Attitude sensor testing equipment

Abstract

Attitude sensor testing equipment comprises a rotary table, a driving mechanism and an angle adjusting assembly, and the driving mechanism can drive the rotary table to rotate around the axis of the rotary table so that the rotary table can drive an attitude sensor to rotate; the angle adjusting assembly is used for adjusting the included angle between the attitude sensor and the rotary table. When the angle adjusting assembly is fixed to the rotary table, the attitude sensor is installed on the angle adjusting assembly, and the angle adjusting assembly simulates the uphill and downhill motion states of the agricultural machine at different gradients by changing the included angle between the attitude sensor and the rotary table. When the angle adjusting assembly is not fixed to the rotary table, the attitude sensor is installed on the rotary table, the translational motion condition of the agricultural machine is simulated, the pertinence is higher, the structure is simple, and the cost is low.

Description

Technical Field

[0001] The present application relates to the technical field of testing equipment, and in particular to a posture sensor testing equipment. Background Art

[0002] The attitude sensor is a high-performance 3D motion attitude measurement system based on MEMS (Micro Electromechanical System) technology, which mainly includes accelerometers and gyroscopes. The accelerometer obtains the attitude tilt angle through gravity acceleration, and the gyroscope is used to measure the angular velocity of the attitude. The attitude sensor is increasingly widely used because it is required to measure the carrier attitude information in many fields such as robot balance control, car positioning, and angle measurement of various ship-borne, vehicle-borne, or airborne stable platforms.

[0003] At present, most of the attitude sensor test systems in the prior art adopt a three-axis turntable structure, such as patent documents CN216283553U and CN204831330U, which can simulate a variety of motion states, mainly simulating translation, pitch and tilt.

[0004] However, for most vehicles, especially in the current agricultural automatic driving and unmanned driving operation scenarios, attitude sensors are mainly used to monitor the inclination and angle change values ​​of agricultural machinery during driving, mainly translation and pitch. Although the attitude sensor test system in the prior art can simulate a variety of motion conditions, it has poor pertinence and high cost, and has a complex structure. It is unable to accurately judge the accuracy of the inclination and angle change values ​​of agricultural machinery during driving, and is unable to verify the accuracy of the corresponding motor rotation values. When accuracy cannot be effectively guaranteed, erroneous information will be fed back to the control system, which will greatly affect the straightness of the entire system.

[0005] In addition, in the current agricultural autonomous driving and unmanned driving operation scenarios, when the new algorithm controls the rotation of the motor, if you want to use the attitude sensor for verification, you also need to install it on the agricultural machinery for actual testing and make judgments based on experience. Therefore, the accuracy will be reduced and it will take a lot of time for verification.

[0006] Therefore, how to improve the technical defects existing in the prior art has always been a problem that ordinary technicians in this field need to solve urgently. Utility Model Content

[0007] The purpose of this application is to provide a posture sensor testing device that can simulate the horizontal movement and uphill and downhill movement of agricultural machinery, so that the operator can compare the output value of the posture sensor with the calibration value of the original encoder of the drive mechanism. It is highly targeted, simple in structure and low in cost.

[0008] The technical solutions provided by this application are as follows:

[0009] A posture sensor test device is used to test the posture sensor, including a turntable and a driving mechanism, wherein the driving mechanism is used to drive the turntable to rotate around its own axis, and the turntable is suitable for driving the posture sensor to rotate. The posture sensor test device also includes:

[0010] Angle adjustment component, used to adjust the angle between the attitude sensor and the turntable.

[0011] In some embodiments,

[0012] The angle adjustment assembly includes a first rod, a second rod and a first mounting plate;

[0013] The first rod and the second rod are both arranged on the turntable, the first mounting plate is used to carry the posture sensor, and the first mounting plate is provided with a first adjustment structure and a second adjustment structure distributed in sequence along a direction parallel to the bearing surface of the first mounting plate, the first adjustment structure can be selectively fixed to any position of the first rod in the length direction, and the second adjustment structure can be selectively fixed to any position of the second rod in the length direction.

[0014] In some embodiments, the first rod and the second rod are screws, and the angle adjustment assembly further includes a first nut set and a second nut set; and

[0015] The first mounting plate is provided with a first adjustment hole and a second adjustment hole, and the portion of the first mounting plate provided with the first adjustment hole forms a first adjustment structure, and the portion of the first mounting plate provided with the second adjustment hole forms a second adjustment structure, an end of the first rod member away from the turntable is passed through the first adjustment hole, and the first nut group includes two first nuts, the two first nuts are respectively located on both sides of the first mounting plate in the height direction, and are used to limit the position of the first adjustment structure in the length direction of the first rod member; an end of the second rod member away from the turntable is passed through the second adjustment hole, and the second nut group includes two second nuts, the two second nuts are respectively located on both sides of the first mounting plate in the height direction, and are used to limit the position of the second adjustment structure in the length direction of the second rod member.

[0016] In some embodiments, the first mounting plate is provided with a first docking portion and a second docking portion, the first docking portion forms a first adjustment structure, and the second docking portion forms a second adjustment structure;

[0017] The first docking portion is provided with a first fixing hole, the first mounting plate is provided with a first avoidance hole, the first rod is passed through the first avoidance hole, and the first rod is provided with a plurality of third adjustment holes sequentially distributed along the length direction, a fastener sequentially passes through the first fixing hole and any third adjustment hole to fix the first docking portion to the first rod; and

[0018] A second fixing hole is provided on the second docking portion, a second avoidance hole is provided on the first mounting plate, the second rod is passed through the second avoidance hole, and the second rod is provided with a plurality of fourth adjustment holes distributed sequentially along the length direction. A fastener passes through the second fixing hole and any fourth adjustment hole in sequence to fix the second docking portion to the second rod.

[0019] In some embodiments, the angle adjustment assembly includes a wedge block set and a second mounting plate;

[0020] The wedge block group is fixed to the turntable, and the second mounting plate is fixed to a side of the wedge block group away from the turntable, suitable for carrying the attitude sensor;

[0021] The wedge block group includes a plurality of wedge blocks. By changing the number of wedge blocks in the wedge block group, the angle between the second mounting plate and the turntable is adjusted, thereby adjusting the angle between the attitude sensor and the turntable.

[0022] In some embodiments, a first installation station is provided on the turntable, and a first placement groove is opened in the first installation station for fixing the wedge block group.

[0023] In some embodiments, each posture sensor is fixed to the turntable or the angle adjustment assembly through a fixing member; and the fixing member is provided with a third docking portion for docking with the turntable;

[0024] Among them, the fixing member is suitable for setting one side of the posture sensor in the length direction toward the turntable or the angle adjustment component, or the fixing member is suitable for setting one side of the posture sensor in the width direction toward the turntable or the angle adjustment component, or the fixing member is suitable for setting one side of the posture sensor in the height direction toward the turntable or the angle adjustment component.

[0025] In some embodiments, a plurality of second installation stations are provided on the turntable and / or the angle adjustment assembly;

[0026] A second placement groove with an opening is formed in the second installation station, suitable for accommodating the fixing member and the attitude sensor thereon, and a third avoidance hole is provided on the side wall of the second placement groove, used for avoiding the cable on the attitude sensor;

[0027] The third avoidance hole and the opening are interconnected to form a special-shaped hole.

[0028] In some embodiments, a plurality of mounting positions for fixing the attitude sensor are provided on the turntable and the angle adjustment assembly; the plurality of mounting positions are arranged in sequence along the rotation direction of the turntable, or the plurality of mounting positions are distributed in a matrix.

[0029] In some embodiments, the attitude sensor testing device further comprises:

[0030] A bracket for mounting a driving mechanism;

[0031] A conductive slip ring is arranged on the bracket;

[0032] The conductive slip ring includes a sliding part and a fixed part. The sliding part is provided with a first terminal, the first terminal is electrically connected to the cable on the attitude sensor, and the sliding part rotates with the turntable; the fixed part is fixed to the bracket and is provided with a second terminal, and the second terminal is electrically connected to the external device; and

[0033] The turntable is provided with a fourth avoidance hole for avoiding the cable on the posture sensor, and the driving mechanism is provided with a fifth avoidance hole for avoiding the cable on the posture sensor and the sliding part.

[0034] In some embodiments, the attitude sensor testing device further comprises:

[0035] A leveling assembly is arranged at the bottom of the bracket;

[0036] The leveling assembly includes a base plate, a leveling bolt and a leveling nut group. The number of the leveling bolts is two, and the two leveling bolts are arranged in sequence in a direction parallel to the base plate.

[0037] The base plate is provided with a first leveling hole, the bracket is provided with a fourth docking portion, the fourth docking portion is provided with a second leveling hole, the leveling bolt passes through the first leveling hole and the second leveling hole in sequence; and the leveling nut group includes two leveling nuts, which are respectively located on both sides of the fourth docking portion in the height direction, and are used to limit the position of the fourth docking portion in the length direction of the leveling bolt.

[0038] The technical effects of this application are:

[0039] 1. In the present application, by setting an angle adjustment component, an inclination angle can be formed between the attitude sensor and the turntable. At the same time, the angle adjustment component can adjust the angle of the inclination angle, so as to better simulate the movement of agricultural machinery up and downhill during driving, so as to collect test data.

[0040] 2. In this application, the angle adjustment component can be set as a detachable structure. When the angle adjustment component is removed from the turntable, the data of the Z axis of the attitude sensor can be tested, which is highly practical. In addition, this application is different from the original three-axis turntable structure, with a more streamlined structure, stronger pertinence and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The present application is further described in detail below with reference to the accompanying drawings and specific implementation methods:

[0042] Figure 1 It is a schematic diagram of the three-dimensional structure of a posture sensor testing device provided by an embodiment of the present application;

[0043] Figure 2 yes Figure 1The schematic diagram of the structural disassembly of the attitude sensor test equipment shown;

[0044] Figure 3 It is a schematic diagram of the three-dimensional structure of a posture sensor and a fixing member provided in one embodiment of the present application;

[0045] Figure 4 It is a schematic diagram of the structural disassembly of a posture sensor testing device provided by another embodiment of the present application;

[0046] Figure 5 is a schematic diagram of the three-dimensional structure of a posture sensor testing device provided by another embodiment of the present application;

[0047] Figure 6 yes Figure 5 A front view of the attitude sensor test equipment shown;

[0048] Figure 7 is a schematic diagram of the three-dimensional structure of a posture sensor testing device provided by another embodiment of the present application;

[0049] Figure 8 yes Figure 7 A front view of the attitude sensor test equipment shown;

[0050] Fig. 9 yes Figure 7 The schematic diagram of the structural disassembly of the attitude sensor test equipment shown;

[0051] Fig.10 is a schematic diagram of the structural disassembly of a posture sensor testing device in a state provided by another embodiment of the present application;

[0052] Fig.11 yes Fig.10 The schematic diagram of the structural disassembly of the attitude sensor test equipment in another state is shown;

[0053] Fig.12 It is a schematic diagram of the partial structure disassembly of a posture sensor testing device in a state provided by another embodiment of the present application;

[0054] Fig.13 yes Fig.12 The diagram shown is a partial structural disassembly diagram of the attitude sensor test equipment in another state.

[0055] Description of Figure Numbers:

[0056] 100, turntable; 110, first installation station; 120, second installation station; 121, second placement slot; 122, third avoidance hole; 130, fourth avoidance hole;

[0057] 200, rotating motor; 210, fifth avoidance hole;

[0058] 310, first rod; 311, third adjustment hole; 320, second rod; 321, fourth adjustment hole; 330, first mounting plate; 331, first adjustment hole; 332, second adjustment hole; 333, first docking portion; 3331, first fixing hole; 334, second docking portion; 3341, second fixing hole; 335, first avoidance hole; 336, second avoidance hole; 340, wedge block group; 341, wedge block; 350, second mounting plate; 360, sixth avoidance hole;

[0059] 400, attitude sensor; 410, cable;

[0060] 500, fixing member; 510, third docking portion;

[0061] 600, bracket; 610, fourth docking portion; 611, second leveling hole;

[0062] 700, conductive slip ring;

[0063] 801, first nut; 802, second nut; 803, third nut; 804, fourth nut; 805, fifth fastener; 806, sixth fastener; 807, seventh fastener; 808, third fastener; 809, fourth fastener;

[0064] 910, base plate; 911, first leveling hole; 920, leveling bolt; 930, leveling nut. DETAILED DESCRIPTION

[0065] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0066] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the specific implementation methods of the present application will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0067] In order to simplify the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0068] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0069] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0070] In the embodiments shown in the drawings, the indications of directions (such as up, down, left, right, front and back) used to explain the structure and movement of various devices of the present application are not absolute but relative. These descriptions are appropriate when these devices are in the positions shown in the drawings. If the descriptions of the positions of these devices change, the indications of these directions also change accordingly.

[0071] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0072] In the current agricultural automatic driving and unmanned driving operation scenarios, the attitude sensor 400 is used to monitor the inclination angle (i.e., the angle between the agricultural machinery and the ground) and the angle change value during the driving process of the agricultural machinery, but it is impossible to accurately judge the accuracy of this numerical change, and thus it is impossible to verify the accuracy of the corresponding motor rotation value. When the accuracy of the motor rotation value cannot be effectively guaranteed, the motor will feedback erroneous information to the control system, which will greatly affect the straightness of the entire system. At the same time, when a new algorithm is used to control the rotation of the motor, if you want to use the attitude sensor 400 for verification, you need to install it on the agricultural machinery for actual testing and make judgments based on experience values, so the accuracy will be reduced and it will take a lot of time to verify.

[0073] For this, see Figure 1 , Figure 5 and Figure 7The embodiment of the present application provides a posture sensor testing device, which is mainly used to simulate the movement of agricultural machinery (such as translation and uphill and downhill) to test the accuracy of the posture sensor 400. Relatively speaking, if the value of the posture sensor 400 is determined to be accurate, it can also be used to test the new control algorithm for controlling the rotation of the motor.

[0074] Specifically, the attitude sensor testing equipment includes a turntable 100, a driving mechanism and an angle adjustment assembly. The driving mechanism is used to drive the turntable 100 to rotate around its own axis. The turntable 100 is suitable for driving the attitude sensor 400 to rotate. The angle adjustment assembly is used to adjust the angle between the attitude sensor 400 and the turntable 100.

[0075] The angle adjustment assembly is preferably detachably fixed to the turntable 100 .

[0076] See also Figure 1 and Figure 2 When the angle adjustment component is fixed to the turntable 100, the posture sensor 400 is installed on the angle adjustment component, and the driving mechanism can drive the turntable 100 to rotate, so that the turntable 100 drives the angle adjustment component to rotate together, and then drives the posture sensor 400 to rotate together. At this time, the angle adjustment component can be used to adjust the angle between the posture sensor 400 and the turntable 100.

[0077] See also Figures 5 to 9 When the angle adjustment assembly is not fixed to the turntable 100, the posture sensor 400 is installed on the turntable 100, and the driving mechanism can drive the turntable 100 to rotate, so that the turntable 100 drives the posture sensor 400 to rotate together.

[0078] In this embodiment, when the angle adjustment component is not installed, the attitude sensor testing device can be used to detect the data of the Z axis (parallel to the height direction of the attitude sensor 400) of the attitude sensor 400. When the angle adjustment component is installed on the turntable 100, an inclination angle will be formed between the attitude sensor 400 and the turntable 100. At the same time, the angle adjustment component can adjust the angle of the inclination angle to collect and detect the comparative data of the attitude sensor 400 with different angles with the ground when the attitude sensor 400 rotates on a single axis.

[0079] This embodiment is different from the original three-axis turntable 100 structure, omitting the original deflection test structure, and is more suitable for testing the agricultural machinery posture sensor 400 and the control algorithm, with a more streamlined structure and low cost. Moreover, the verification of the posture sensor 400 and the control algorithm does not require actual vehicle testing, but indoor testing, which can effectively save test time and is highly efficient.

[0080] For example, the turntable 100 is placed horizontally, and the driving mechanism is a rotating motor 200, the driving shaft of the rotating motor 200 is fixedly connected to the turntable 100, and when the motor is running, the driving shaft drives the turntable 100 to rotate. Among them, the attitude sensor 400 is electrically connected to a cable 410, and one end of the cable 410 away from the attitude sensor 400 is electrically connected to an external device, which is used to transmit the output data of the attitude sensor 400 to the external device for the user to obtain. In this way, when the control algorithm controls the motor to rotate, the user can compare the output data of the attitude sensor 400 with the original data of the encoder of the motor to verify the rationality of the corresponding control algorithm. If it is confirmed that there is no problem with the control algorithm, a large number of attitude sensors 400 can be batch tested by the attitude sensor testing equipment provided in this embodiment to verify whether the attitude sensor 400 meets the requirements. When the attitude sensor 400 is confirmed to have no problem, it can be verified whether multiple different versions of the control algorithm meet the requirements, thereby making the entire automatic driving or unmanned driving system of the agricultural machinery more stable and reliable.

[0081] In one embodiment, see Figure 1 , Figure 2 and Figures 4 to 9 The number of the posture sensors 400 can be multiple, and the turntable 100 and the angle adjustment assembly are provided with multiple installation positions for fixing the posture sensors 400, so that the posture sensor testing equipment can test different posture sensors 400 at one time, thereby improving the testing efficiency.

[0082] For example, see Figures 1 to 3 , each posture sensor 400 is fixed to the installation position of the turntable 100 or the angle adjustment component by a fixing member 500. The fixing member 500 is provided with a third docking portion 510 for docking the turntable 100, and the third docking portion 510 is preferably located on one side of the posture sensor 400 in the height direction, so that one side of the posture sensor 400 in the height direction is arranged toward the turntable 100 or the angle adjustment component. Among them, the posture sensor 400 is locked to the fixing member 500 by a first fastener, and the fixing member 500 is locked to the turntable 100 or the angle adjustment component by a second fastener; the first fastener and the second fastener can be screws, bolts, screws, etc., which are not described one by one here, and are all within the protection scope of this application.

[0083] Preferably, the third docking portion 510 is parallel to the side of the posture sensor 400 close to the third docking portion 510. When the posture sensor 400 is directly fixed on the turntable 100 through the fixing member 500, the posture sensor testing equipment can be used to detect the Z-axis data of the posture sensor 400.

[0084] In addition, see Figures 1 to 3The third docking portion 510 can also be located on one side of the attitude sensor 400 in the length direction, so that the attitude sensor 400 is disposed on one side of the length direction toward the turntable 100 or the angle adjustment assembly; or can be located on one side of the attitude sensor 400 in the width direction, so that the attitude sensor 400 is disposed on one side of the width direction toward the turntable 100 or the angle adjustment assembly. In this way, the installation direction of the attitude sensor 400 on the turntable 100 or the angle adjustment assembly can be changed, so that the attitude sensor 400 can be tested more comprehensively. In particular, when the posture sensor 400 is directly fixed on the turntable 100 through the fixing member 500, if the third docking portion 510 of the fixing member 500 used by the posture sensor 400 is located on one side of the posture sensor 400 in the length direction and is parallel to a side surface of the posture sensor 400 in the length direction, then the perpendicular bisector of the turntable 100 is parallel to the length direction of the posture sensor 400, which can be used to detect the data of the X-axis (parallel to the length direction of the posture sensor 400) of the posture sensor 400; if the third docking portion 510 of the fixing member 500 used by the posture sensor 400 is located on one side of the posture sensor 400 in the width direction and is parallel to a side surface of the posture sensor 400 in the width direction, then the perpendicular bisector of the turntable 100 is parallel to the width direction of the posture sensor 400, which can be used to detect the data of the Y-axis (parallel to the width direction of the posture sensor 400) of the posture sensor 400.

[0085] In this embodiment, the installation direction of the attitude sensor 400 can be changed by changing the type of the fixing member 500, so that the attitude sensor testing equipment can test the rationality of the angular velocity of the attitude sensor 400 in different axial directions, which is highly practical and has a simple structure.

[0086] In actual production, see Figure 1 , Figure 5 and Figure 7 , multiple installation positions can be arranged in sequence along the rotation direction of the turntable 100, so that the multiple posture sensors 400 are arranged in sequence along the rotation direction of the turntable 100, or, multiple installation positions are distributed in a matrix, so that the multiple posture sensors 400 are distributed in a matrix and are arranged on the turntable 100 or the angle adjustment component. There is no limitation here, and all are within the protection scope of the present application.

[0087] In one example embodiment, see Figure 5 and Figure 6, the angle adjustment assembly may include a first rod 310, a second rod 320 and a first mounting plate 330. The first rod 310 and the second rod 320 are detachably fixed to the turntable 100, the first mounting plate 330 is used to carry the posture sensor 400, and the first mounting plate 330 is provided with a first adjustment structure and a second adjustment structure sequentially distributed along a bearing surface parallel to the first mounting plate 330, the first adjustment structure can be selectively fixed to any position of the first rod 310 in the length direction, and the second adjustment structure can be selectively fixed to any position of the second rod 320 in the length direction. Among them, the bearing surface of the first mounting plate 330 is the end surface of the first mounting plate 330 on which the posture sensor 400 is installed.

[0088] In this embodiment, by changing the position of the first adjustment structure of the first mounting plate 330 on the first rod 310, and / or the position of the second adjustment structure of the first mounting plate 330 on the second rod 320, the angle between the first mounting plate 330 and the turntable 100 can be quickly changed, thereby changing the angle between the posture sensor 400 on the first mounting plate 330 and the turntable 100. The operation is convenient and quick, which is conducive to the rapid advancement of the test process.

[0089] In one embodiment, see Figure 5 and Figure 6 , the first rod 310 and the second rod 320 are screw rods, and the angle adjustment assembly further includes a first nut group and a second nut group. In addition, the first mounting plate 330 is provided with a first adjustment hole 331 and a second adjustment hole 332, and the first adjustment hole 331 and the second adjustment hole 332 are both waist-shaped slot holes. At this time, the portion of the first mounting plate 330 provided with the first adjustment hole 331 forms the above-mentioned first adjustment structure, and the portion of the first mounting plate 330 provided with the second adjustment hole 332 forms the above-mentioned second adjustment structure.

[0090] Specifically, one end of the first rod 310 away from the turntable 100 is penetrated in the first adjustment hole 331, and the first nut group includes two first nuts 801, which are respectively located on both sides of the first mounting plate 330 in the height direction, and are used to limit the position of the first end of the first mounting plate 330 in the length direction of the first rod 310. In contrast, one end of the second rod 320 away from the turntable 100 is penetrated in the second adjustment hole 332, and the second nut group includes two second nuts 802, which are respectively located on both sides of the first mounting plate 330 in the height direction, and are used to limit the position of the second end of the first mounting plate 330 in the length direction of the second rod 320.

[0091] In this embodiment, the angle between the first mounting plate 330 and the turntable 100 can be changed by rotating the first nut 801 or the second nut 802. There is no need to set up an additional motor to drive the first mounting plate 330 to rotate to change the angle between the first mounting plate 330 and the turntable 100. The operation is convenient, the structure is simple, the energy consumption is low, and it can be mass-produced and used, with strong practicality.

[0092] Specifically, see Figure 6 The first rod 310 can be fixed to the turntable 100 by a third nut set, the third nut set includes two third nuts 803, the two third nuts 803 are respectively located on both sides of the turntable 100 in the height direction, and the first rod 310 is locked on the turntable 100. In contrast, the second rod 320 can be fixed to the turntable 100 by a fourth nut set, the fourth nut set includes two fourth nuts 804, and the two fourth nuts 804 are respectively located on both sides of the turntable 100 in the height direction, and the second rod 320 is locked on the turntable 100.

[0093] In actual production, the first rod 310 and the second rod 320 may also be fixed to the turntable 100 by welding, which is not limited here and is within the protection scope of the present application.

[0094] In one embodiment, see Fig.10 and Fig.11 The first mounting plate 330 is provided with a first docking portion 333 and a second docking portion 334. The first docking portion 333 forms the above-mentioned first adjustment structure, and the second docking portion 334 forms the above-mentioned second adjustment structure. At this time, the first docking portion 333 is provided with a first fixing hole 3331, and at the same time, the first mounting plate 330 is provided with a first avoidance hole 335. The first rod 310 is suitable for being inserted into the first avoidance hole 335, and the first rod 310 is provided with a plurality of third adjustment holes 311 distributed in sequence along the length direction. A fastener passes through the first fixing hole 3331 and any third adjustment hole 311 in sequence to fix the first docking portion 333 to the first rod 310; for the convenience of distinction, the fastener is the third fastener 808. Correspondingly, a second fixing hole 3341 is provided on the second docking portion 334. At the same time, a second avoidance hole 336 is provided on the first mounting plate 330. The second rod 320 is suitable for being inserted into the second avoidance hole 336, and the second rod 320 is provided with a plurality of fourth adjustment holes 321 distributed in sequence along the length direction. A fastener passes through the second fixing hole 3341 and any fourth adjustment hole 321 in sequence to fix the second docking portion 334 to the second rod 320. For the convenience of distinction, the fastener is the fourth fastener 809.

[0095] The first fixing hole 3331 and the second fixing hole 3341 are both waist-shaped slot holes, and the third fastener 808 and the fourth fastener 809 are both bolts.

[0096] In contrast, in actual production, the first rod 310 can be fixed to the turntable 100 via a third nut set, which includes two third nuts 803, which are respectively located on both sides of the turntable 100 in the height direction, to lock the first rod 310 on the turntable 100. The second rod 320 can be fixed to the turntable 100 via a fourth nut set, which includes two fourth nuts 804, which are respectively located on both sides of the turntable 100 in the height direction, to lock the second rod 320 on the turntable 100.

[0097] Of course, the first rod 310 and the second rod 320 may also be fixed to the turntable 100 by welding, which is not limited here and is within the protection scope of the present application.

[0098] For example, see Figures 7 to 9 The angle adjustment assembly includes a wedge block group 340 and a second mounting plate 350. The wedge block group 340 is fixed to the turntable 100, and the second mounting plate 350 is fixed to the side of the wedge block group 340 away from the turntable 100, and is suitable for carrying the attitude sensor 400. In this embodiment, the wedge block group 340 includes a plurality of wedge blocks 341. By changing the number of wedge blocks 341 in the wedge block group 340, the angle between the second mounting plate 350 and the turntable 100 can be adjusted, and then the angle between the attitude sensor 400 on the second mounting plate 350 and the turntable 100 can be adjusted.

[0099] Specifically, the turntable 100 is provided with a first installation station 110, and the first installation station 110 is provided with a first placement slot for fixing the wedge block group 340. The wedge block group 340 is locked in the first installation station 110 by a fifth fastener 805, and the fifth fastener 805 can be a screw, a bolt or a screw, etc.; and the second mounting plate 350 is locked to the wedge block group 340 by a sixth fastener 806, and the sixth fastener 806 can be a screw, a bolt or a screw, etc., which will not be described in detail here.

[0100] The attitude sensor testing equipment provided in the above-mentioned embodiments of the present application is only equipped with one motor to simulate the movement of agricultural machinery, has a simple structure, low power consumption, and strong practicality.

[0101] In one example embodiment, see Figure 4, a plurality of second installation stations 120 are provided on the turntable 100 and / or the angle adjustment assembly, and the posture sensor 400 is fixed on the installation station through the second installation station 120. Specifically, a second placement groove 121 with an opening is formed in the second installation station 120, which is suitable for accommodating the fixing member 500 and the posture sensor 400 thereon, and a third avoidance hole 122 is provided on the side wall of the second placement groove 121, which is used to avoid the cable 410 on the posture sensor 400. Among them, the third avoidance hole 122 and the opening are mutually connected to form a special-shaped hole together.

[0102] In this embodiment, the second placement groove 121 has a certain tight fit, and the fixing member 500 can be clamped in the second placement groove 121 and is not easy to fall off. In this way, the fixing member no longer needs to be fixed to the turntable 100 or the angle adjustment component by the first fastener, and can be fixed to the turntable 100 or the angle adjustment component by being clamped in the second installation station 120. When the user needs to replace or remove the posture sensor 400, the posture sensor 400 and the fixing member 500 thereon can be quickly removed by lifting one end of the posture sensor 400 provided with the cable 410. At this time, the setting of the third avoidance hole 122 can not only avoid the cable 410 on the posture sensor 400, but also realize the rapid disassembly and assembly of the posture sensor 400. The structural setting is reasonable and practical, which can effectively save test time and improve test efficiency, which is conducive to the performance test of a large number of posture sensors 400 and reduces the error rate.

[0103] Specifically, the second installation station 120 can be locked to the turntable 100 through the seventh fastener 807, and the seventh fastener 807 can specifically be a screw, a bolt or a screw, etc., which will not be described in detail here.

[0104] For example, see Figure 1 , Figure 2 , Figure 4 and Figure 5 A fourth avoidance hole 130 for avoiding the cable 410 is opened on the turntable 100. The cables 410 of several posture sensors 400 on the turntable 100 or the angle adjustment component can pass through the fourth avoidance hole 130 on the turntable 100 and be electrically connected to the external device.

[0105] Further, see Figure 5 and Figure 7 The angle adjustment component is provided with a sixth avoidance hole 360 ​​for avoiding the cable 410, that is, the first mounting plate 330 or the second mounting plate 350 is provided with a sixth avoidance hole 360, and the cables 410 of several posture sensors 400 on the angle adjustment component are sequentially passed through the sixth avoidance hole 360 ​​and the fourth avoidance hole 130 to be electrically connected to the external device.

[0106] As a preference, see Figure 1 , Figure 2 and Figures 4 to 9 , the attitude sensor test equipment also includes a conductive slip ring 700 and a bracket 600, and the bracket 600 is used to install the driving mechanism and the conductive slip ring 700. The conductive slip ring 700 may specifically include a sliding part and a fixed part, the sliding part is provided with a first terminal, which can be electrically connected to the cable 410 on the attitude sensor 400; correspondingly, the fixed part is provided with a second terminal, which can be electrically connected to an external device. When the driving end of the driving mechanism drives the turntable 100 to rotate, the sliding part rotates with the turntable 100, while the fixed part, the non-driving end of the driving mechanism and the bracket 600 remain stationary. At this time, a fifth avoidance hole 210 should be provided on the driving mechanism to avoid the cable 410 on the attitude sensor 400 and the sliding part on the conductive slip ring 700.

[0107] In this embodiment, the electrical connection between the cable 410 on the attitude sensor 400 and the external device is realized by providing the conductive slip ring 700. When the attitude sensor 400 rotates driven by the turntable 100, the cable 410 on the attitude sensor 400 will also drive the sliding part of the conductive slip ring 700 to slide. Through the dynamic and static combination function of the conductive slip ring 700, the output data of the attitude sensor 400 is transmitted to the external device, so that the user can compare the output data of the attitude sensor 400 with the original data of the encoder of the motor.

[0108] In a preferred embodiment, see Fig.12 and Fig.13 The attitude sensor test equipment also includes a leveling component. When the ground is uneven, the leveling component can adjust the angle between the bracket 600 and the ground, thereby adjusting the angle between the turntable 100 and the ground, so that the attitude sensor test equipment remains in a horizontal state. In this way, the attitude sensor test equipment can adapt to a variety of terrains and has a wider range of applications. The attitude sensor test equipment is in a horizontal state to ensure that the turntable 100 is in a horizontal state.

[0109] Specifically, the leveling assembly is arranged at the bottom of the bracket 600, and the leveling assembly includes a base plate 910, a leveling bolt 920 and a leveling nut group. The number of the leveling bolts 920 is two, and the two leveling bolts 920 are arranged in sequence in a direction parallel to the base plate 910. The base plate 910 is provided with a first leveling hole 911, the bracket 600 is provided with a fourth docking portion 610, and the fourth docking portion 610 is provided with a second leveling hole 611, and the leveling bolt 920 passes through the first leveling hole 911 and the second leveling hole 611 in sequence. At this time, the leveling nut group includes two leveling nuts 930, which are respectively located on both sides of the fourth docking portion 610 in the height direction, and are used to limit the position of the fourth docking portion 610 in the length direction of the leveling bolt 920.

[0110] In this embodiment, by rotating the leveling nut 930, the angle between the base plate 910 and the bracket 600 can be changed, thereby leveling the attitude sensor test equipment and keeping the turntable 100 in a horizontal state. The operation is convenient, the structure is simple, the energy consumption is low, and it can be mass-produced and used, and it is highly practical.

[0111] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0112] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application, and these improvements and modifications should also be regarded as the protection scope of the present application.

Claims

1. A posture sensor testing device, used for testing a posture sensor (400), comprising a turntable (100) and a driving mechanism, wherein the driving mechanism is used to drive the turntable (100) to rotate around its own axis, and the turntable (100) is suitable for driving the posture sensor (400) to rotate, characterized in that: Also includes: An angle adjustment component is used to adjust the angle between the posture sensor (400) and the turntable (100).

2. The attitude sensor testing device according to claim 1, characterized in that: The angle adjustment assembly comprises a first rod (310), a second rod (320) and a first mounting plate (330); The first rod (310) and the second rod (320) are both arranged on the turntable (100); the first mounting plate (330) is used to carry the posture sensor (400); and the first mounting plate (330) is provided with a first adjustment structure and a second adjustment structure which are sequentially distributed along a direction parallel to a bearing surface of the first mounting plate (330); the first adjustment structure can be selectively fixed to any position of the first rod (310) in the length direction, and the second adjustment structure can be selectively fixed to any position of the second rod (320) in the length direction.

3. The attitude sensor testing device according to claim 2, characterized in that: The first rod (310) and the second rod (320) are screw rods, and the angle adjustment assembly further comprises a first nut group and a second nut group; and The first mounting plate (330) is provided with a first adjustment hole (331) and a second adjustment hole (332); the portion of the first mounting plate (330) provided with the first adjustment hole (331) forms the first adjustment structure; the portion of the first mounting plate (330) provided with the second adjustment hole (332) forms the second adjustment structure; one end of the first rod (310) away from the turntable (100) is passed through the first adjustment hole (331); and the first nut group includes two first nuts (801), and the two first nuts (801) are respectively The second rod (310) is provided with a second adjusting hole (332) at one end thereof which is away from the turntable (100), and the second nut group includes two second nuts (802), which are respectively located on both sides of the first mounting plate (330) in the height direction and are used to limit the position of the second adjusting structure in the length direction of the second rod (320).

4. The attitude sensor testing device according to claim 2, characterized in that: The first mounting plate (330) is provided with a first docking portion (333) and a second docking portion (334), the first docking portion (333) forming the first adjustment structure, and the second docking portion (334) forming the second adjustment structure; The first docking portion (333) is provided with a first fixing hole (3331), the first mounting plate (330) is provided with a first avoidance hole (335), the first rod (310) is passed through the first avoidance hole (335), and the first rod (310) is provided with a plurality of third adjustment holes (311) sequentially distributed along the length direction, a fastener sequentially passes through the first fixing hole (3331) and any of the third adjustment holes (311) to fix the first docking portion (333) to the first rod (310); and The second docking portion (334) is provided with a second fixing hole (3341), the first mounting plate (330) is provided with a second avoidance hole (336), the second rod (320) is passed through the second avoidance hole (336), and the second rod (320) is provided with a plurality of fourth adjustment holes (321) distributed sequentially along the length direction, a fastener sequentially passes through the second fixing hole (3341) and any of the fourth adjustment holes (321) to fix the second docking portion (334) to the second rod (320).

5. The attitude sensor testing device according to claim 1, characterized in that: The angle adjustment assembly comprises a wedge block group (340) and a second mounting plate (350); The wedge block group (340) is fixed to the turntable (100), and the second mounting plate (350) is fixed to a side of the wedge block group (340) away from the turntable (100), and is suitable for carrying the attitude sensor (400); The wedge block group (340) includes a plurality of wedge blocks (341). By changing the number of the wedge blocks (341) in the wedge block group (340), the angle between the second mounting plate (350) and the turntable (100) is adjusted, thereby adjusting the angle between the attitude sensor (400) and the turntable (100).

6. The attitude sensor testing device according to claim 5, characterized in that: The turntable (100) is provided with a first installation station (110), and the first installation station (110) is provided with a first placement groove for fixing the wedge block group (340).

7. The attitude sensor testing device according to any one of claims 1 to 6, characterized in that: Each attitude sensor (400) is fixed to the turntable (100) or the angle adjustment assembly via a fixing member (500); and the fixing member (500) is provided with a third docking portion (510) for docking with the turntable (100); The fixing member (500) is suitable for arranging one side of the posture sensor (400) in the length direction toward the turntable (100) or the angle adjustment component, or the fixing member (500) is suitable for arranging one side of the posture sensor (400) in the width direction toward the turntable (100) or the angle adjustment component, or the fixing member (500) is suitable for arranging one side of the posture sensor (400) in the height direction toward the turntable (100) or the angle adjustment component.

8. The attitude sensor testing device according to claim 7, characterized in that: The turntable (100) and / or the angle adjustment assembly are provided with a plurality of second installation stations (120); A second placement groove (121) with an opening is formed in the second installation station (120), which is suitable for accommodating the fixing member (500) and the posture sensor (400) thereon, and a third avoidance hole (122) is provided on the side wall of the second placement groove (121) for avoiding the cable (410) on the posture sensor (400); Wherein, the third avoidance hole (122) and the opening are interconnected to form a special-shaped hole.

9. The attitude sensor testing device according to any one of claims 1 to 6, characterized in that: The turntable (100) and the angle adjustment assembly are both provided with a plurality of mounting positions for fixing the posture sensor (400); the plurality of mounting positions are arranged in sequence along the rotation direction of the turntable (100), or the plurality of mounting positions are distributed in a determinant manner.

10. The attitude sensor testing device according to any one of claims 1 to 6, characterized in that: Also includes: A bracket (600) for mounting the driving mechanism; A conductive slip ring (700), arranged on the bracket (600); The conductive slip ring (700) comprises a sliding part and a fixed part, the sliding part is provided with a first terminal, the first terminal is electrically connected to a cable (410) on the attitude sensor (400), and the sliding part rotates with the turntable (100); the fixed part is fixed to the bracket (600), and is provided with a second terminal, and the second terminal is electrically connected to an external device; and The turntable (100) is provided with a fourth avoidance hole (130) for avoiding the cable (410) on the posture sensor (400), and the driving mechanism is provided with a fifth avoidance hole (210) for avoiding the cable (410) on the posture sensor (400) and the sliding part.

11. The attitude sensor testing device according to claim 10, characterized in that: Also includes: A leveling component, arranged at the bottom of the bracket (600); The leveling assembly comprises a base plate (910), a leveling bolt (920) and a leveling nut group, wherein the number of the leveling bolts (920) is two, and the two leveling bolts (920) are arranged in sequence along a direction parallel to the base plate (910); The bottom plate (910) is provided with a first leveling hole (911), the bracket (600) is provided with a fourth docking portion (610), the fourth docking portion (610) is provided with a second leveling hole (611), and the leveling bolt (920) passes through the first leveling hole (911) and the second leveling hole (611) in sequence; The leveling nut set includes two leveling nuts (930), which are respectively located on both sides of the fourth docking portion (610) in the height direction, and are used to limit the position of the fourth docking portion (610) in the length direction of the leveling bolt (920).

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