Mounting structure of motion sensor, motion sensor module and mobile device

Abstract

The application relates to a mounting structure of a motion sensor, a motion sensor module and a mobile device. The mounting structure comprises a damping assembly, a plurality of connecting pieces and a support, the damping assembly is connected to the support through the plurality of connecting pieces and is suspended; wherein: the damping assembly comprises a base and a counterweight structure arranged on the base, the base is used for placing the motion sensor; the material density of the base is less than that of the counterweight structure, the side length of the counterweight structure is less than the interval between the mounting positions of the two adjacent connecting pieces; and / or the intersection of the axial center lines of the connecting pieces is close to or coincides with the gravity center of the damping assembly. The scheme provided by the application can reduce the influence of the transmission of the body vibration on the detection result of the motion sensor, and improve the accuracy of the detection result.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motion sensor, in particular to a mounting structure of motion sensor, a motion sensor module and a mobile device. BACKGROUND

[0002] Motion sensors, such as acceleration sensors, gyroscopes, geomagnetic sensors, inertial measurement units (IMU) and the like, are widely used in many industries, such as aircraft, vehicles, mobile machine devices, etc. For example, in the application of IMU in aircraft, the IMU generally includes an accelerometer and a gyroscope, which are used to detect the motion attitude (body translation and rotation) of the aircraft in space.

[0003] However, due to the characteristics of the IMU itself, it can also perceive vibrations from mechanical, airflow and other excitation sources of the aircraft body. These vibration signals interfere with the accurate detection of the motion attitude of the aircraft body by the IMU. Therefore, how to reduce the influence of such vibrations on the IMU as much as possible is a problem to be solved. SUMMARY

[0004] To solve or partially solve the problems in the related art, the present application provides a mounting structure of motion sensor, a motion sensor module and a mobile device, which can reduce the influence of the transmission of body vibration on the detection results of the motion sensor and improve the accuracy of the detection results.

[0005] The first aspect of the present application provides a mounting structure of motion sensor, which includes a vibration reduction assembly, a plurality of connecting members and a support, the vibration reduction assembly is connected to the support by the plurality of connecting members and is suspended; wherein:

[0006] The vibration reduction assembly includes a base and a counterweight structure arranged on the base, the base is used to place the motion sensor; the material density of the base is less than the material density of the counterweight structure, and the side length of the counterweight structure is less than the distance between the mounting positions of the adjacent two connecting members; and / or

[0007] The intersection of the axial center lines of the connecting members is close to or coincides with the center of gravity of the vibration reduction assembly.

[0008] In some embodiments, the relationship between the material density ρ1 of the base and the material density ρ2 of the counterweight structure is ρ2≥2ρ1, and the relationship between the side length a and b of the counterweight structure and the distance c and d between the mounting positions of the adjacent two connecting members connected to the base is (c×d)≥(2×a×b).

[0009] In some embodiments, the distance H1 between the intersection of the axial center lines of the connecting members and the base and the distance H2 between the center of gravity of the damping assembly and the base satisfy the relationship 0≤|H1-H2|≤arctan(Kxx / Kzz), wherein Kxx is the radial stiffness of the connecting members, and Kzz is the axial stiffness of the connecting members.

[0010] In some embodiments, each of the connecting members comprises an elastic portion and first and second connecting portions respectively connected to two ends of the elastic portion, the first connecting portion is connected to the base, and the second connecting portion is connected to the support.

[0011] In some embodiments, the base is provided with a plurality of first mounting portions, the support is provided with a plurality of second mounting portions, one end of each of the connecting members is connected to the first mounting portion, and the other end of the connecting member is connected to the second mounting portion.

[0012] In some embodiments, the base and the support are respectively in a quadrilateral structure, the base is centrally symmetrically provided with four first mounting portions, the support is centrally symmetrically provided with four second mounting portions, each of the second mounting portions corresponds to each of the first mounting portions, and the number of the connecting members is four.

[0013] In some embodiments, the angle between the axial center line of the connecting member and the bottom surface of the support is an acute angle.

[0014] In some embodiments, the counterweight structure comprises a cover plate, the cover plate is connected to the base, and the material density of the cover plate is ρ2; or

[0015] The counterweight structure comprises an upper cover plate, a counterweight block, and a lower cover plate arranged from top to bottom, and the lower cover plate is connected to the base; and the material density of the counterweight block is ρ2.

[0016] In some embodiments, the material of the base is selected from aluminum alloy, magnesium alloy, or plastic.

[0017] The material of the counterweight block or the cover plate of the counterweight structure is selected from steel or metallic tungsten.

[0018] The second aspect of the present application provides a motion sensor module, which comprises a motion sensor and the mounting structure of the motion sensor described above, and the motion sensor is arranged between the base and the counterweight structure.

[0019] In some embodiments, the motion sensor is an acceleration sensor, a gyroscope, a geomagnetic sensor, or an inertial measurement unit.

[0020] The third aspect of the present application provides a mobile device, which comprises the motion sensor module described above, wherein the support is connected to the device body, and the mobile device is an aircraft, a mobile robot, or a vehicle.

[0021] The technical scheme provided by the application can have the following beneficial effects:

[0022] The technical scheme of the application can maximize the vibration isolation effect of the sensor assembly by adjusting the material density and structure size of the damping assembly to make the translational frequency as low as possible, and can help to reduce the control delay of the motion sensor by making the rotational frequency as high as possible. In addition, by approximating or coinciding the intersection of the axial center lines of the connecting piece and the center of gravity of the damping assembly, the translational frequency of the sensor assembly in each direction is decoupled from the rotational frequency in the corresponding direction, thereby eliminating the additional rotation caused by translational motion. Such design can be combined or selected by various schemes, which can help to reduce the interference of the body vibration on the motion sensor, thereby improving the accuracy of the detection result.

[0023] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application. BRIEF DESCRIPTION OF DRAWINGS

[0024] The above and other objects, features and advantages of the application will become more apparent from the following detailed description of exemplary embodiments of the application taken in conjunction with the accompanying drawings, in which like reference characters refer to the like parts throughout the different views of the drawings.

[0025] Figure 1 is a structural schematic diagram of a motion sensor module shown in the embodiment of the application;

[0026] Figure 2 is Figure 1 is a structural schematic diagram of another view of the motion sensor module shown in the embodiment of the application;

[0027] Figure 3 is Figure 1 is an exploded schematic diagram of the motion sensor module shown in the embodiment of the application;

[0028] Figure 4 is Figure 1 is a structural schematic diagram of another view of the motion sensor module shown in the embodiment of the application;

[0029] Figure 5 is Figure 1 is a cross-sectional schematic diagram of the motion sensor module shown in the embodiment of the application;

[0030] Figure 6 is Figure 1 is a structural schematic diagram of the connecting piece of the motion sensor module shown in the embodiment of the application;

[0031] Figure 7 is a structural schematic diagram of a motion sensor module shown in the embodiment of the application.

[0032] Reference signs:

[0033] damping assembly 100; base 110; first mounting portion 111; mounting slot 112; counterweight structure 120; cover plate 121; upper cover plate 122; counterweight block 123; lower cover plate 124; fixing slot 125;

[0034] connecting piece 200; first connecting portion 210; limiting slot 211; elastic portion 220; second connecting portion 230; cavity 240;

[0035] bracket 300; second mounting portion 310; mounting hole 311; hollow structure 320;

[0036] motion sensor 400; acute angle A; obtuse angle B. DETAILED DESCRIPTION

[0037] Embodiments of the present application will be described in more detail by referring to the drawings. Although embodiments of the present application are shown in the drawings, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0038] The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the description of the application and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0039] It should be understood that although the terms "first", "second", "third" and the like can be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one piece of information from another piece of information of the same type. For example, a first information can also be referred to as a second information, and similarly, a second information can also be referred to as a first information, without departing from the scope of the present application. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0040] In the related art, due to the characteristics of the IMU itself, while detecting the motion posture of the body in space, it can also perceive the vibration from the mechanical, airflow and other excitation sources of the body. The interference of these vibration signals is not conducive to the accurate detection of the motion posture of the body by the IMU.

[0041] To solve the above problems, the embodiment of the present application provides a mounting structure of a motion sensor, which can reduce the influence of the transmission of the body vibration on the detection result of the sensor such as the IMU, and improve the accuracy of the detection result.

[0042] The technical solutions of the embodiments of the present application are described in detail below with reference to the drawings.

[0043] Referring to Figures 1 to 3 The mounting structure of the motion sensor 400 shown in an embodiment of the present application comprises:

[0044] The damping assembly 100, the plurality of connecting members 200 and the support 300, the damping assembly 100 is connected to the support 300 through the plurality of connecting members 200 and is suspended, and the damping assembly 100 is used for mounting the motion sensor 400. Wherein:

[0045] The damping assembly 100 comprises a base 110 and a counterweight structure 120 arranged on the base 110, the damping assembly 100 comprises the base 110 and the counterweight structure 120 arranged on the base 110, the base 110 is used for placing the motion sensor 400; the material density of the base 110 is less than the material density of the counterweight structure 120, and the side length of the counterweight structure 120 is less than the interval of the mounting positions of the adjacent two connecting members 200.

[0046] Specifically, the support 300 is used for connecting the body of the mobile device, the damping assembly 100 is used for placing the motion sensor 400 and damping, the motion sensor 400 may, for example, be the IMU, and the damping assembly 100 and the motion sensor 400 can constitute a sensor assembly. It should be noted that the motion sensor 400 includes a circuit board connected by electricity. The damping assembly 100 and the support 300 are indirectly connected through the plurality of connecting members 200, and there is a gap between the damping assembly 100 and the support 300, so that the damping assembly 100 can be suspended. Such design can reduce the transmission of the mechanical vibration of the mobile device to the damping assembly 100 by the support 300.

[0047] Further, the base 110 of the damping assembly 100 is used to place the motion sensor 400, the counterweight structure 120, the motion sensor 400, the base 110 and the support 300 are sequentially arranged from top to bottom, the counterweight structure 120 is used to increase the overall mass of the damping assembly 100, thereby reducing the translational frequency of the damping assembly 100. It can be understood that the greater the density of an object, the greater the mass under the same volume. Therefore, the material of the counterweight structure 120 above the motion sensor 400 is a high-density material, the material of the base 110 below the motion sensor 400 is a low-density material, and the material density p2 of the counterweight structure 120 is much greater than the material density p1 of the base 110. In this application, by using different types of materials for the base 110 and the counterweight structure 120, the overall profile size of the damping assembly 100 does not need to be enlarged, avoiding occupying a large installation space, simplifying the overall shape of the installation structure of the application; at the same time, the translational frequency of the sensor assembly can be reduced by increasing the overall mass of the damping assembly 100. In addition, the distance between the installation position of the connecting piece 200 and the geometric center of the sensor assembly will affect the rotational frequency of the damping assembly 100; based on this, by limiting the size relationship between the side length of the counterweight structure 120 and the distance between the installation positions of the adjacent two connecting pieces 200, the rotational frequency of the sensor assembly can be effectively increased, thereby the control delay of the motion sensor 400 can be reduced.

[0048] Referring to Figure 3 , in order to facilitate the suspension of the damping assembly 100, in some embodiments, the base 110 is provided with a plurality of first mounting portions 111, the support 300 is provided with a plurality of second mounting portions 310, one end of the single connecting piece 200 is connected to the first mounting portion 111, and the other end of the connecting piece 200 is connected to the second mounting portion 310. Preferably, in order to facilitate the balanced force of the base 110, each first mounting portion 111 can be arranged at equal intervals on the base 110; correspondingly, the second mounting portion 310 is arranged at equal intervals on the support 300.

[0049] Referring to Figure 3 and Figure 4For the convenience of understanding, the working principle of the mounting structure of the present application is described in detail below. In a specific embodiment, the base 110, the counterweight structure 120 and the support 300 are quadrilateral structures, the base 110 is provided with four first mounting portions 111 extending along the center symmetry, the support 300 is provided with four second mounting portions 310 extending along the center symmetry, a single second mounting portion 310 corresponds to a single first mounting portion 111, and the number of the connecting members 200 is four. For example, the counterweight structure 120 is a rectangle, the length of the counterweight structure 120 is a, and the width of the base 110 is b; the distance between the center points of the two first mounting portions 111 in the length direction of the base 110 is c, and the distance between the center points of the two second mounting portions 310 in the width direction of the base 110 is d. Of course, in other embodiments, the number of the first mounting portions, the second mounting portions and the connecting members can be 8, 12, etc., as long as they are designed symmetrically and the uniform dispersion of vibration is ensured.

[0050] In actual application, when the support 300 is installed on the body of a mobile device such as an aircraft, the vibration of the body is transmitted to the support 300 and further transmitted to the motion sensor 400 on the vibration reduction assembly 100 through the support 300, wherein the motion sensor 400 and the vibration reduction assembly 100 together form a sensor assembly. Figure 1 and Figure 2 As shown in the coordinate axes, if the translational frequency of the sensor assembly in the X-axis, Y-axis and Z-axis directions is as low as possible, the vibration isolation effect of the sensor assembly can be maximized. At the same time, if the rotational frequency of the sensor assembly in the X-axis, Y-axis and Z-axis directions is as high as possible, the control delay of the motion sensor 400 can be reduced.

[0051] Taking the translational frequency w z and the rotational frequency R z of the sensor assembly in the Z-axis direction as an example, they can be determined according to the following formulas (1) and (2), and the translational frequency and the rotational frequency of the sensor assembly in the X-axis direction and the Y-axis direction can be determined in the same way.

[0052]

[0053]

[0054] wherein M is the total weight of the sensor assembly; k x is the stiffness of the connecting member in the X-axis direction; k y is the stiffness of the connecting member in the Y-axis direction; k z is the stiffness of the connecting member in the Z-axis direction; X and Y are the distances from the mounting position of the connecting member to the geometric center of the sensor assembly; wherein X is approximately equal to 1 / 2 c, and Y is approximately equal to 1 / 2d。I z is the moment of inertia of the sensor assembly about the Z axis. Wherein, the specific value of the moment of inertia can be determined according to relevant software such as 3D modeling software.

[0055] As can be seen from the above formula (1), if the translational frequency of the sensor assembly in each direction is to be reduced as much as possible, the stiffness of the connecting member 200 can be reduced and / or the total weight M of the sensor assembly can be increased. As can be seen from the above formula (2), if the rotational frequency of the sensor assembly in each direction is to be increased as much as possible, the stiffness of the connecting member 200 can be increased, the distance between the connecting member 200 and the geometric center of the sensor assembly can be increased, and / or the moment of inertia I z of the connecting member 200 can be reduced. As can be seen from the formulas (1) and (2), if the translational frequency of the sensor assembly is to be reduced and the rotational frequency of the sensor assembly is to be increased at the same time, the aforementioned conflicting conditions can be filtered out, that is, the total weight M of the sensor assembly can be increased, the distance between the mounting position of the connecting member 200 and the geometric center of the sensor assembly can be increased, and / or the moment of inertia of the sensor assembly can be reduced. That is, the three methods can be implemented alternatively or simultaneously.

[0056] Based on the above principle analysis, under the premise that the mounting space of the mounting structure of the motion sensor 400 is limited, in some embodiments, the relationship between the material density p1 of the base 110 and the material density p2 of the counterweight structure 120 is p2≥2p1, and the relationship between the side lengths a and b of the counterweight structure 120 and the distances c and d between the mounting positions of the adjacent two connecting members 200 connected to the base 110 is (cxd)≥(2×a×b). Such design can reduce the translational frequency of the sensor assembly, thereby achieving the best vibration isolation effect, and increase the rotational frequency of the sensor assembly, thereby reducing the control delay of the motion sensor 400.

[0057] Referring to Figure 5In another embodiment, the intersection of the axial center lines of the connecting members 200 approximates or coincides with the center of gravity of the damping assembly 100, so that the translational frequency of the sensor assembly in the X, Y, Z axial directions can be decoupled from the rotational frequency in the corresponding directions, i.e. the additional rotation caused by the translational motion can be eliminated. Based on this, the distance H1 between the intersection of the axial center lines of the connecting members 200 and the base 110 is provided, and the distance H2 between the center of gravity of the damping assembly 100 and the base 110 is provided. In some embodiments, the distance H1 between the intersection of the axial center lines of the connecting members 200 and the base 110 and the distance H2 between the center of gravity of the damping assembly 100 and the base 110 satisfy the relationship 0≤|H1-H2|≤arctan(Kxx / Kzz), where Kxx is the radial stiffness of the connecting member 200, and Kzz is the axial stiffness of the connecting member 200. With such a design, when the mounting structure is designed, the intersection of the axial center lines of the connecting members 200 approximates or even coincides with the center of gravity of the damping assembly 100, so that the translational frequency and the rotational frequency of the damping assembly 100 can be decoupled from each other, and the additional rotation caused by the translational motion can be eliminated. It should be noted that the present embodiment can be implemented simultaneously with the above-mentioned embodiments, or alternatively.

[0058] In summary, the mounting structure of the motion sensor can be combined in various schemes to maximize the damping and decoupling effects, effectively reducing the influence of the vibration of the machine body itself on the detection results of the motion sensor, and improving the accuracy of the detection results.

[0059] Referring to Figure 5 and Figure 6 , in order to further improve the damping effect, in some embodiments, a single connecting member 200 includes an elastic portion 220 and first and second connecting portions 210 and 230 connected to both ends of the elastic portion 220, the first connecting portion 210 is connected to the base 110, and the second connecting portion 230 is connected to the bracket 300. Among them, the elastic portion 220 can be a spherical structure, and the first and second connecting portions 210 and 230 can be columnar structures. Through the structure of thin at both ends and thick in the middle, the vibration can be further reduced. Of course, the connecting member 200 can also be other symmetrical structures, which are not limited herein. In order to improve the damping effect, the connecting member 200 can be made of elastic materials such as rubber, silicone, TPU (thermoplastic polyurethane elastomer), TPE (thermoplastic elastomer), etc. Alternatively, the connecting member 200 can be an integral forming structure of an elastic material, or an assembled forming structure.

[0060] Referring to Figure 5 , in order to further improve the damping effect, in some embodiments, the connecting member 200 is a hollow structure, i.e. a cavity 240 is provided along the axial direction, so as to further reduce the vibration transmitted to the base 110.

[0061] Referring toFigure 3 And Figure 6 In order to facilitate the connection of the connecting piece to the support and the damping structure, in some embodiments, the first mounting portion 111 of the base 110 and the second mounting portion 310 of the support 300 are respectively provided with mounting holes 311 that are in communication with each other, and the first connecting portion 210 and the second connecting portion 230 of the connecting piece 200 are each provided with a limiting groove 211 along the radial direction. The first connecting portion 210 of a single connecting piece 200 is inserted into the mounting hole 311 of the first mounting portion 111, and the limiting groove 211 is clamped in the mounting hole 311 of the first mounting portion 111. The second connecting portion 230 of the connecting piece 200 is inserted into the mounting hole 311 of the second mounting portion 310, and the limiting groove 211 is clamped in the mounting hole 311 of the second mounting portion 310. The elasticity of the connecting piece 200 allows the limiting groove 211 to be in elastic interference fit with the mounting holes 311 of the support 300 and the base 110, thereby ensuring that the connecting piece 200 will not be displaced during long-term damping, while eliminating the need for additional assembly parts such as bolts, reducing the assembly process, and saving part costs. It should be noted that in the present embodiment, the mounting position of the connecting piece 200, i.e., the center point of the first mounting portion 111, is the center of the mounting hole 311 of the first mounting portion 111.

[0062] Referring to Figure 5 In order to reduce the transmission of vibration of the body, in a specific embodiment, the support 300 can be a hollow structure 320. By designing the bottom surface to be hollow, the contact area between the support 300 and the body of the mobile device can be reduced, thereby reducing the transmission of vibration.

[0063] Referring to Figure 5 In order to make the intersection of the axial center lines of the connecting piece 200 and the center of gravity of the damping assembly 100 as close as possible or coincide, in some embodiments, the angle between the axial center line of the connecting piece 200 and the bottom surface of the support 300 is an acute angle A. In a specific embodiment, the radial direction of the mounting hole 311 of the first connecting portion 210 of the base 110 and the corresponding second connecting portion 230 of the support 300 and the bottom surface of the support 300 are both the same obtuse angle B. Such a design ensures that the angle between the axial center line of the connecting piece 200 and the bottom surface of the support 300 is an acute angle when the connecting piece 200 is fixed by passing through the corresponding two mounting holes 311.

[0064] Referring to Figure 7In order to simplify the vibration reduction structure, in some embodiments, the counterweight structure 120 comprises a cover plate 121 connected to the base 110, and the cover plate 121 has a material density of p2. That is, the counterweight structure 120 of the present embodiment can only comprise the cover plate 121, i.e., the cover plate 121 itself is the counterweight structure 120. The cover plate 121 and the base 110 have the mounting groove 112 therebetween, and after the motion sensor 400 and the circuit board are placed on the mounting groove of the base 110, the cover plate 121 is covered on the base 110 in order to protect the motion sensor 400, for example, the cover plate 121 and the base 110 can be connected by bolts. At the same time, the material density p2 of the cover plate 121 is greater than or equal to 2p1. For example, the cover plate 121 is made of steel or tungsten, which is a metal material with high density. Correspondingly, the base 110 is made of aluminum alloy, magnesium alloy or plastic, which is a low-density material. For example, the density of aluminum alloy is 2.7 g / cm3, the density of magnesium alloy is 1.74 g / cm3, and the density of plastic is 1.2 g / cm3. The density of steel is 7.8 g / cm3, and the density of tungsten is 19.4 g / cm3. The density difference between the two is large. 3 3

[0065] Referring to Figure 3 In other embodiments, the counterweight structure 120 comprises an upper cover plate 122, a counterweight block 123 and a lower cover plate 124 arranged from top to bottom, and the lower cover plate 124 is connected to the base 110; the counterweight block 123 has a material density of p2. That is, the counterweight structure 120 of the present embodiment can be composed of the upper cover plate 122, the counterweight block 123 and the lower cover plate 124. The lower cover plate 124 and the base 110 have the mounting groove 112 therebetween, and after the motion sensor 400 and the circuit board are placed on the mounting groove of the base 110, the lower cover plate 124 is covered on the base 110 in order to protect the motion sensor 400. In order to facilitate the installation of the counterweight block 123, the length and width of the counterweight block 123 are less than those of the lower cover plate 124.

[0066] Referring to Figure 3 ​​In a specific embodiment, a fixing groove 125 is formed between the end surface of the lower cover plate 124 facing away from the base 110 and the upper cover plate 122, and the counterweight 123 is arranged in the fixing groove 125 of the lower cover plate 124 and fixed, and the upper cover plate 122 covers the counterweight 123 and is connected with the lower cover plate 124. For example, the upper cover plate 122, the lower cover plate 124 and the base 110 can be connected by bolts. The material density of the counterweight 123 is ρ2≥2ρ1, for example, the material of the counterweight 123 is selected from steel or metal tungsten and other metal materials with high density. The material density of the upper cover plate 122 and the lower cover plate 124 is not limited, that is, the materials of the upper cover plate 122 and the lower cover plate 124 can be the same as or different from the counterweight 123. For example, the material density of the lower cover plate 124 is ρ3≥ρ1. In some embodiments, the counterweight 123 can be a regular cuboid, a cylinder or a multi-prism, and the shape of the fixing groove is correspondingly arranged. By arranging a separate counterweight 123, the weight of the counterweight 123 can be flexibly adjusted.

[0067] Referring to Figure 3 and Figure 7 , the application also provides a motion sensor module, which comprises a motion sensor 400 and the mounting structure of the motion sensor 400, and the motion sensor 400 is arranged between the base 110 and the counterweight structure 120. Specifically, the base 110 and the counterweight structure 120 are directly provided with a mounting groove, and the motion sensor 400 is arranged in the mounting groove.

[0068] The vibration damping assembly 100 and the motion sensor 400 constitute a sensor assembly, and the adjustment and decoupling of the translational frequency and the rotational frequency are designed based on the sensor assembly. In some embodiments, the motion sensor 400 is an acceleration sensor, a gyroscope, a geomagnetic sensor or an inertial measurement unit (IMU).

[0069] In some embodiments, the motion sensor can be an acceleration sensor, a gyroscope, a geomagnetic sensor or an inertial measurement unit (IMU).

[0070] The motion sensor module of the application is designed by the structure of the mounting structure, so that the translational frequency is as low as possible, the vibration isolation effect is maximized, the rotational frequency is as high as possible, and the control delay of the device is reduced. In addition, the translational frequency of the motion sensor module and the rotational frequency of the X, Y and Z axes are decoupled, and the additional rotation caused by the translational motion is eliminated. Such design makes the detection result of the motion sensor module more accurate, and the structure is simple and convenient to assemble.

[0071] The application also provides a mobile device comprising the above-mentioned motion sensor module, wherein the bracket of the mounting structure of the motion sensor is connected to the device body. Optionally, the mobile device is an aircraft, a mobile robot or a vehicle.

[0072] The mobile device of the present application can facilitate navigation positioning during driving through more accurate detection results of the motion sensor module.

[0073] As to the above-mentioned embodiments, the specific implementation manners have been described in detail in the embodiments related to the method, and will not be described in detail here.

[0074] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present disclosure.

[0075] The above has described the embodiments of the present application, the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, practical application or improvement of the technology in the market, or to enable other ordinary skilled in the art to understand the embodiments disclosed herein.

Claims

1. A mounting structure of a motion sensor, characterized by comprising: The mounting structure comprises a damping assembly, a plurality of connecting members and a support, the damping assembly is connected to the support by the connecting members and is suspended; wherein: The damping assembly comprises a base and a counterweight structure arranged on the base, the base is used for placing a motion sensor; the material density of the base is less than the material density of the counterweight structure, the side length of the counterweight structure is less than the distance between the mounting positions of two adjacent connecting members; the intersection of the axial center lines of the connecting members is close to or coincides with the center of gravity of the damping assembly; the distance H1 between the intersection of the axial center lines of each connecting member and the base and the distance H2 between the center of gravity of the damping assembly and the base satisfy the relationship 0≤|H1-H2|≤arctan(Kxx / Kzz), wherein Kxx is the radial stiffness of the connecting member and Kzz is the axial stiffness of the connecting member.

2. The mounting structure according to claim 1, wherein: The material density of the base ρ1 and the material density of the counterweight structure ρ2 satisfy the relationship ρ2≥2ρ1, and the side length a and b of the counterweight structure satisfy the relationship (c×d)≥(2×a×b) with the distance c and d between the mounting positions of two adjacent connecting members connected to the base.

3. The mounting structure according to claim 1, wherein: The connecting member is a hollow structure and has a cavity formed in the axial direction; and / or The support is a hollow structure.

4. The mounting structure according to claim 1, wherein: Each connecting member comprises an elastic part and a first connecting part and a second connecting part connected to both ends of the elastic part, the first connecting part is connected to the base, and the second connecting part is connected to the support.

5. The mounting structure according to any one of claims 1 to 4, wherein: The base is provided with a plurality of first mounting parts, the support is provided with a plurality of second mounting parts, one end of each connecting member is connected to the first mounting part, and the other end of the connecting member is connected to the second mounting part.

6. The mounting structure according to claim 5, wherein: The base and the support are both quadrilateral structures, the base is centrally symmetrically provided with four first mounting parts, the support is centrally symmetrically provided with four second mounting parts, each second mounting part corresponds to each first mounting part, and the number of connecting members is four.

7. The mounting structure according to claim 5, wherein: The axial center line of the connecting member and the bottom surface of the support form an acute angle.

8. The mounting structure according to claim 1, wherein: The counterweight structure comprises a cover plate connected to the base, and the material density of the cover plate is ρ2; or The counterweight structure comprises an upper cover plate, a counterweight block and a lower cover plate arranged from top to bottom, and the lower cover plate is connected to the base; the material density of the counterweight block is ρ2.

9. The mounting structure according to claim 8, wherein: The material of the base is selected from aluminum alloy, magnesium alloy or plastic; The material of the counterweight block or the cover plate of the counterweight structure is selected from steel or metallic tungsten.

10. A motion sensor module, characterized by A mounting structure including a motion sensor and the motion sensor of any one of claims 1 to 7, the motion sensor disposed between a base and a counterweight structure. 11.The motion sensor module of claim 10, wherein: the motion sensor is an acceleration sensor, a gyroscope, a geomagnetic sensor, or an inertial measurement unit.

12. A mobile device, comprising: A mobile device including the motion sensor module of claim 10 or 11, wherein the bracket is connected to a body of the mobile device, the mobile device being an aerial vehicle, a mobile robot, or a vehicle.

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