Inertial measurement unit module and autonomous mobile robot

Abstract

Embodiments of the present disclosure provide an inertial measurement unit module and an autonomous mobile robot, the inertial measurement unit module comprising: a housing; a measurement unit board disposed within the housing and adapted to integrate at least one sensor, the measurement unit board being provided with a first interface; a management unit board disposed within the housing and spaced apart from the measurement unit board, the management unit board being provided with a second interface and comprising at least a power supply network module; and an electrical connection arranged between the first interface and the second interface to establish an electrical connection between the power supply network module and the at least one sensor to power the at least one sensor and allow data acquired by the at least one sensor to be transmitted externally.

Description

Technical Field

[0001] The embodiments disclosed herein generally relate to the field of robotic equipment technology, and more specifically, to an inertial measurement unit module and an autonomous mobile robot. Background Technology

[0002] With the intelligent development of robots, automobiles, and industrial equipment, inertial measurement unit (IMU) modules have been widely used in various products to achieve precise positioning and motion state detection functions.

[0003] Conventional IMU modules typically integrate multiple sensors such as accelerometers, gyroscopes, and compasses, and process and output data through a microcontroller unit. However, conventional IMU modules suffer from poor scalability, insufficient shock resistance and electromagnetic interference immunity between modules, and limited interface types, complex wiring, and high costs. Therefore, optimizing structural design, improving module performance, and simplifying wiring have become pressing technical challenges. Summary of the Invention

[0004] The purpose of this disclosure is to provide an inertial measurement unit module and an autonomous mobile robot to at least partially solve the above-mentioned problems.

[0005] In a first aspect of this disclosure, an inertial measurement unit (IMU) module is provided. The IMU module includes: a housing; a measurement unit board disposed within the housing and adapted to integrate at least one sensor, the measurement unit board having a first interface; a management unit board disposed within the housing and spaced apart from the measurement unit board, the management unit board having a second interface and including at least a power supply network module; and an electrical connector disposed between the first interface and the second interface to establish an electrical connection between the power supply network module and the at least one sensor, thereby powering the at least one sensor and allowing data acquired by the at least one sensor to be transmitted externally.

[0006] According to embodiments of this disclosure, the management unit board and the measurement unit board are arranged at intervals, and are isolated from each other by electrical connectors, reducing the degree of electromagnetic interference between them. This approach helps improve the accuracy of the sensors and the system's anti-interference capability, thereby enhancing the accuracy of data measurement.

[0007] In some embodiments, the thickness of the measurement unit board is greater than the thickness of the management unit board.

[0008] In some embodiments, the power supply network module includes: a control chip, a network communication chip, and a pair of communication interfaces. The control chip is electrically connected to the at least one sensor and is adapted to process the data collected by the at least one sensor. The network communication chip is electrically connected to the control chip, and the pair of communication interfaces is electrically connected to the network communication chip.

[0009] In some embodiments, the paired communication interfaces include an Ethernet control automation technology input interface and an Ethernet control automation technology output interface.

[0010] In some embodiments, the housing includes a first cavity and a second cavity, the measuring unit board is disposed in the first cavity, and the management unit board is disposed in the second cavity.

[0011] In some embodiments, the measuring unit plate is detachably disposed within the first cavity.

[0012] In some embodiments, a buffer colloid is disposed in the first cavity, and the measuring unit plate is wrapped by the buffer colloid.

[0013] In some embodiments, the electrical connector includes flexible printed circuit lines.

[0014] In some embodiments, the first interface and the second interface are arranged adjacent to each other.

[0015] In a second aspect of this disclosure, an autonomous mobile robot is provided, comprising: any of the inertial measurement unit modules according to the first aspect of this disclosure.

[0016] It should be understood that the description in this section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0017] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0018] Figure 1 A schematic diagram of the structure of an inertial measurement unit module according to some embodiments of the present disclosure is shown.

[0019] Explanation of reference numerals in the attached figures:

[0020] 100 represents the inertial measurement unit module;

[0021] 1 represents the outer shell, 11 represents the first cavity, and 12 represents the second cavity;

[0022] 2 is the measurement unit board, 21 is the first interface, and 22 is the sensor;

[0023] 3 is the management unit board, 31 is the second interface, 32 is the control chip, 33 is the network communication chip, 34 is the communication interface, 35 is the DC input interface, and 36 is the DC conversion chip;

[0024] 4 represents electrical connectors. Detailed Implementation

[0025] Preferred embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0026] The term "comprising" and its variations as used herein signify open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "at least partially based on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc., may refer to different or the same objects.

[0027] As described above, conventional IMU modules suffer from poor modular scalability, insufficient shock resistance and electromagnetic interference resistance between modules, and limited interface types, complex wiring, and high cost. Therefore, embodiments of this disclosure provide an inertial measurement unit module and an autonomous mobile robot to at least partially solve the aforementioned problems. In the following sections, [further details will be provided]. Figure 1 The principles of this disclosure are described.

[0028] Figure 1 A schematic diagram of the structure of an inertial measurement unit module 100 according to some embodiments of the present disclosure is shown. For example... Figure 1 As shown, the inertial measurement unit module 100 includes a housing 1, a measurement unit board 2, and a management unit board 3. The housing 1 serves as the mounting carrier, and the measurement unit board 2 and the management unit board 3 are disposed inside the housing 1.

[0029] refer to Figure 1 In some embodiments, the measurement unit board 2 is disposed within the housing 1, and the measurement unit board 2 is adapted to integrate at least one sensor 22. Furthermore, a low-dropout linear regulator (LDO) may also be integrated on the measurement unit board 2. A first interface 21 is provided on the measurement unit board 2.

[0030] The sensor 22 according to embodiments of this disclosure can be of various types known or available in the future, and embodiments of this disclosure do not limit this. For example, in some embodiments, the sensor 22 may include a three-axis compass and a six-axis inertial measurement unit (IMU), wherein the six-axis inertial measurement unit is a sensor 22 that integrates a three-axis accelerometer and a three-axis gyroscope.

[0031] refer to Figure 1 In some embodiments, the management unit board 3 is spaced apart from the measurement unit board 2. The management unit board 3 has a second interface 31 and includes at least a power supply network module. An electrical connector 4 is disposed between the first interface 21 and the second interface 31 to establish an electrical connection between the power supply network module and at least one sensor 22. The electrical connector 4 supplies power to at least one sensor 22 and allows data acquired by at least one sensor 22 to be transmitted externally.

[0032] According to embodiments of this disclosure, the management unit board 3 and the measurement unit board 2 are arranged at intervals, and are isolated from each other by an electrical connector 4, reducing the degree of electromagnetic interference between them. This approach helps improve the accuracy of the sensor 22 and the system's anti-interference capability, thereby enhancing the accuracy of data measurement.

[0033] refer to Figure 1 In some embodiments, the electrical connector 4 may include a flexible printed circuit (FPC) connection line. In this way, the management unit board 3 and the measurement unit board 2 are isolated from each other by the FPC connection line, further reducing the degree of electromagnetic interference between the management unit board 3 and the measurement unit board 2, thereby further improving the accuracy of data measurement.

[0034] refer to Figure 1 In some embodiments, the first interface 21 and the second interface 31 can be arranged adjacent to each other, thereby facilitating optimized product layout and reducing wiring costs. The first interface 21 and the second interface 31 may include zero insertion / removal force (ZIF) interfaces, enabling reliable connection and release via a locking mechanism without applying mechanical force when inserting or removing the FPC cable.

[0035] refer to Figure 1 In some embodiments, the thickness of the measuring unit plate 2 can be greater than the thickness of the management unit plate 3. It is understood that by thickening the measuring unit plate 2, the seismic performance and deformation resistance of the measuring unit plate 2 can be significantly improved, effectively reducing the measurement error caused by external impact and vibration, thereby ensuring the measurement accuracy and stability of the sensor 22.

[0036] refer to Figure 1In some embodiments, the housing 1 may include a first cavity 11 and a second cavity 12. The measurement unit board 2 may be disposed within the first cavity 11, and the management unit board 3 may be disposed within the second cavity 12. In this manner, it is convenient to arrange the management unit board 3 and the measurement unit board 2 at intervals, thereby reducing the degree of electromagnetic interference between the management unit board 3 and the measurement unit board 2.

[0037] Furthermore, a buffer colloid can be provided inside the first cavity 11, and the measuring unit plate 2 can be wrapped with the buffer colloid. In this way, the shock resistance and deformation resistance of the measuring unit plate 2 are further improved, thereby improving the measurement accuracy and stability of the sensor 22.

[0038] refer to Figure 1 In some embodiments, the measurement unit board 2 is detachably disposed within the first cavity 11, for example, by fasteners such as screws. Furthermore, as described above, the measurement unit board 2 and the management unit board 3 can be connected via an electrical connector 4. This facilitates flexible replacement of the measurement unit board 2, enabling flexible replacement of different types of sensors 22 and improving module scalability. For example, depending on application requirements, a six-axis IMU or a nine-axis IMU can be selected, or dual IMUs can be used for hot backup, thereby improving system reliability and adaptability. Moreover, the detachable design of the measurement unit board 2 enhances product flexibility, allowing users to easily replace or upgrade the sensors 22 according to actual needs, achieving flexible adjustment of product performance.

[0039] refer to Figure 1 In some embodiments, the power supply network module may include a control chip 32, a network communication chip 33, and a pair of communication interfaces 34. The control chip 32 may, for example, include a microcontroller unit (MCU). The control chip 32 may be electrically connected to at least one sensor 22. The control chip 32 is adapted to power at least one sensor 22 and to process data acquired by at least one sensor 22. The network communication chip 33 may be electrically connected to the control chip 32, and the pair of communication interfaces 34 may be electrically connected to the network communication chip 33. The network communication chip 33 is capable of high-speed, low-latency, long-distance transmission of IMU data through the communication interface 34.

[0040] refer to Figure 1 Furthermore, the management unit board 3 may also include a DC input interface 35 and a DC-DC converter chip 36. The DC-DC converter chip 36 can be electrically connected to the DC input interface 35 and can also be electrically connected to the power supply network module. In this way, the DC input interface 35 enables the connection between the inertial measurement unit module 100 and the external power supply equipment, and the DC-DC converter chip 36 can convert the voltage from the DC input interface 35 into a voltage suitable for the operation of the power supply network module.

[0041] refer to Figure 1 Furthermore, the paired communication interfaces 34 may include an EtherCAT input interface and an EtherCAT output interface. By employing an EtherCAT interface in the inertial measurement unit module 100, cascading connections of modules can be supported. Multiple modules or other network control devices such as motors can be connected in series via a single network cable, which simplifies system wiring and reduces installation and maintenance costs. In addition, the design of the EtherCAT interface meets the compatibility requirements of different devices and systems, effectively solving the problem of limited interface types.

[0042] In summary, the inertial measurement unit module 100 according to the embodiments of this disclosure has achieved optimizations in structural design, seismic performance, electromagnetic compatibility, wiring simplification, and functional expansion, meeting the needs of industrial automation and robotics for high-precision and high-reliability inertial navigation.

[0043] Embodiments of this disclosure also provide an autonomous mobile robot, which includes any of the inertial measurement unit modules 100 described above.

[0044] According to embodiments of this disclosure, the management unit board 3 and the measurement unit board 2 are arranged at intervals, and are isolated from each other by an electrical connector 4, reducing the degree of electromagnetic interference between them. This approach helps improve the accuracy of the sensor 22 and the system's anti-interference capability, thereby enhancing the accuracy of data measurement.

[0045] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An inertial measurement unit module (100), comprising: Shell (1); A measuring unit board (2) is disposed within the housing (1) and is adapted to integrate at least one sensor (22), and the measuring unit board (2) is provided with a first interface (21); A management unit board (3) is disposed inside the housing (1) and spaced apart from the measurement unit board (2). The management unit board (3) is provided with a second interface (31) and includes at least a power supply network module. as well as An electrical connector (4) is arranged between the first interface (21) and the second interface (31) to establish an electrical connection between the power supply network module and the at least one sensor (22) to power the at least one sensor (22) and allow the data acquired by the at least one sensor (22) to be transmitted to the outside.

2. The inertial measurement unit module (100) according to claim 1, wherein the thickness of the measurement unit plate (2) is greater than the thickness of the management unit plate (3).

3. The inertial measurement unit module (100) according to claim 1, wherein the power supply network module comprises: The system includes a control chip (32), a network communication chip (33), and a pair of communication interfaces (34). The control chip (32) is electrically connected to at least one sensor (22) and is adapted to process data collected by at least one sensor (22). The network communication chip (33) is electrically connected to the control chip (32), and the pair of communication interfaces (34) is electrically connected to the network communication chip (33).

4. The inertial measurement unit module (100) according to claim 3, wherein the paired communication interface (34) includes an Ethernet control automation technology input interface and an Ethernet control automation technology output interface.

5. The inertial measurement unit module (100) according to claim 1, wherein the housing (1) includes a first cavity (11) and a second cavity (12), the measurement unit board (2) is disposed in the first cavity (11), and the management unit board (3) is disposed in the second cavity (12).

6. The inertial measurement unit module (100) according to claim 5, wherein the measurement unit plate (2) is detachably disposed in the first cavity (11).

7. The inertial measurement unit module (100) according to claim 5, wherein a buffer colloid is provided in the first cavity (11), and the measurement unit plate (2) is wrapped by the buffer colloid.

8. The inertial measurement unit module (100) according to claim 1, wherein the electrical connector (4) includes a flexible printed circuit connection line.

9. The inertial measurement unit module (100) according to claim 1, wherein the first interface (21) and the second interface (31) are disposed adjacent to each other.

10. An autonomous mobile robot, comprising an inertial measurement unit module (100) according to any one of claims 1-9.

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