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 gas pressure regulating mechanism, a processor and a vibration sensor, wherein the processor is respectively connected to the vibration sensor and the gas pressure regulating mechanism, the shock absorber is connected to the gas pressure regulating mechanism, and the inertial measurement device is connected to the shock absorber. The shock absorber includes: a base, a plurality of first elastic components, a mounting seat and a preload adjusting mechanism, wherein the mounting seat is connected to the inertial measurement device; the first elastic component is arranged on the base and supports the mounting seat upward; and the preload adjusting mechanism is connected to the gas pressure regulating mechanism, and under the drive of the gas pressure regulating mechanism, the preload applied downward to the first elastic component is adjusted.

Description

Technical Field

[0001] The present application relates to the technical field 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 with deceleration devices, their own vibrations will generate considerable redundant data for the IMU, which affects the IMU's calculation speed and accuracy. Traditional shock absorbers are fixed elastic and can only filter vibrations within a fixed frequency amplitude range, while the actual vehicle's vibrations will change with the drive speed or environment (such as changes in wind direction, wind resistance, and flow direction, water resistance, etc.). Therefore, traditional shock absorbers cannot effectively eliminate the impact of vehicle vibrations on the IMU.

[0004] Currently, no effective solution has been proposed to the technical problem that the shock absorbing device in the prior art 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. Summary of the invention

[0005] The present disclosure provides an inertial measurement system, a shock absorber system and a shock absorber, so as to at least solve the technical problem in the prior art 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.

[0006] According to one aspect of the present application, an inertial measurement system is provided, comprising: an inertial measurement device, a shock absorber, a gas pressure regulating mechanism, a processor and a vibration sensor, wherein the processor is respectively connected to the vibration sensor and the gas pressure regulating mechanism in communication, the shock absorber is connected to the gas pressure regulating mechanism, and the inertial measurement device is connected to the shock absorber. The shock absorber comprises: a base, a plurality of first elastic components, a mounting seat and a preload adjusting mechanism, wherein the mounting seat is connected to the inertial measurement device; the first elastic component is arranged on the base and supports the mounting seat upward; and the preload adjusting mechanism is connected to the gas pressure regulating mechanism, and under the drive of the gas pressure regulating mechanism, the preload applied downward to the first elastic component is adjusted.

[0007] According to the second aspect of the present application, a shock absorber system is provided, comprising: a shock absorber, a gas pressure regulating mechanism, a processor and a vibration sensor, wherein the processor is respectively connected to the vibration sensor and the gas pressure regulating mechanism in communication, and the shock absorber is connected to the gas pressure regulating mechanism. The shock absorber comprises: a base, a first elastic component, a mounting seat and a preload adjusting mechanism. The mounting seat is connected to the shock absorbing object; the first elastic component is arranged on the base and supports the mounting seat upward; and the preload adjusting mechanism is connected to the gas pressure regulating mechanism, and under the drive of the gas pressure regulating mechanism, the preload applied downward to the first elastic component is adjusted.

[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 arranged on the base and supports the mounting seat upward; and the preload adjustment mechanism is used to connect with a gas pressure adjustment mechanism and, under the drive of the gas pressure adjustment mechanism, adjust the preload applied downward to the first elastic component.

[0009] Thus, the inertial measurement system disclosed in the present invention is not only provided with a first elastic component for reducing vibration in the shock absorber connected to the inertial measurement device, so as to reduce the influence of the vehicle vibration on the inertial measurement device, but also provided with a preload adjustment mechanism connected to the air pressure adjustment mechanism in the shock absorber, so as to adjust the preload applied to the first elastic component under the drive of the air pressure of the air pressure adjustment mechanism, so as to adjust the elasticity of the first elastic component. In addition, the present invention is also provided with a vibration sensor and a processor, so that the processor adjusts the air pressure output by the air pressure adjustment mechanism to the preload adjustment mechanism according to the measurement signal of the vibration sensor. Thus, it is possible to adjust the air pressure output to the preload adjustment mechanism according to the vibration of the vehicle, and then adjust the elasticity of the first elastic component. Thus, even if the vibration of the vehicle is constantly changing, the shock absorber can effectively reduce the influence of the vibration of the vehicle on the inertial measurement device. Thus, the technical problem that the existing shock absorbing device can only filter the vibration within a fixed frequency amplitude range, and thus cannot effectively eliminate the influence of the vehicle vibration on the inertial measurement device is solved.

[0010] Based on the detailed description of the specific embodiments of the present application in combination 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 accompanying 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 accompanying drawings:

[0012] Figure 1is 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 yes Figure 2A A cross-sectional view of the shock absorber shown;

[0015] Figure 3 yes Figure 1 The gas pressure regulating mechanism of the inertial measurement system shown; and

[0016] Figure 4 It is a flow chart of the adaptive vibration reduction method of the inertial measurement system based on the present application. DETAILED DESCRIPTION

[0017] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of 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.

[0018] In order to enable those skilled in the art to better understand the scheme of the present disclosure, the technical scheme 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 described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present disclosure.

[0019] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so as to describe 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 device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0020] 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, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0021] Figure 1 is a schematic diagram of an inertial measurement system according to an embodiment of the present application. Figure 1 As shown, the inertial measurement system includes: an inertial measurement device 100, a shock absorber 200, an air pressure regulating mechanism 300, a processor 400 and a vibration sensor 500. The processor 400 is connected to the vibration sensor 500 and the air pressure regulating mechanism 300, respectively, the shock absorber 200 is connected to the air pressure regulating mechanism 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 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 supports the mounting seat 230 upward. The preload adjustment mechanism 240 is connected to the air pressure adjustment mechanism 300, and under the drive of the air pressure adjustment mechanism 300, the preload applied downward to the first elastic component 220 is adjusted through the mounting seat 230.

[0022] Specifically, during use, the inertial measurement device 100 (for example, an IMU provided with a gyroscope and an accelerometer) is first connected and fixed to the mounting base 230 of the shock absorber 200. Then, the base 210 of the shock absorber 200 is connected to the vehicle, so that the vehicle is measured by the inertial measurement device 100. Since the mounting base 230 is supported by the first elastic component 220, the influence of the vehicle vibration on the inertial measurement device 100 can be reduced.

[0023] In addition, reference Figure 2B As shown, the shock absorber 200 is provided with a preload adjustment mechanism 240 connected to the air pressure adjustment mechanism 300. And the preload adjustment mechanism 240 adjusts the preload of the first elastic component 220 under the drive of the air pressure applied by the air pressure adjustment mechanism 300, so that the elasticity of the first elastic component 220 can be adjusted.

[0024] 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, so that the processor 400 adjusts the air pressure output by the air pressure regulating mechanism 300 according to the received measurement signal.

[0025] As described in the background technology, for vehicles with drive motors, especially those carrying deceleration devices, their own vibrations will generate considerable redundant data for the IMU, which affects the IMU's solution speed and accuracy. Traditional shock absorbers are fixed elastic and can only filter vibrations within a fixed frequency amplitude range, while the actual vehicle vibrations will vary with the drive speed or environment (such as changes in wind direction, wind resistance, and flow direction, water resistance, etc.). Therefore, traditional shock absorbers cannot effectively eliminate the impact of vehicle vibrations on the IMU.

[0026] In view of this, the inertial measurement system of the present disclosure is not only provided with a first elastic component 220 for reducing vibration in the shock absorber 200 connected to the inertial measurement device 100, so as to reduce the influence of the vehicle vibration on the inertial measurement device 100, but also provided with a preload adjustment mechanism 240 connected to the air pressure adjustment mechanism 300 in the shock absorber 200, so as to adjust the preload applied to the first elastic component 220 under the drive of the air pressure of the air pressure adjustment mechanism 300, thereby adjusting the elasticity of the first elastic component 220. In addition, the present disclosure is further provided with a vibration sensor 500 and a processor 400, so that the processor 400 adjusts the air pressure output by the air pressure adjustment mechanism 300 to the preload adjustment mechanism 240 according to the measurement signal of the vibration sensor 500. In this way, the air pressure output to the preload adjustment mechanism 240 can be adjusted according to the vibration of the vehicle, thereby adjusting the elasticity of the first elastic component 220. Therefore, even when the vibration of the vehicle is constantly changing, the shock absorber 200 can effectively reduce the impact of the vibration of the vehicle 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 impact of the vehicle vibration on the inertial measurement device. In addition, it is applicable to a wide range of vibration frequency environments, and can filter vibrations of different frequency bands according to set values.

[0027] In addition, for example, the first elastic component 220 is set to 0-100% in terms 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.

[0028] Optionally, refer to Figure 2A to Figure 2BAs shown, the first elastic component 220 is a corrugated rubber column. Specifically, the present disclosure uses the corrugated rubber column 220 as an elastic component to alleviate the vibration of the vehicle. Since the inside and outside of the corrugated rubber column are corrugated, it can provide axial deformation and produce different stiffness characteristics. In addition, the 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. In addition, refer to Figure 2A As shown, the disclosed technical solution preferably provides a plurality of (for example, 6) corrugated rubber columns evenly distributed along the periphery of the upper surface of the base 210 as the first elastic component 220. Thus, it can stabilize more quickly.

[0029] Optionally, refer to Figure 2A and Figure 2B The base 210 includes a base shell 212 that opens upward and a base cover 211 that covers the base shell 212, wherein a plurality of first elastic components 220 are fixedly connected to the base cover 211. In addition, the preload adjustment mechanism 240 includes: a first piston 241 that is disposed in the base shell 212 and moves in the up-and-down direction of the base shell 212; and a pull rope 242 that connects the first piston 241 to the mounting seat 230. Thus, the technical solution disclosed in the present invention sets the base 210 as a cylinder that can drive the first piston 241, and drives the first piston 241 to move upward or downward by means of the air pressure output by the air pressure adjustment mechanism 300, thereby adjusting the tension applied to the mounting seat 230 through the pull rope 242, and then adjusting the preload applied to the first elastic component 220 through the mounting seat 230.

[0030] Specifically, the first piston 241 pulls the mounting seat 230 through the pull rope 242, so that the mounting seat 230 moves up and down under the combined action of the pulling force of the pull rope 242 and the elastic force of the corrugated rubber column 220, so that the height of the corrugated rubber column 220 changes, and the rigidity decreases when the height increases, and the rigidity increases when the height decreases. When there is a large vibration, the first piston 241 moves upward under the regulation of the air pressure regulating mechanism 300, so that the mounting seat 230 relaxes the corrugated rubber column 220 to make it longer, thereby increasing the elasticity of the corrugated rubber column 220. When encountering a small vibration, the first piston 241 moves downward under the regulation of the air pressure regulating mechanism 300, so that the mounting seat 230 presses the corrugated rubber column 220 to make it shorter, thereby increasing the rigidity of the corrugated rubber column 220. The first piston 241 is subjected to the air pressure from the air pressure regulating mechanism 300 and the tension of the pull rope 242 during the movement, until the tension of the pull rope 242 is balanced with the pressure applied by the air pressure regulating mechanism 300 to the first piston 241, thereby reducing the shaking amplitude of the mounting seat 230, reducing the forced motion, and shortening the stable period.

[0031] Optionally, refer to Figure 2B As shown, the base housing 212 is provided with a first air hole 213A and a second air hole 213B. The first air hole 213A is provided above the first piston 241 and communicates with the air pressure regulating mechanism 300, and the second air hole 213B is provided below the first piston 241 and communicates with the outside. Thus, the air pressure regulating mechanism 300 can apply air pressure to the first piston 241 or reduce air pressure through the first air hole 213A, thereby regulating the movement of the first piston 241.

[0032] Optionally, refer to Figure 3 As shown, the air pressure regulating mechanism 300 includes: a linear displacement mechanism 310, a cylinder 320 and a second piston 301. The linear displacement mechanism 310 is connected to the processor 400 in communication and is connected to the second piston 301; the second piston 301 is arranged in the cylinder 320 and can perform linear reciprocating motion in the cylinder 320 under the drive of the linear displacement mechanism 310; the cylinder 320 is provided with a third air hole 321A located on one side of the second piston 301 and a fourth air hole 321B located on the other side of the second piston 301, wherein the third air hole 321A is connected to the first air hole 213A, and the fourth air hole 321B is connected to the outside. Thus, the air pressure regulating mechanism 300 can adjust the displacement of the linear displacement mechanism 310 according to the instruction of the processor 400, and convert the displacement into the displacement of the second piston 301 in the cylinder 320. And through the first air hole 213A of the base housing 212 and the third air hole 321A of the cylinder 320, the second piston 301 presses the inert gas in the cylinder 320 to the top of the first piston 241 during the movement, or releases the inert gas above the first piston 241 into the cylinder 320, thereby adjusting the pressure of the inert gas above the first piston 241. Then, the displacement of the linear displacement mechanism 310 is further converted into the magnitude of the pressure applied to the first piston 241. In this way, the pressure applied to the first piston 241 can be flexibly adjusted, so as to facilitate the adjustment of the elasticity of the first elastic component 220 and accurately attenuate the influence of the vehicle vibration on the inertial measurement device 100.

[0033] Optionally, the linear displacement mechanism 310 includes a motor 311, a coupling 312, a lead screw 313, a push plate 314, and a guide rail 315. The motor 311 is connected to the processor 400 in communication, and is connected to the lead screw 313 through the coupling 312; the guide rail 315 is arranged parallel to the lead screw 313; and the push plate 314 is arranged on the guide rail 315 and coupled to the lead screw 313, and the second piston 301 is connected to the push plate 314. Therefore, the present disclosure can accurately adjust the displacement of the second piston 301 through the motor 311, so that the elasticity of the first elastic component 220 can be accurately adjusted, and the influence of the vehicle vibration on the inertial measurement device 100 can be accurately attenuated. Preferably, the motor 311 is, for example, a servo motor or a stepper motor, so that the displacement of the push plate 314 on the guide rail 315 can be accurately controlled.

[0034] Specifically, refer to Figure 3 The displacement of the linear displacement mechanism 310 described in the present disclosure may be, for example, a displacement s between the starting positions of the push plate 314 and the lead screw 313 .

[0035] In addition, 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 adjust the displacement amount s of the linear displacement mechanism 310 according to the vibration characteristic information.

[0036] Specifically, the present disclosure also provides an adaptive shock absorption method based on the above-mentioned inertial measurement system.

[0037] in Figure 4 A flowchart showing the method is shown in FIG. Figure 4 As shown, the method includes:

[0038] S402: operating the vehicle under different working conditions, and collecting test vibration data of the vehicle under different working conditions.

[0039] Specifically, a vibration sensor is first installed on the vehicle. Then the vehicle is operated under different working conditions for testing, including different rotation speeds, simulating wind resistance in different wind directions and / or water resistance in different flow directions, etc. Thus, by collecting the test vibration data of the vibration sensor, the test vibration data corresponding to different working conditions can be obtained.

[0040] S404: Analyze the test vibration data under different working conditions and extract reference frequency features corresponding to the test vibration data.

[0041] 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), which can be measured by simulating the posture change and acceleration change during driving without starting the engine. And 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, so that the inertial measurement device 100 cannot 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 driving process of the vehicle 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.

[0042] Then, for the filtered test vibration data corresponding to each working condition, frequency domain analysis (for example, through Fourier transform) is performed to determine the components of different frequencies of the test vibration data, and according to the amplitude of each component, the frequency of the components with the largest amplitude of a predetermined number (for example, m) is used as the reference frequency characteristics corresponding to the test vibration data. In this way, the reference frequency characteristics corresponding to the vibration of each working condition are obtained. Refer to the following Table 1:

[0043] Table 1

[0044] Working conditions Reference frequency characteristics Condition 1 <![CDATA[Rf1=(Rf 1,1 ,Rf 1,2 ,......,Rf 1,m ) T ]]> Condition 2 <![CDATA[Rf2=(Rf 2,1 ,Rf 2,2 ,......,Rf 2,m ) T ]]> ...... ...... Working condition <![CDATA[Rf n =(Rf n,1 ,Rf n,2 ,......,Rf n,m ) T ]]>

[0045] 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.

[0046] S406: Based on the reference frequency feature, construct a reference amplitude feature corresponding to the reference frequency feature.

[0047] Specifically, based on the reference frequency characteristics of each operating condition determined in S404, the amplitude of each component may be adjusted in unit increments, thereby constructing a reference amplitude characteristic.

[0048] 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 , thereby obtaining the corresponding reference amplitude characteristics, as shown in Table 2A below:

[0049] Table 2A

[0050]

[0051] 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:

[0052] Table 2B

[0053]

[0054] Similarly, the reference frequency characteristic Rf for working condition n is n , adjust each frequency component Rf n,1 ~Rf n,m The amplitude of , thereby obtaining the corresponding reference amplitude characteristics, as shown in Table 2C below:

[0055] Table 2C

[0056]

[0057] 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 feature vector 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 ).

[0058] S408: Determine the reference displacement amounts of the linear displacement mechanism of the air pressure regulating mechanism corresponding to each reference amplitude feature.

[0059] Specifically, the inertial measurement device 100 connected with the shock absorber 200 is fixed on the vibration test bench through the shock absorber 200. The vibration test bench includes a test bench and a vibration mechanism arranged on the test bench. The test bench can run at a preset acceleration, so that the acceleration measurement accuracy of the inertial measurement device can be tested according to the output result of the inertial measurement device installed on the test bench. The vibration mechanism is fixed on the test bench, and the inertial measurement device 100 to be tested is fixed on the vibration mechanism through the shock absorber 200. Therefore, 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.

[0060] Then, the vibration test bench is operated at a preset acceleration, and the inertial measurement device 100 installed on the vibration test bench measures the measurement information AT0=(ax0, ay0, az0) when the vibration test bench is not loaded with vibration. Wherein, ax0 represents the acceleration of the vibration test bench along the x-axis direction of the vibration test bench coordinate system when the vibration is not loaded, ay0 represents the acceleration of the vibration test bench along the y-axis direction of the vibration test bench coordinate system when the vibration is not loaded, and az0 represents the acceleration of the vibration test bench along the z-axis direction of the vibration test bench coordinate system when the vibration is not loaded.

[0061] Then, the vibration mechanism of the vibration test bench is driven to the reference amplitude characteristic RA 1,1 The characteristic mode of vibration is to apply a frequency of 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 .

[0062] Then, while adjusting the displacement s of the linear displacement mechanism 310 in unit increments, the measurement information AT(t) measured by the inertial measurement device 100 is received in real time:

[0063] AT(t)=(ax(t),ay(t),az(t)),

[0064] Wherein ax(t), ay(t), az(t) are respectively the acceleration along the x-axis direction of the vibration test bench coordinate system, the acceleration along the y-axis direction of the vibration test bench coordinate system and the acceleration along the z-axis direction of the vibration test bench coordinate system measured by the inertial measurement device 100 at time t.

[0065] The displacement s of the push plate 314 on the lead screw 313 is adjusted, for example, by controlling the motor 311 of the linear displacement mechanism 310 .

[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] And the displacement of the linear displacement mechanism 310 of the air pressure regulating mechanism 300 at the time point when the distance value dAT(t) is the smallest is taken as the displacement of the linear displacement mechanism 310 of the air pressure regulating mechanism 300 at the time point when the distance value dAT(t) is the smallest.1,1 The corresponding reference displacement Rs 1,1 .

[0069] Then, for each of the other different reference amplitude features, the above operation is repeated to obtain the amplitude characteristics corresponding to the different reference amplitude features RA i,j The corresponding reference displacement Rs i,j Thus, in this way, the corresponding relationship between the reference amplitude feature and the reference displacement can be pre-constructed 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 each other. i,j The corresponding reference displacement Rs i,j However, for those skilled in the art, the influence of vibration on the attitude measurement information and the acceleration measurement information can also be comprehensively considered to determine the reference amplitude characteristics RA with different i,j The corresponding reference displacement Rs i,j .

[0071] S410: Install the inertial measurement system on the vehicle.

[0072] Specifically, when applied, 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 installed on the vehicle to measure the vibration of the vehicle. In addition, for example, the reference frequency characteristics, reference amplitude characteristics, and corresponding reference displacements determined in steps S304 to S308 can be stored in a memory accessible by the processor 400, or written into a storage module provided in the processor 400.

[0073] S412: During the actual operation of the vehicle, the processor receives the actual vibration data collected by the vibration sensor in real time, and extracts corresponding actual frequency characteristics based on the collected actual 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 real vibration data collected in real time to the processor 400 .

[0075] After receiving the real vibration data, the processor 400 performs real-time analysis on the real vibration data, thereby determining the real frequency characteristics and the real amplitude characteristics of the real vibration data. The specific process refers to the operation of extracting the reference frequency characteristics in S304, including filtering out the low-frequency signal 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 to f m The amplitude corresponding to the component.

[0078] S414: The processor determines a reference frequency characteristic that matches the actual frequency characteristic.

[0079] Specifically, the processor 400 determines the real 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 feature vector f and the i-th reference frequency feature vector Rf i The distance between them. Assuming df z (1≤z≤n) is df1~df n The minimum value in , then the same as df z The corresponding reference frequency eigenvector Rf z is the reference frequency feature vector that matches the true frequency feature vector.

[0082] S416: The processor determines a reference amplitude feature that matches the actual 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 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 actual amplitude feature vector A and the reference amplitude feature RA according to the following formula: z,1～ RA z,p The distance between.

[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 feature vector that matches the real-time amplitude feature vector.

[0088] S418: The processor uses the reference displacement corresponding to the matched reference amplitude feature as the displacement of the linear displacement mechanism of the air pressure regulating mechanism corresponding to the real vibration data.

[0089] Specifically, the processor 400 compares the reference amplitude feature vector RA z,w The corresponding reference displacement Rs z,w The displacement amount corresponding to the real vibration data of the linear displacement mechanism 310 of the air pressure regulating mechanism 300 is determined. Thus, the processor 400 controls the motor 311 of the linear displacement mechanism 310 of the air pressure regulating mechanism 300 to move the push plate 314 to a position corresponding to the displacement amount, 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 operation, 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 influence of the vehicle vibration on the inertial measurement device.

[0092] In addition, reference Figure 1 as well as Figure 2A to Figure 2BAs shown, according to the second aspect of this embodiment, a shock absorber system is provided, comprising: a shock absorber 200, a gas pressure regulating mechanism 300, a processor 400 and a vibration sensor 500. The processor 400 is respectively connected to the vibration sensor 500 and the gas pressure regulating mechanism 300 for communication, and the shock absorber 200 is electrically connected to the gas pressure regulating mechanism 300. The shock absorber 200 comprises: a base 210, a first elastic component 220, a mounting seat 230 and a preload adjusting mechanism 240. The mounting seat 230 is connected to the shock absorbing object; the first elastic component 220 is arranged on the base 210 and supports the mounting seat 230 upward; and the preload adjusting mechanism 240 is connected to the gas pressure regulating mechanism 300, and under the drive of the gas pressure regulating mechanism 300, the preload applied downward to the first elastic component 220 is adjusted.

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

[0094] In addition, reference Figure 1 as well as Figure 2A to Figure 2B As shown, according to the 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 the shock-absorbing object; the first elastic component 220 is arranged on the base 210 and supports the mounting seat 230 upward; and the preload adjustment mechanism 240 is connected to the air pressure adjustment mechanism 300, and under the drive of the air pressure adjustment mechanism 300, the preload applied downward to the first elastic component 220 is adjusted.

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

[0096] Thus, the inertial measurement system disclosed in the present invention is not only provided with a first elastic component for reducing vibration in the shock absorber connected to the inertial measurement device, so as to reduce the influence of the vehicle vibration on the inertial measurement device, but also provided with a preload adjustment mechanism connected to the air pressure adjustment mechanism in the shock absorber, so as to adjust the preload applied to the first elastic component under the drive of the air pressure of the air pressure adjustment mechanism, so as to adjust the elasticity of the first elastic component. In addition, the present invention is also provided with a vibration sensor and a processor, so that the processor adjusts the air pressure output by the air pressure adjustment mechanism to the preload adjustment mechanism according to the measurement signal of the vibration sensor. Thus, it is possible to adjust the air pressure output to the preload adjustment mechanism according to the vibration of the vehicle, and then adjust the elasticity of the first elastic component. Thus, even if the vibration of the vehicle is constantly changing, the shock absorber can effectively reduce the influence of the vibration of the vehicle on the inertial measurement device. Thus, the technical problem that the existing shock absorbing device can only filter the vibration within a fixed frequency amplitude range, and thus cannot effectively eliminate the influence of the vehicle vibration on the inertial measurement device is solved.

[0097] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​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 the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0098] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. 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 figure. For example, if the device in the accompanying 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 is necessary to understand that the orientation or positional relationship indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the orientation or positional relationship shown in the drawings, and 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 orientation or be constructed and operated in a specific orientation, and therefore 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 is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An inertial measurement system, characterized in that: include: An inertial measurement device (100), a shock absorber (200), an air pressure regulating mechanism (300), a processor (400), and a vibration sensor (500), wherein the processor (400) is respectively connected to the vibration sensor (500) and the air pressure regulating mechanism (300), the shock absorber (200) is connected to the air pressure regulating mechanism (300), and the inertial measurement device (100) is connected to the shock absorber (200), wherein The shock absorber (200) comprises: a base (210), a plurality of first elastic components (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 arranged on the base (210) and supports the mounting seat (230) upwards; and The preload force adjustment mechanism (240) is connected to the air pressure adjustment mechanism (300), and is driven by the air pressure adjustment mechanism (300) to adjust the preload force applied downward to the first elastic component (220), wherein The processor (400) is also configured to perform the following operations: Collecting a plurality of test vibration data corresponding to different working conditions measured by the vibration sensor (500), and extracting a plurality of reference frequency features corresponding to the plurality of test vibration data of different working conditions; Based on the multiple reference frequency features, construct multiple reference amplitude features corresponding to each reference frequency feature; Determining a plurality of reference displacements of a linear displacement mechanism (310) of the air pressure regulating mechanism (300) corresponding to the respective reference amplitude characteristics, wherein the linear displacement mechanism (310) is communicatively connected to the processor (400); Receiving real vibration data collected in real time by the vibration sensor (500), and extracting corresponding real frequency characteristics and real amplitude characteristics according to the real vibration data; Determine a reference frequency characteristic that matches the actual frequency characteristic, and the specific calculation formula is as follows: ; in, df i (1≤ i ≤ n ) represents the vector corresponding to the true frequency feature f , and i The vector corresponding to the reference frequency feature R i The distance between them, and the vector corresponding to the true frequency feature f , and the vector corresponding to the reference frequency feature R i When the distance between them is the smallest, determining a reference frequency feature that matches the real frequency feature; When the reference frequency feature matching the real frequency feature is determined, the reference amplitude feature matching the real amplitude feature is determined from the reference amplitude features corresponding to the reference frequency feature. The specific calculation formula is as follows: ; in, dA j represents the vector A corresponding to the true amplitude feature and the vector corresponding to the reference amplitude feature RA z,1~ RA z,p The distance between the vector corresponding to the jth reference amplitude feature in , where 1≤j≤p and between the vector A corresponding to the true amplitude feature and the vector A corresponding to the reference amplitude feature RA z,1~ RA z,p When the distance between them is the smallest, determining a reference amplitude feature that matches the true amplitude feature; and The reference displacement corresponding to the reference amplitude feature matching the real amplitude feature is used as the displacement of the linear displacement mechanism 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 corrugated rubber column.

3. The inertial measurement system according to claim 1, characterized in that: The base (210) comprises a base shell (212) opening upward and a base cover plate (211) covering the base shell (212), wherein the plurality of first elastic components (220) are fixedly connected to the base cover plate (211), and The preload force adjustment mechanism (240) comprises: a first piston (241) disposed in the base housing (212) and moving in an up-down direction of the base housing (212); and A pull rope (242) connecting the first piston (241) and the mounting seat (230).

4. The inertial measurement system according to claim 3, characterized in that: The base shell (212) is provided with a first air hole (213A) and a second air hole (213B), wherein The first air hole (213A) is arranged above the first piston (241) and is in communication with the air pressure regulating mechanism (300), and the second air hole (213B) is arranged below the first piston (241) and is in communication with the outside.

5. The inertial measurement system according to claim 4, characterized in that: The air pressure regulating mechanism (300) comprises: a cylinder (320) and a second piston (301), wherein The linear displacement mechanism (310) is connected to the second piston (301); The second piston (301) is disposed in the cylinder (320), and is capable of performing linear reciprocating motion in the cylinder (320) under the drive of the linear displacement mechanism (310); and The cylinder (320) is provided with a third air hole (321A) located on one side of the second piston (301) and a fourth air hole (321B) located on the other side of the second piston (301), wherein the third air hole (321A) is connected to the first air hole (213A), and the fourth air hole (321B) is connected to the outside.

6. The inertial measurement system according to claim 5, characterized in that: The linear displacement mechanism (310) comprises a motor (311), a coupling (312), a lead screw (313), a push plate (314) and a guide rail (315), wherein The motor (311) is communicatively connected to the processor (400), and is connected to the lead screw (313) via the coupling (312); The guide rail (315) is arranged parallel to the lead screw (313); and The push plate (314) is disposed on the guide rail (315) and is coupled to the lead screw (313), and wherein the second piston (301) is connected to the push plate (314).

7. The inertial measurement system according to claim 6, characterized in that: 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 displacement of the linear displacement mechanism (310) is adjusted according to the vibration characteristic information.

8. A shock absorber system comprising: A shock absorber (200), an air pressure regulating mechanism (300), a processor (400), and a vibration sensor (500), wherein the processor (400) is respectively connected to the vibration sensor (500) and the air pressure regulating mechanism (300) for communication, and the shock absorber (200) is connected to the air pressure regulating mechanism (300), 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 a shock absorbing object; The first elastic component (220) is arranged on the base (210) and supports the mounting seat (230) upwards; and The preload force adjustment mechanism (240) is connected to the air pressure adjustment mechanism (300), and is driven by the air pressure adjustment mechanism (300) to adjust the preload force applied downward to the first elastic component (220), wherein The processor (400) is also configured to perform the following operations: Collecting a plurality of test vibration data corresponding to different working conditions measured by the vibration sensor (500), and extracting a plurality of reference frequency features corresponding to the plurality of test vibration data of different working conditions; Based on the multiple reference frequency features, construct multiple reference amplitude features corresponding to each reference frequency feature; Determining a plurality of reference displacements of a linear displacement mechanism (310) of the air pressure regulating mechanism (300) corresponding to the respective reference amplitude characteristics, wherein the linear displacement mechanism (310) is communicatively connected to the processor (400); Receiving real vibration data collected in real time by the vibration sensor (500), and extracting corresponding real frequency characteristics and real amplitude characteristics according to the real vibration data; Determine a reference frequency characteristic that matches the actual frequency characteristic, and the specific calculation formula is as follows: ; in, df i (1≤ i ≤ n ) represents the vector corresponding to the true frequency feature f , and i The vector corresponding to the reference frequency feature R i The distance between them, and the vector corresponding to the true frequency feature f , and the vector corresponding to the reference frequency feature R i When the distance between them is the smallest, determining a reference frequency feature that matches the real frequency feature; When the reference frequency feature matching the real frequency feature is determined, the reference amplitude feature matching the real amplitude feature is determined from the reference amplitude features corresponding to the reference frequency feature. The specific calculation formula is as follows: ; in, dA j represents the vector A corresponding to the true amplitude feature and the vector corresponding to the reference amplitude feature RA z,1~ RA z,p The distance between the vector corresponding to the jth reference amplitude feature in , where 1≤j≤p and between the vector A corresponding to the true amplitude feature and the vector A corresponding to the reference amplitude feature RA z,1~ RA z,p When the distance between them is the smallest, determining a reference amplitude feature that matches the true amplitude feature; and The reference displacement corresponding to the reference amplitude feature matching the real amplitude feature is used as the displacement of the linear displacement mechanism corresponding to the real vibration data.

9. 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 a shock absorbing object; The first elastic component (220) is arranged on the base (210) and supports the mounting seat (230) upwards; and The preload force adjustment mechanism (240) is used to be connected to the air pressure adjustment mechanism (300) and, under the drive of the air pressure adjustment mechanism (300), adjust the preload force applied downward to the first elastic component (220), and the shock absorber (200) is connected to the processor (400) via the air pressure adjustment mechanism (300), and the processor (400) is further configured to perform the following operations: Collecting a plurality of test vibration data corresponding to different working conditions measured by a vibration sensor (500) connected to the processor (400), and extracting a plurality of reference frequency features corresponding to the plurality of test vibration data of different working conditions; Based on the multiple reference frequency features, construct multiple reference amplitude features corresponding to each reference frequency feature; Determining a plurality of reference displacements of a linear displacement mechanism (310) of the air pressure regulating mechanism (300) corresponding to the respective reference amplitude characteristics, wherein the linear displacement mechanism (310) is communicatively connected to the processor (400); Receiving real vibration data collected in real time by the vibration sensor (500), and extracting corresponding real frequency characteristics and real amplitude characteristics according to the real vibration data; Determine a reference frequency characteristic that matches the actual frequency characteristic, and the specific calculation formula is as follows: ; in, df i (1≤ i ≤ n ) represents the vector corresponding to the true frequency feature f , and i The vector corresponding to the reference frequency feature R i The distance between them, and the vector corresponding to the true frequency feature f , and the vector corresponding to the reference frequency feature R i When the distance between them is the smallest, determining a reference frequency feature that matches the real frequency feature; When the reference frequency feature matching the real frequency feature is determined, the reference amplitude feature matching the real amplitude feature is determined from the reference amplitude features corresponding to the reference frequency feature. The specific calculation formula is as follows: ; in, dA j represents the vector A corresponding to the true amplitude feature and the vector corresponding to the reference amplitude feature RA z,1~ RA z,p The distance between the vector corresponding to the jth reference amplitude feature in , where 1≤j≤p and between the vector A corresponding to the true amplitude feature and the vector A corresponding to the reference amplitude feature RA z,1~ RA z,p When the distance between them is the smallest, determining a reference amplitude feature that matches the true amplitude feature; and The reference displacement corresponding to the reference amplitude feature matching the real amplitude feature is used as the displacement of the linear displacement mechanism corresponding to the real vibration data.

10. The shock absorber (200) according to claim 9, characterized in that: The first elastic component (220) is a corrugated rubber column.

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