mounting seat 230 upward, increasing the magnetic levitation air gap, and thus reducing the preload applied to the first elastic component 220. When the elasticity of the first elastic component 220 needs to be further stiffened, the current applied to the magnetic levitation mechanism 241 is reduced, causing the mounting seat 230 to move downward under the elastic restoring force of the second elastic component 240, reducing the magnetic levitation air gap, and thus increasing the preload applied to the first elastic component 220. When the magnetic suspension mechanism 241 is not powered and enters a non-working state, the magnetic suspension air gap is zero. At this time, the preload force applied to the first elastic component 220 is the largest, and the elasticity of the first elastic component 220 is the hardest.

[0029] Therefore, because the magnetic levitation structure also has the function of timely stabilization and righting, it can be combined with the first elastic component to exhibit rapid stabilization characteristics under severe vibration and sudden vibration. In addition, the present disclosure can achieve stepless adjustment of the magnetic levitation air gap through current, so that the elasticity of the first elastic component 220 can be infinitely changed.

[0030] Optionally, refer to Figure 2CAs shown, the magnetic levitation mechanism 241 includes: a permanent magnet back iron 246, a permanent magnet 245, a coil 244, and an electromagnetic yoke 243. The permanent magnet back iron 246 is connected to the mounting base 230; the permanent magnet 245 is connected to the permanent magnet back iron 246; the electromagnetic yoke 243 is disposed below the mounting base 230 and includes a bottom 2432 and a sidewall 2431 disposed around the bottom 2432, thereby forming a space capable of accommodating the permanent magnet back iron 246 and the permanent magnet 245; a protrusion 2433 is formed at the bottom 2432 of the electromagnetic yoke 243 opposite the permanent magnet 245; the coil 244 is disposed on the bottom 2432 of the electromagnetic yoke 243 and around the protrusion 2433, and the coil 244 is electrically connected to the current source 300.

[0031] Thus, when coil 244 is not energized, i.e., in a non-operating state, permanent magnet 245 and electromagnetic yoke 243 are attracted and adhered to each other, and the magnetic suspension air gap is zero. The upper side of permanent magnet 245 is set as an S pole and the lower side is set as an N pole, so the corresponding permanent magnet back iron 246 is magnetized to an S pole. When coil 244 is energized, an N pole is generated on the upper side of coil 244 and an S pole is generated on the lower side. The upper portion of protrusion 2433 of electromagnetic yoke 243 is magnetized to an N pole, and the lower portion of protrusion 2433 is magnetized to an S pole, thereby generating an S pole on the annular sidewall. According to the principle of like poles repelling, since the lower portion of permanent magnet 245 is an N pole, it repels the same pole as the upper portion of protrusion 2433 of electromagnetic yoke 243, and is therefore pushed upward by electromagnetic yoke 243, thereby producing the effect of up and down suspension. Furthermore, the upper portion of the permanent magnet 245 and the permanent magnet back iron 246 are both S-pole magnets, and are therefore pushed away by the sidewall 2431 of the electromagnetic yoke 243, thereby producing a circumferential suspension effect. By adjusting the coil current, i.e., adjusting the magnetic field strength of the electromagnetic yoke 243, the size of the air gap between the permanent magnet 245 and the electromagnetic yoke 243 can be adjusted. As the air gap increases, the second elastic component 240 shortens, the first elastic component 220 becomes taller, and its elasticity softens. As the air gap decreases, the second elastic component 240 lengthens, the first elastic component 220 shortens, and its elasticity stiffens. Thus, in this way, the damping stiffness of the shock absorber 200 can be adjusted. Furthermore, through the technical solution disclosed herein, not only is it possible to achieve stepless adjustment of the magnetic suspension air gap through current, resulting in stepless changes in the elasticity of the first elastic component 220, but also, during the adjustment process, the effects of both upper and lower suspension and circumferential suspension can be simultaneously achieved, thereby making the adjustment process more stable, avoiding radial movement, and achieving timely stabilization and straightening.

[0032] Furthermore, although the above description uses the example of a permanent magnet 245 having an upper S pole and a lower N pole, and energizing the coil 244 to generate an N pole on the upper side and an S pole on the lower side, the reverse is also possible. For example, the permanent magnet 245 may have an upper N pole and an S pole on the lower side, and energizing the coil 244 may generate an S pole on the upper side and an N pole on the lower side.

[0033] Optionally, the base 210 includes a base housing 212 and a base cover 211 for covering the base housing 212, wherein the first elastic component 220 is disposed on the base cover 211; and the preload adjustment mechanism 240 is disposed within the base housing 212. Therefore, by disposing the preload adjustment mechanism 240 within the base housing 212, the preload adjustment mechanism 240 can be effectively protected from external damage and interference.

[0034] Optionally, the base cover 211 is provided with a through hole 2111, and the mounting base 230 includes: a rod-shaped component 233; a first flange 231 provided at the upper end of the rod-shaped component 233; a second flange 234 provided at the lower end of the rod-shaped component 233; and a third flange 232 provided on the rod-shaped component 233 and located between the first flange 231 and the second flange 234. The rod-shaped component 233 is disposed through the through hole 2111 of the base cover 211; the first flange 231 is used to connect to the inertial measurement device 100; the second elastic component 242 is disposed around the through hole 2111, with the upper end of the second elastic component 242 connected to the lower surface of the base cover 211 and the lower end of the second elastic component 242 abutting the upper end surface of the second flange 234; the second flange 234 is connected to the permanent magnet back iron 246; and the first elastic component 220 is disposed around the through hole 2111 of the base cover 211 and abutting the third flange 232. In this manner, the first elastic component 220, the second elastic component 242, and the magnetic levitation mechanism 241 are linked together via the mounting base 230, so that the second elastic component 242 and the magnetic levitation mechanism 241 can apply a preload force to the first elastic component 220, thereby adjusting the elasticity of the first elastic component 220.

[0035] In addition, the coil 244 is coaxially fixedly connected to the protrusion 2433 of the electromagnetic yoke 243, the electromagnetic yoke 243 is fixedly connected to the base shell 212, the permanent magnet 245 is coaxially fixedly connected to the permanent magnet back iron 246, and the permanent magnet back iron 246 is coaxially fixedly connected to the second flange 234 of the mounting base 230. In addition, the base cover 211 and the second flange 234 are provided with positioning bosses for positioning the second elastic component 242, and the two ends of the second elastic component 242 are respectively concentrically and loosely fitted with the positioning bosses of the base cover 211 and the second flange 234 and are not connected. The first elastic component 220 is fixedly connected to the base cover 211, and the first elastic component 220 is fixedly fitted with the third flange 232 of the mounting base 230. Furthermore, the first elastic component 220 is coaxially and loosely fitted with the rod-shaped component 233 of the mounting base 230. Furthermore, the gap between the rod-shaped component 233 of the mounting seat 230 and the through hole 2111 of the base cover 211 is greater than 3 mm.

[0036] Furthermore, optionally, the processor 400 is configured to: receive a vibration measurement signal from the vibration sensor 500 ; determine vibration characteristic information corresponding to the vibration measurement signal; and determine the output current of the current source 300 according to the vibration characteristic information.

[0037] Specifically, the present disclosure also provides an adaptive shock absorption method based on the above-mentioned inertial measurement system.

[0038] in Figure 3 A flowchart showing the method is shown in FIG. Figure 3 As shown, the method includes:

[0039] S302: operating the vehicle under different working conditions, and collecting test vibration data of the vehicle under different working conditions.

[0040] Specifically, a vibration sensor is first installed on the vehicle. The vehicle is then operated for testing under different operating conditions, including varying rotational speeds, simulating wind resistance from different wind directions, and / or water resistance from different flow directions. By collecting test vibration data from the vibration sensor, test vibration data corresponding to the different operating conditions can be obtained.

[0041] S304: Analyze the test vibration data under different working conditions and extract reference frequency features corresponding to the test vibration data.

[0042] Specifically, first, for the test vibration data of each working condition, the low-frequency signal in the test vibration data is filtered out by filtering. The low-frequency signal is usually a signal generated by the vehicle due to the posture change and acceleration change during driving (not due to vibration reasons), which can be measured by simulating the posture change and acceleration change during driving without starting the engine of the vehicle. In addition, these signals should be avoided from being attenuated by the shock absorber 200, otherwise the shock absorber 200 will interfere with the measurement of the inertial measurement device 100, making it impossible for the inertial measurement device 100 to sensitively measure the posture data of the vehicle. Therefore, the frequency range of the low-frequency signal generated by the posture change and acceleration change during the vehicle driving process can be statistically determined based on the measured low-frequency signal, and then the corresponding filter can be designed to filter out the low-frequency signal from the test vibration data of each working condition.

[0043] Then, for the filtered test vibration data corresponding to each working condition, frequency domain analysis (e.g., through Fourier transform) is performed to determine the components of different frequencies of the test vibration data, and based on the amplitude of each component, the frequencies of a predetermined number (e.g., m) of components with the largest amplitudes are used as reference frequency characteristics corresponding to the test vibration data. In this way, reference frequency characteristics corresponding to the vibration of each working condition are obtained. Refer to Table 1 below:

[0044] Table 1

[0045] Working conditions Reference frequency characteristics Working condition 1 <![CDATA[Rf1=(Rf 1,1 ,Rf 1,2 ,......,Rf 1,m ) T ]]> Working condition 2 <![CDATA[Rf2=(Rf 2,1 ,Rf 2,2 ,......,Rf 2,m ) T ]]> ...... ...... Working condition n <![CDATA[Rf n =(Rf n,1 ,Rf n,2 ,......,Rf n,m ) T ]]>

[0046] In Table 1, Rf1~Rf n Represents the reference frequency characteristic vector corresponding to different working conditions. i,k (1≤i≤n, 1≤k≤m) represents the frequency of the kth component in the i-th reference frequency eigenvector.

[0047] S306: Based on the reference frequency feature, construct a reference amplitude feature corresponding to the reference frequency feature.

[0048] Specifically, based on the reference frequency characteristics of each operating condition determined in S304 , the amplitude of each component may be adjusted in unit increments, thereby constructing a reference amplitude characteristic.

[0049] For example, for the reference frequency characteristic Rf1 of working condition 1, adjust each frequency component Rf 1,1 ~Rf 1,m The amplitude of , thus obtaining the corresponding reference amplitude characteristics, as shown in Table 2A below:

[0050] Table 2A

[0051]

[0052] And, for the reference frequency characteristic Rf2 of working condition 2, adjust each frequency component Rf 2,1 ~Rf 2,m The amplitude of , thus obtaining the corresponding reference amplitude characteristics, as shown in Table 2B below:

[0053] Table 2B

[0054]

[0055] Similarly, for the reference frequency characteristic Rf of working condition n n , adjust each frequency component Rf n,1 ~Rf n,m The amplitude of , thus obtaining the corresponding reference amplitude characteristics, as shown in Table 2C below:

[0056] Table 2C

[0057]

[0058] Among them RA i,j Represents the reference frequency Rf i The corresponding j-th reference amplitude eigenvector. RA i,j,k Represents the reference frequency eigenvector Rf i The amplitude of the kth component in the corresponding jth reference amplitude eigenvector (i.e., the amplitude of the kth component in the reference frequency eigenvector Rf i The amplitude corresponding to the kth frequency component of ).

[0059] S308: Determine the output current of the current source corresponding to each reference amplitude characteristic.

[0060] Specifically, the inertial measurement device 100 connected to the shock absorber 200 is fixed to a vibration test bench via the shock absorber 200. The vibration test bench includes a test bench and a vibration mechanism disposed on the test bench. The test bench is capable of operating at a preset acceleration, so that the acceleration measurement accuracy of the inertial measurement device can be tested based on the output results of the inertial measurement device installed on the test bench. The vibration mechanism is fixed to the test bench, and the inertial measurement device 100 to be tested is fixed to the vibration mechanism via the shock absorber 200. Thus, during the operation of the test bench, the vibration mechanism can apply vibration of a specified frequency and amplitude to the inertial measurement device 100 according to the received instructions.

[0061] Then, the vibration test platform is first operated at a preset acceleration, and the inertial measurement device 100 installed on the vibration test platform measures the measurement information AT0 = (ax0, ay0, az0) when the vibration test platform is not loaded with vibration. Wherein, ax0 represents the acceleration of the vibration test platform along the x-axis direction of the vibration test platform coordinate system when the vibration test platform is not loaded with vibration, ay0 represents the acceleration of the vibration test platform along the y-axis direction of the vibration test platform coordinate system when the vibration test platform is not loaded with vibration, and az0 represents the acceleration of the vibration test platform along the z-axis direction of the vibration test platform coordinate system when the vibration test platform is not loaded with vibration.

[0062] Then, the vibration mechanism of the vibration test bench is driven to reference the amplitude characteristic RA 1,1 The characteristic mode of vibration is to apply the frequency Rf 1,1 ~Rf 1,m The vibration component, where the vibration frequency is Rf 1,1 The amplitude of the vibration component is RA 1,1,1 , the vibration frequency is Rf 1,2 The amplitude of the vibration component is RA 1,1,2 , ..., the vibration frequency is Rf 1,m The amplitude of the vibration component is RA 1,1,m .

[0063] Then, while adjusting the output current i of the current source 300 in unit increments, the measurement information AT(t) measured by the inertial measurement device 100 is received in real time:

[0064] AT(t)=(ax(t),ay(t),az(t)),

[0065] Where ax(t), ay(t), and az(t) are the accelerations of the vibration test bench along the x-axis, y-axis, and z-axis of the vibration test bench coordinate system measured by the inertial measurement device 100 at time t, respectively.

[0066] Then, for the measurement information AT(t) received in real time, the distance dAT(t) between the measurement information and the measurement information AT0 when the vibration test bench is not loaded with vibration is calculated:

[0067]

[0068] The output current of the current source 300 at the time point when the distance value dAT(t) is the smallest is taken as the reference amplitude characteristic RA 1,1 The corresponding reference current Ri 1,1 .

[0069] Then, for each of the other different reference amplitude features, repeat the above operation to obtain the reference amplitude features RA i,j The corresponding reference current Ri i,j Thus, in this way, the corresponding relationship between the reference amplitude characteristics and the reference current can be pre-established for subsequent application.

[0070] Although the output value of the inertial measurement device 100 also includes attitude measurement information, considering that the interference of vehicle vibration on acceleration measurement is much greater than that on attitude measurement, in this embodiment, the acceleration measurement value is mainly used to determine the reference amplitude characteristics RA different from the reference amplitude characteristics RA. i,j The corresponding reference current reference current Ri i,j However, those skilled in the art may also consider the influence of vibration on attitude measurement information and acceleration measurement information to determine the reference amplitude characteristics RA with different i,j The corresponding reference displacement reference current Ri i,j .

[0071] S310: Install the inertial measurement system on the vehicle.

[0072] Specifically, during application, the inertial measurement system described above is installed on a vehicle. The inertial measurement device 100 is connected to the vehicle via the shock absorber 200, and the vibration sensor 500 is mounted on the vehicle to measure the vehicle's vibration. Furthermore, for example, the reference frequency characteristics, reference amplitude characteristics, and corresponding reference current determined in steps S304-S308 can be stored in a memory accessible by the processor 400, or written to a storage module within the processor 400.

[0073] S312: During the actual operation of the vehicle, the processor receives the real vibration data collected by the vibration sensor in real time, and extracts corresponding real frequency characteristics based on the collected real vibration data.

[0074] Specifically, when the vehicle starts to actually run, the vibration sensor 500 collects the real vibration data of the vehicle in real time, and sends the collected real vibration data to the processor 400 .

[0075] After receiving the real vibration data, the processor 400 performs real-time analysis on the real vibration data to determine the real frequency characteristics and the real amplitude characteristics of the real vibration data. The specific process is similar to the operation of extracting the reference frequency characteristics in S304, including filtering out low-frequency signals in the real vibration data and determining the real frequency characteristics and the real amplitude characteristics of the real vibration data:

[0076] f=(f1,f2,.....,f m) and A=(A1,A2,.....,A m )

[0077] Wherein, f is the real frequency feature vector extracted by the processor 400 through frequency analysis of the real vibration data, and f1~f m is the frequency of the m components with the largest amplitude; A is the real amplitude feature vector extracted by the processor 400 by frequency analysis of the real vibration data, and A1~A m are respectively related to frequencies f1~f m The amplitude corresponding to the component.

[0078] S314: The processor determines a reference frequency characteristic that matches the actual frequency characteristic.

[0079] Specifically, the processor 400 determines the true frequency feature vector f and each reference frequency feature vector Rf1~Rf according to the following formula n Distance between:

[0080]

[0081] Among them, df i (1≤i≤n) represents the true frequency eigenvector f and the i-th reference frequency eigenvector Rf i The distance between them. Assume that df z (1≤z≤n) is df1~df n The minimum value in df z The corresponding reference frequency eigenvector Rf z is the reference frequency eigenvector that matches the true frequency eigenvector.

[0082] S316: The processor determines a reference amplitude feature that matches the true amplitude feature.

[0083] Specifically, when determining the reference frequency feature vector Rf that matches the real frequency feature z Afterwards, the processor 400 obtains the frequency feature vector Rf from the reference frequency feature vector Rf z The corresponding reference amplitude eigenvector RA z,1～ RA z,p (p is the number of reference amplitude features corresponding to the zth reference frequency feature), determine the reference amplitude feature vector that matches the true amplitude feature vector A.

[0084] Specifically, the processor 400 calculates the true amplitude feature vector A and the reference amplitude feature RA according to the following formula: z,1～ RA z,p The distance between them.

[0085]

[0086] where dA j Represents the true amplitude eigenvector A and the reference amplitude eigenvector RA z,1～ RA z,p The distance between the j-th reference amplitude eigenvector in , where 1≤j≤p.

[0087] Assume dA w (1≤w≤p) is dA1~dA p The minimum value in the reference amplitude eigenvector RA z,w is the reference amplitude eigenvector that is matched with the real-time amplitude eigenvector.

[0088] S318: The processor uses the reference current corresponding to the matched reference amplitude feature as the output current corresponding to the real vibration data.

[0089] Specifically, the processor 400 compares the reference amplitude feature vector RA z,w The corresponding reference current Ri z,w The output current corresponding to the real vibration data is determined. Thus, the processor 400 controls the current source 300 to set the current value Ri z,w The output current is output to the coil 244 of the shock absorber 200 , thereby adjusting the elasticity of the first elastic component 220 .

[0090] Then, the processor 400 repeats the operations of S312 to S318 , thereby adjusting the elasticity of the first elastic component 220 in real time.

[0091] Furthermore, through the above operations, the elasticity of the first elastic component 220 can be accurately adjusted according to the components of each frequency contained in the real vibration data measured in real time by the vibration sensor 500, thereby effectively reducing the interference and impact of the vehicle vibration on the inertial measurement device.

[0092] In addition, reference Figure 1 as well as Figures 2A to 2C As shown, according to the second aspect of this embodiment, a shock absorber system is provided, comprising: a shock absorber 200, a current source 300, a processor 400, and a vibration sensor 500. The processor 400 is communicatively connected to the vibration sensor 500 and the current source 300, respectively, and the shock absorber 200 is electrically connected to the current source 300. The shock absorber 200 comprises: a base 210, a first elastic component 220, a mounting seat 230, and a preload adjustment mechanism 240. The mounting seat 230 is connected to the shock absorption object; the first elastic component 220 is disposed on the base 210 and supports the mounting seat 230 upward; and the preload adjustment mechanism 240 is conductively connected to the current source 300 and, under the drive of the current source 300, adjusts the preload applied downward to the first elastic component 220.

[0093] In addition, for further details of the shock absorber system, refer to the content of the first aspect of this embodiment.

[0094] In addition, reference Figure 1 as well as Figures 2A to 2C As shown, according to a third aspect of this embodiment, a shock absorber 200 is provided, comprising: a base 210, a first elastic component 220, a mounting seat 230, and a preload adjustment mechanism 240. The mounting seat 230 is connected to a shock-absorbing object; the first elastic component 220 is disposed on the base 210 and supports the mounting seat 230 upward; and the preload adjustment mechanism 240 is conductively connected to a current source 300 and, driven by the current source 300, adjusts the preload applied downward to the first elastic component 220.

[0095] In addition, for further details of the shock absorber 200 , please refer to the contents of the first aspect of this embodiment.

[0096] Therefore, the inertial measurement system disclosed herein not only includes a first elastic component for damping vibration in a shock absorber connected to the inertial measurement device, thereby mitigating the impact of vehicle vibration on the inertial measurement device, but also includes a preload adjustment mechanism connected to a current source. Driven by the current source, the preload applied to the first elastic component is adjusted, thereby adjusting the elasticity of the first elastic component. Furthermore, the disclosed inertial measurement system also includes a vibration sensor and a processor. The processor adjusts the current output by the current source to the preload adjustment mechanism based on the measurement signal from the vibration sensor. This allows the current output to the preload adjustment mechanism to be adjusted based on vehicle vibration, thereby adjusting the elasticity of the first elastic component. Consequently, even when vehicle vibration is constantly changing, the shock absorber can effectively mitigate the impact of vehicle vibration on the inertial measurement device. This solves the technical problem that existing shock absorbers can only filter vibrations within a fixed frequency and amplitude range, thus failing to effectively eliminate the impact of vehicle vibration on the inertial measurement device.

[0097] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values set forth in these embodiments do not limit the scope of the present disclosure. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to actual proportional relationships. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed herein, any specific values should be interpreted as being merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0098] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0099] In the description of the present disclosure, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present disclosure and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present disclosure; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0100] The above description is merely a preferred embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. An inertial measurement system, characterized in that: include: An inertial measurement device (100), a shock absorber (200), a current source (300), a processor (400), and a vibration sensor (500), wherein the processor (400) is communicatively connected to the vibration sensor (500) and the current source (300), the shock absorber (200) is electrically connected to the current source (300), and the inertial measurement device (100) is connected to the shock absorber (200), wherein The shock absorber (200) comprises: a base (210), a first elastic component (220), a mounting seat (230) and a preload adjustment mechanism (240), wherein The mounting seat (230) is connected to the inertial measurement device (100); The first elastic component (220) is disposed on the base (210) and supports the mounting seat (230) upward; and The preload adjustment mechanism (240) is conductively connected to the current source (300), and under the drive of the current source (300), adjusts the preload applied downward to the first elastic component (220), wherein the processor (400) is further configured to perform the following operations: receiving a vibration measurement signal from the vibration sensor (500) and determining vibration characteristic information corresponding to the vibration measurement signal; and determining an output current of the current source (300) based on the vibration characteristic information, wherein the specific operations include: Collecting test vibration data of the connected vehicle under different working conditions, analyzing the test vibration data under different working conditions, and extracting reference frequency features corresponding to the test vibration data; Based on the reference frequency feature, constructing a reference amplitude feature corresponding to the reference frequency feature; Determining a reference current corresponding to each reference amplitude characteristic of the current source (300) under different operating conditions; Collecting real vibration data of the connected vehicle, analyzing the real vibration data, and extracting real frequency characteristics and real amplitude characteristics corresponding to the real vibration data; determining the reference frequency feature that matches the real frequency feature, and when the reference frequency feature that matches the real frequency feature is determined, determining the reference amplitude feature that matches the real amplitude feature from the reference amplitude features corresponding to the reference frequency feature; and A reference current corresponding to a reference amplitude feature that matches the real amplitude feature is used as an output current corresponding to the real vibration data.

2. The inertial measurement system according to claim 1, characterized in that The first elastic component (220) is a tower-shaped corrugated rubber column.

3. The inertial measurement system according to claim 1, characterized in that The preload force adjustment mechanism (240) includes a second elastic component (242) and a magnetic suspension mechanism (241), wherein The second elastic component (242) abuts against the mounting seat (230) and is used to apply an elastic restoring force downward to the mounting seat (230); and The magnetic suspension mechanism (241) is coupled to the mounting seat (230) and electrically connected to the current source (300), and is used to apply an upward magnetic suspension force to the mounting seat (230) under the drive of the current source (300).

4. The inertial measurement system according to claim 3, characterized in that The magnetic suspension mechanism (241) comprises: a permanent magnet back iron (246), a permanent magnet (245), a coil (244) and an electromagnetic yoke iron (243), wherein The permanent magnet back iron (246) is connected to the mounting seat (230); The permanent magnet (245) is connected to the permanent magnet back iron (246); The electromagnetic yoke (243) is arranged below the mounting seat (230), and includes a bottom (2432) and a side wall (2431) arranged around the bottom (2432), thereby forming a space capable of accommodating the permanent magnet back iron (246) and the permanent magnet (245); A protrusion (2433) is formed at a position where the bottom (2432) of the electromagnetic yoke (243) is opposite to the permanent magnet (245); the coil (244) is arranged at the bottom (2432) of the electromagnetic yoke (243) and surrounds the protrusion (2433); and the coil (244) is electrically connected to the current source (300).

5. The inertial measurement system according to claim 4, characterized in that The base (210) includes a base shell (212) and a base cover plate (211) for covering the base shell (212). wherein the first elastic component (220) is arranged on the base cover (211); and The preload force adjustment mechanism (240) is disposed in the base housing (212).

6. The inertial measurement system according to claim 5, characterized in that The base cover (211) is provided with a through hole (2111), and the mounting seat (230) includes: a rod-shaped component (233); a first flange (231) provided at the upper end of the rod-shaped component (233); a second flange (234) provided at the lower end of the rod-shaped component (233); and a third flange (232) provided on the rod-shaped component (233) and located between the first flange (231) and the second flange (234), wherein The rod-shaped component (233) is arranged to pass through the through hole (2111) of the base cover plate (211); The first flange (231) is used to connect to the inertial measurement device (100); The second elastic component (242) is arranged around the through hole (2111), and the upper end of the second elastic component (242) is connected to the lower surface of the base cover (211), and the lower end of the second elastic component (242) is in contact with the upper end surface of the second flange (234); The second flange (234) is connected to the permanent magnet back iron (246); and The first elastic component (220) is arranged around the through hole (2111) of the base cover plate (211) and abuts against the third flange (232).

7. The inertial measurement system according to claim 6, characterized in that The coil (244) is coaxially fixedly connected to the protrusion (2433) of the electromagnetic yoke (243), the electromagnetic yoke (243) is fixedly connected to the base shell (212), the permanent magnet (245) is coaxially fixedly connected to the permanent magnet back iron (246), and the permanent magnet back iron (246) is coaxially fixedly connected to the second flange (234) of the mounting seat (230).

8. The inertial measurement system according to claim 1, wherein: The processor (400) is configured to: receiving a vibration measurement signal from the vibration sensor (500); determining vibration characteristic information corresponding to the vibration measurement signal; and The output current of the current source (300) is determined according to the vibration characteristic information.

9. A shock absorber system comprising: A shock absorber (200), a current source (300), a processor (400), and a vibration sensor (500), wherein the processor (400) is communicatively connected to the vibration sensor (500) and the current source (300), respectively, and the shock absorber (200) is electrically connected to the current source (300). The shock absorber (200) comprises: a base (210), a first elastic component (220), a mounting seat (230) and a preload adjustment mechanism (240), wherein The mounting seat (230) is connected to the shock absorbing object; The first elastic component (220) is disposed on the base (210) and supports the mounting seat (230) upward; and The preload adjustment mechanism (240) is conductively connected to the current source (300), and under the drive of the current source (300), adjusts the preload applied downward to the first elastic component (220), wherein the processor (400) is further configured to perform the following operations: receiving a vibration measurement signal from the vibration sensor (500) and determining vibration characteristic information corresponding to the vibration measurement signal; and determining an output current of the current source (300) based on the vibration characteristic information, wherein the specific operations include: Collecting test vibration data of the connected vehicle under different working conditions, analyzing the test vibration data under different working conditions, and extracting reference frequency features corresponding to the test vibration data; Based on the reference frequency feature, constructing a reference amplitude feature corresponding to the reference frequency feature; Determining a reference current corresponding to each reference amplitude characteristic of the current source (300) under different operating conditions; Collecting real vibration data of the connected vehicle, analyzing the real vibration data, and extracting real frequency characteristics and real amplitude characteristics corresponding to the real vibration data; determining the reference frequency feature that matches the real frequency feature, and when the reference frequency feature that matches the real frequency feature is determined, determining the reference amplitude feature that matches the real amplitude feature from the reference amplitude features corresponding to the reference frequency feature; and A reference current corresponding to a reference amplitude feature that matches the real amplitude feature is used as an output current corresponding to the real vibration data.

10. A shock absorber (200), characterized in that: include: A base (210), a first elastic component (220), a mounting seat (230) and a preload adjustment mechanism (240), wherein The mounting seat (230) is connected to the shock-absorbing object; The first elastic component (220) is disposed on the base (210) and supports the mounting seat (230) upward; and The preload adjustment mechanism (240) is used to be conductively connected to a current source (300) and, under the drive of the current source (300), adjust the preload applied downward to the first elastic component (220), and the current source (300) is connected to a processor (400), the processor (400) is connected to a vibration sensor (500), and the processor (400) is further configured to perform the following operations: receiving a vibration measurement signal from the vibration sensor (500) and determining vibration characteristic information corresponding to the vibration measurement signal; and determining an output current of the current source (300) according to the vibration characteristic information, wherein the specific operations include: Collecting test vibration data of the connected vehicle under different working conditions, analyzing the test vibration data under different working conditions, and extracting reference frequency features corresponding to the test vibration data; Based on the reference frequency feature, constructing a reference amplitude feature corresponding to the reference frequency feature; Determining a reference current corresponding to each reference amplitude characteristic of the current source (300) under different operating conditions; Collecting real vibration data of the connected vehicle, analyzing the real vibration data, and extracting real frequency characteristics and real amplitude characteristics corresponding to the real vibration data; determining the reference frequency feature that matches the real frequency feature, and when the reference frequency feature that matches the real frequency feature is determined, determining the reference amplitude feature that matches the real amplitude feature from the reference amplitude features corresponding to the reference frequency feature; and A reference current corresponding to a reference amplitude feature that matches the real amplitude feature is used as an output current corresponding to the real vibration data.

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