Inertial measurement component, inertial measurement device and movable equipment

Abstract

The utility model discloses an inertia measurement part, inertia measurement device and mobile equipment, the first inertia measurement part comprises a shell and a first circuit board assembly, the shell is provided with a cavity, and one side of the cavity is provided with an opening. The first circuit board assembly comprises a first circuit board and a first plug installed on the first circuit board, the first circuit board is arranged in the cavity, the first plug faces the side where the opening is located, the first plug is electrically connected with the first circuit board, and the first plug is used for being connected with the second plug in an inserted mode; and the second plug is arranged on the second circuit board assembly of the second inertial measurement component. Compared with a connection mode using a flexible circuit board and a plugging matching mode, the connection stability between the first plug and the second plug is higher, poor contact caused by falling of the flexible circuit board is also avoided, and assembly between the first inertial measurement component and the second inertial measurement component is more convenient.

Description

Technical Field

[0001] The utility model relates to the field of inertial measurement, and particularly relates to a first inertial measurement component, a second inertial measurement component, an inertial measurement device and a movable device. Background Art

[0002] An inertial measurement device is a device that uses sensing elements such as gyroscopes and accelerometers to measure the acceleration and angular velocity of a moving vehicle relative to the ground in real time to determine the position and attitude of the moving vehicle. In current inertial measurement devices, the electrical connection between two circuit boards is achieved through a flexible circuit board. The flexible circuit board is prone to falling off, resulting in unstable connection between the two circuit boards. Summary of the Utility Model

[0003] The main purpose of the utility model is to provide a first inertial measurement component, a second inertial measurement component, an inertial measurement device and a movable device to solve the problem of unstable connection between two circuit boards in a traditional inertial measurement device.

[0004] To achieve the above object, the first inertial measurement component proposed by the utility model includes a housing and a first circuit board assembly. The housing has a cavity, and one side of the cavity is provided with an opening. The first circuit board assembly includes a first circuit board and a first plug installed on the first circuit board. The first circuit board is disposed in the cavity, the first plug is disposed toward the side where the opening is located, the first plug is electrically connected to the first circuit board, and the first plug is used for plugging with a second plug, and the second plug is disposed on a second circuit board assembly of a second inertial measurement component.

[0005] Optionally, the housing includes a detachable upper cover and an outer shell. The outer shell forms a receiving groove, the first circuit board is located in the receiving groove, the upper cover covers the receiving groove, and the upper cover and the groove wall of the receiving groove enclose to form the cavity. The opening is provided on the bottom wall of the receiving groove.

[0006] Optionally, an installation groove is formed on the side wall of the receiving groove, and the upper cover is located in the installation groove.

[0007] Optionally, the upper cover is detachably connected to the groove wall of the installation groove.

[0008] Optionally, the housing further includes a positioning post, the positioning post is connected to the outer shell, and the upper cover is provided with a positioning hole, and the positioning post is inserted into the positioning hole.

[0009] Optionally, the first circuit board is detachably connected to the bottom wall of the receiving groove.

[0010] Optionally, the outer shell has an identification component.

[0011] Optionally, the identification component is a guide groove and / or a notch chamfer provided on the housing.

[0012] Optionally, the first circuit board assembly further includes a sensing element located on the first circuit board and electrically connected to the first plug.

[0013] Optionally, the first circuit board assembly further includes a storage chip located on the first circuit board, and the storage chip is electrically connected to the first plug and the sensing element.

[0014] Optionally, the housing is formed with a hollow window corresponding to the first plug.

[0015] In addition, the present application further provides a second inertial measurement component, which includes a second plug and a second circuit board assembly. The second plug is used for plugging with the first plug; the second circuit board assembly includes a board body, and the second plug is provided on the board body.

[0016] Optionally, a control circuit is provided on the board body and electrically connected to the second plug.

[0017] Optionally, the second circuit board assembly further includes a second circuit board, and the second plug is electrically connected to the second circuit board.

[0018] In addition, the present application further provides an inertial measurement device, which includes the first inertial measurement component and the second inertial measurement component as described above.

[0019] The first inertial measurement component includes a housing and a first circuit board assembly. The housing has a cavity, and one side of the cavity is provided with an opening. The first circuit board assembly includes a first circuit board and a first plug mounted on the first circuit board. The first circuit board is disposed in the cavity, and the first plug faces the side where the opening is located. The first plug is electrically connected to the first circuit board. The second inertial measurement component includes a second plug and a second circuit board assembly. The second circuit board assembly includes a board body, and the second plug is provided on the board body. The second plug is plugged with the first plug.

[0020] Optionally, a receiving space is formed between the board body and the bottom wall of the cavity; a control circuit is provided on the board body, and the control circuit is electrically connected to the second plug through a first connecting member. The first plug, the second plug and the first connecting member are received in the receiving space.

[0021] Optionally, the housing and the board body are detachably connected.

[0022] Optionally, the inertial measurement device further includes pins connected to the housing, the plate body is provided with jacks, and the pins are inserted into the jacks.

[0023] Optionally, the housing is provided with connection holes, and the inertial measurement device further includes fasteners, and the fasteners pass through the plate body and are detachably connected to the hole walls of the connection holes.

[0024] Optionally, a first thread section is provided on the hole wall of the connection hole, a second thread section is provided on the fastener, and the first thread section is in threaded connection with the second thread section.

[0025] Optionally, the housing is provided with positioning rods, the plate body is provided with through holes, and the positioning rods are inserted into the through holes.

[0026] Optionally, the positioning rods include a first positioning rod and a second positioning rod, and the first positioning rod and the second positioning rod are respectively located on opposite sides of the first plug; the through holes include a first through hole and a second through hole, the first positioning rod is inserted into the first through hole, and the second positioning rod is inserted into the second through hole.

[0027] Optionally, the cross-section of the first positioning rod is inconsistent with the cross-section of the second positioning rod.

[0028] Optionally, the shape of the cross-section of the first positioning rod is inconsistent with the shape of the cross-section of the second positioning rod.

[0029] Optionally, the size of the cross-section of the first positioning rod is inconsistent with the size of the cross-section of the second positioning rod.

[0030] Optionally, the size of the cross-section of the first positioning rod is tapered in a direction away from the first circuit board.

[0031] Optionally, the size of the cross-section of the second positioning rod is tapered in a direction away from the first circuit board.

[0032] In addition, a mobile device is further provided, and the mobile device includes a fuselage and the inertial measurement device as described above. The inertial measurement device is installed on the fuselage.

[0033] Optionally, the mobile device is a vehicle, a robot or a drone.

[0034] In the technical solution of the present utility model, the second plug is in plug-in fit with the first plug to realize signal transmission between the first circuit board assembly and the second inertial measurement component. Compared with the connection method using a flexible circuit board, the plug-in fit method makes the connection between the first plug and the second plug more stable, and also avoids poor contact caused by the flexible circuit board falling off, making the assembly between the first inertial measurement component and the second inertial measurement component more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0036] Figure 1 It is an exploded view of a first inertial measurement component and a second inertial measurement component provided by an embodiment of the present application;

[0037] Figure 2 It is a structural diagram of a second inertial measurement component provided by an embodiment of the present application;

[0038] Figure 3 It is an exploded view of a first inertial measurement component provided by an embodiment of the present application;

[0039] Figure 4 It is a cross-sectional view of a first inertial measurement component provided by an embodiment of the present application;

[0040] Figure 5 It is a structural diagram of an inertial measurement device provided by an embodiment of the present application;

[0041] Figure 6 It is a cross-sectional view of an inertial measurement device provided by an embodiment of the present application,

[0042] Figure 7 It is an exploded view of a housing in an inertial measurement device provided by an embodiment of the present application;

[0043] Figure 8 It is an exploded view of another inertial measurement device provided by an embodiment of the present application;

[0044] Figure 9 It is a structural diagram of a first plug and a second plug in a separated state in an inertial measurement device provided by an embodiment of the present application;

[0045] Figure 10Schematic diagram of the connection state between the first plug and the second plug in an inertial measurement device provided by an embodiment of the present application;

[0046] Figure 11 Exploded view of another inertial measurement device provided by an embodiment of the present application;

[0047] Figure 12 Schematic diagram of the structure of the housing in an inertial measurement device provided by an embodiment of the present application.

[0048] Explanation of the reference numerals in the drawings:

[0049] Label Name Label Name 100 Inertial measurement device 21 First circuit board 10 Housing 22 First plug 11 Cavity 23 Sensing element 12 Opening 24 Memory chip 13 Upper cover 30 Second inertial measurement component 131 Positioning hole 31 Plate body 14 Outer shell 311 Jack 141 Receiving groove 312 Through hole 142 Mounting groove 3121 First through hole 143 Identification component 3122 Second through hole 143a Notch chamfer 32 Second plug 143b Guide groove 33 Second circuit board assembly 15 Positioning post 34 Second circuit board 16 Connection hole 35 Second connecting piece 17 Positioning rod 36 Accommodation space 171 First positioning rod 37 First connecting piece 172 Second positioning rod 40 Pin 18 Hollow window 50 Fastener 20 First circuit board assembly 60 First inertial measurement component

[0050] The realization of the purpose, functional features and advantages of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0051] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0052] In addition, the descriptions such as "first" and "second" in the present utility model are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present utility model, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0053] In the present utility model, unless otherwise clearly defined and limited, the terms "connection", "fixation", etc. shall be understood in a broad sense. For example, "fixation" may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal connection of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0054] In addition, the technical solutions between the various embodiments of the present utility model can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0055] In the present utility model, the descriptions of orientations such as "upper", "lower", "front", "rear", "left", and "right" are based on Figure 1 the orientations shown, and are only used to explain the relative positional relationship between the components in Figure 1 the posture shown. If this specific posture changes, the directional indication will also change accordingly.

[0056] The present utility model provides a first inertial measurement component, a second inertial measurement component, an inertial measurement device, and a movable device.

[0057] For the convenience of description hereinafter, lead wires with arrows are used to represent spatial features such as holes, grooves, holes, and cavities, and lead wires without arrows are used to represent entity features.

[0058] In one embodiment, please refer to Figure 1 , Figure 1 which is an exploded view of a first inertial measurement component 60 and a second inertial measurement component 30 provided by an embodiment of the present application. The first inertial measurement component 60 includes a housing 10 and a first circuit board assembly 20. The housing 10 has a cavity 11, and an opening 12 is provided on one side of the cavity 11. The first circuit board assembly 20 includes a first circuit board 21 and a first plug 22. The first circuit board 21 is disposed in the cavity 11. The cavity 11 is used to accommodate the first circuit board 21. The first circuit board 21 is located in the cavity 11. By providing the cavity 11, the first circuit board 21 can be protected, preventing damage to the first circuit board 21 caused by moisture and dust, and extending the service life of the first circuit board 21. The first plug 22 is mounted on the first circuit board 21, and the first plug 22 is electrically connected to the first circuit board 21. The first plug 22 is disposed toward the side where the opening 12 is located. The first plug 22 is used to be plugged into a second plug 32. The second plug 32 is provided on a second circuit board assembly 33 of the second inertial measurement component 30.

[0059] The second plug 32 is plugged and matched with the first plug 22 to realize signal transmission between the first circuit board assembly 20 and the second inertial measurement component 30. Compared with the connection method using a flexible circuit board, the plugging and matching method makes the connection between the first plug 22 and the second plug 32 more stable, and also avoids poor contact caused by the detachment of the flexible circuit board, making the assembly between the first inertial measurement component 60 and the second inertial measurement component 30 more convenient.

[0060] In one embodiment, please continue to refer to Figure 1 In this embodiment of the present application, a second inertial measurement component 30 is further provided. The second inertial measurement component 30 includes a second plug 32 and a second circuit board assembly 33. The second plug 32 is used for plugging into the first plug 22. The second circuit board assembly 33 includes a board body 31. The second plug 32 is disposed on the board body 31, and the board body 31 is used to fix the second plug 32.

[0061] Exemplarily, the first inertial measurement component 60 can be used to measure the inertial data of the movable device. When the second inertial measurement component 30 is provided with a control circuit, functions such as storing data and analyzing can be realized, such as storing and analyzing inertial data, and can be used to control the movement of the movable device.

[0062] On this basis, a control circuit (not shown in the figure) can be provided on the board body 31, and the control circuit is electrically connected to the second plug 32. That is to say, the board body 31 can not only be used to fix the second plug 32, but also control the second plug 32 through the control circuit. The board body 31 can be a circuit board.

[0063] In another embodiment, please refer to Figure 2 , Figure 2 which is a schematic structural diagram of a second inertial measurement component 30 provided by an embodiment of the present application. The second circuit board assembly 33 further includes a second circuit board 34. The second plug 32 is electrically connected to the second circuit board 34, and the second plug 32 is controlled and signal-transmitted through the second circuit board 34.

[0064] Specifically, as Figure 2 described, the second circuit board 34 may not be directly in contact with the board body 31, and the second circuit board 34 is connected to other structures of the second inertial measurement component 30. Electrical connection between the second plug 32 and the second circuit board 34 can be achieved through a second connecting member 35. The second connecting member 35 can be a flexible circuit board, a wire, etc.

[0065] In other embodiments, the second circuit board 34 can also be directly connected to the board body 31. For example, the board body 31 is directly connected to the second circuit board 34 by means of snap connection, screw connection or riveting.

[0066] In one embodiment, please refer to Figure 3 and Figure 4 , Figure 3 which is an exploded view of a first inertial measurement component 60 provided by an embodiment of the present application, Figure 4 and

[0067] which is a cross-sectional view of a first inertial measurement component 60 provided by an embodiment of the present application. Figure 3, the first circuit board assembly 20 further includes a sensing element 23. The sensing element 23 is located on the first circuit board 21, and the sensing element 23 may include a gyroscope, an accelerometer, etc. The sensing element 23 is electrically connected to the first plug 22 to achieve signal transmission.

[0068] The first circuit board assembly 20 further includes a storage chip 24. The storage chip 24 is located in the middle of the first circuit board 21. The storage chip 24 is electrically connected to the first plug 22 and the sensing element 23. The storage chip 24 is used to store data such as acceleration and angular velocity measured by the sensing element 23.

[0069] The number of the sensing elements 23 can be flexibly adjusted according to actual needs. The number of the sensing elements 23 can be multiple. The multiple sensing elements 23 are arranged at intervals along the outer periphery of the storage chip 24, which is convenient for the electrical connection between the sensing element 23 and the storage chip 24. The application does not limit the number of the sensing elements 23. As Figure 4 shown, the number of the sensing elements 23 can be two, and the two sensing elements 23 are respectively located on both sides of the storage chip 24.

[0070] In one embodiment, please refer to Figure 3 and Figure 4 . The housing 10 includes an upper cover 13 and an outer shell 14. The upper cover 13 and the outer shell 14 are detachably connected. The outer shell 14 is formed with a receiving groove 141. The first circuit board 21 is located in the receiving groove 141. The bottom wall of the receiving groove 141 can support and hold the first circuit board 21, and the side wall of the receiving groove 141 can limit the first circuit board 21 to prevent it from shaking. The upper cover 13 extends in the horizontal direction, and the horizontal direction is perpendicular to the depth direction of the cavity 11. The upper cover 13 covers the receiving groove 141, and the upper cover 13 and the groove wall of the receiving groove 141 enclose to form a cavity 11, so that the housing 10 has a cavity 11. The bottom wall of the receiving groove 141 extends in the horizontal direction, and an opening 12 is formed on the bottom wall of the receiving groove 141.

[0071] The detachable connection method facilitates the installation of the first circuit board 21 in the cavity 11. At the same time, it is also convenient to replace the upper cover 13 when it is worn and to replace the outer shell 14 when it is worn, making the use of the upper cover 13 and the outer shell 14 more flexible and convenient. Specifically, the upper cover 13 and the outer shell 14 can be detachably connected by bonding, buckling, screwing, riveting or other means.

[0072] Please continue to refer to Figure 3 , the outer shell 14 may have an identification component 143. By setting the identification component 143 as an identification during automatic installation, for example, it is convenient for visual scanning, automatic identification, etc., to facilitate automatic installation, thereby improving the installation efficiency.

[0073] As Figure 3As shown, the identification component 143 can be a notch chamfer 143a provided on the housing 14. The identification component 143 can also be a guide groove 143b provided on the housing 14.

[0074] In other embodiments, the identification component 143 can also be other shapes other than the notch chamfer 143a and the guide groove 143b, and no specific limitation is made here.

[0075] On this basis, please continue to refer to Figure 3 and Figure 4 . An installation groove 142 is formed on the side wall of the accommodation groove 141. The upper cover 13 is located in the installation groove 142. By providing the installation groove 142 to accommodate the upper cover 13, the structure of the housing 10 is made more compact, reducing the volume of the housing 10. The upper surface of the upper cover 13 can be flush with the upper surface of the housing 14, making the surface of the housing 10 flatter.

[0076] The upper cover 13 can be detachably connected to the groove wall of the installation groove 142, and the detachable connection method facilitates the replacement of the upper cover 13 after wear. Specifically, the upper cover 13 can be detachably connected to the groove wall of the installation groove 142 by bonding, buckling, screwing, riveting or other means.

[0077] The upper cover 13 can be bonded to the groove wall of the installation groove 142, and the bonding method can facilitate the removal of the upper cover 13 from the installation groove 142. Specifically, the upper cover 13 can be bonded only to the bottom wall of the installation groove 142, and the bottom wall of the installation groove 142 extends in the horizontal direction. The upper cover 13 can also be bonded only to the side wall of the installation groove 142, and the side wall of the installation groove 142 extends in the depth direction of the cavity 11. The upper cover 13 can also be bonded to both the bottom wall and the side wall of the installation groove 142 at the same time to increase the bonding area, thereby improving the connection stability between the upper cover 13 and the groove wall of the installation groove 142.

[0078] Please continue to refer to Figure 4 , the first circuit board 21 can be detachably connected to the bottom wall of the accommodation groove 141, so that the first circuit board 21 can be stably placed in the accommodation groove 141, and the detachable connection method facilitates the replacement of the first circuit board 21 after damage. Specifically, the first circuit board 21 can be detachably connected to the bottom wall of the accommodation groove 141 by bonding, buckling, screwing, riveting or other means.

[0079] Exemplarily, the first circuit board 21 can be bonded to the bottom wall of the accommodation groove 141, and the bonding method provides a relatively high connection stability between the first circuit board 21 and the bottom wall of the accommodation groove 141.

[0080] In addition, the present application also provides an inertial measurement device 100. Please refer to Figure 5 , Figure 5Schematic diagram of the structure of an inertial measurement device 100 provided by an embodiment of the present application. The inertial measurement device 100 includes a first inertial measurement component 60 and a second inertial measurement component 30. The first inertial measurement component 60 includes a housing 10 and a first circuit board assembly 20. The housing 10 forms a cavity 11, and an opening 12 is provided on one side of the cavity 11. The first circuit board assembly 20 includes a first circuit board 21 and a first plug 22. The first plug 22 is connected to the first circuit board 21 to achieve the installation and fixation of the first plug 22. The cavity 11 is used to accommodate the first circuit board 21. The first circuit board 21 is located in the cavity 11. By providing the cavity 11, the first circuit board 21 can be protected, preventing damage to the first circuit board 21 caused by water vapor and dust, and extending the service life of the first circuit board 21.

[0081] The first plug 22 extends along the depth direction of the cavity 11, and the first plug 22 is arranged toward the side where the opening 12 is located. Specifically, as Figure 6 shown, the first plug 22 can extend out of the opening 12 to facilitate the plug-in cooperation between the first plug 22 and the second plug 32. The first plug 22 can also be located within the opening 12 and within the cavity 11, and the second plug 32 can pass through the opening 12 and extend into the cavity 11 to achieve the plug-in cooperation between the second plug 32 and the first plug 22.

[0082] The second inertial measurement component 30 includes a board body 31 and a second plug 32. The second plug 32 is provided on the board body 31 to achieve the installation and fixation of the second plug 32.

[0083] The second plug 32 is plug-in mated with the first plug 22 to achieve signal transmission between the first circuit board assembly 20 and the second inertial measurement component 30. Compared with the method of using a flexible circuit board connection, the plug-in mating method makes the connection between the first plug 22 and the second plug 32 more stable, and also avoids poor contact caused by the detachment of the flexible circuit board, making the assembly between the first inertial measurement component 60 and the second inertial measurement component 30 more convenient.

[0084] As described above, a control circuit can be provided on the board body 31 to achieve the control and signal transmission of the second plug 32. Alternatively, the second circuit board assembly 33 further includes a second circuit board 34. The second plug 32 is electrically connected to the second circuit board 34, and the second plug 32 is controlled and signal-transmitted through the second circuit board 34. Hereinafter, for the convenience of description, the example where a control circuit is provided on the board body 31 is taken for illustration.

[0085] Please refer to Figure 6 , Figure 6The figure is a schematic cross-sectional view of an inertial measurement device 100 provided by an embodiment of the present application. A receiving space 36 is formed between the plate body 31 and the bottom wall of the cavity 11. A control circuit is provided on the plate body 31, and the control circuit is electrically connected to the second plug 32 through a first connecting member 37. The first plug 22, the second plug 32, and the first connecting member 37 are received in the receiving space 36. The first connecting member 37 can be a flexible circuit board, and the flexible circuit board can be bent and folded. By providing the receiving space 36 to accommodate the first plug 22, the second plug 32, and the first connecting member 37, the structure of the inertial measurement device 100 is made more compact.

[0086] Please refer to Figure 7 , Figure 7 The figure is an exploded view of a housing 10 in an inertial measurement device 100 provided by an embodiment of the present application. The housing 10 further includes positioning posts 15. The positioning posts 15 are connected to the outer housing 14. The upper cover 13 is provided with positioning holes 131, and the positioning posts 15 are inserted into the positioning holes 131. By providing the cooperation of the positioning posts 15 and the positioning holes 131, the assembly of the upper cover 13 and the outer housing 14 can be positioned, and the assembly efficiency of the upper cover 13 and the outer housing 14 can be improved. Moreover, the connection between the upper cover 13 and the outer housing 14 can be made more stable and reliable.

[0087] Specifically, as Figure 7 shown, the positioning posts 15 can be connected to the bottom wall of the installation groove 142. In other embodiments, the positioning posts 15 can also be connected to the bottom wall of the receiving groove 141.

[0088] Specifically, the number of the positioning posts 15 can be multiple, and the number of the positioning holes 131 is the same as and corresponds to the number of the positioning posts 15 one by one. As Figure 7 shown, the number of the positioning posts 15 is four, and the four positioning posts 15 are respectively located at the four vertex positions of the installation groove 142, so that the force on the upper cover 13 is more uniform, and the connection stability between the upper cover 13 and the outer housing 14 is further improved.

[0089] In one embodiment, please refer to Figure 8 , Figure 8 The figure is an exploded view of another inertial measurement device 100 provided by an embodiment of the present application. The housing 10 and the plate body 31 are detachably connected, so that the connection stability between the first plug 22 and the second plug 32 is higher, and the separation of the first plug 22 and the second plug 32 is avoided.

[0090] On this basis, please continue to refer to Figure 8 , the inertial measurement device 100 can further include pins 40. The pins 40 are connected to the housing 10. A jack 311 is provided on the plate body 31, and the pins 40 are inserted into the jack 311 to realize the detachable connection between the housing 10 and the plate body 31.

[0091] Specifically, the number of pins 40 can be flexibly adjusted according to the actual situation. The number of pins 40 can be multiple. The number of jacks 311 is the same as and corresponds one-to-one with the number of pins 40. This application does not limit the number of pins 40. For example, Figure 8 As shown, the number of pins 40 can be four. The four pins 40 are respectively arranged corresponding to the four top corners of the housing 10. By setting the four pins 40, the connection between the housing 10 and the plate body 31 is made more tight and reliable, and moreover, the force can be made more uniform.

[0092] Please refer to Figure 9 and Figure 10 , Figure 9 which is a schematic structural diagram of the separation state of the first plug 22 and the second plug 32 in an inertial measurement device 100 provided by an embodiment of this application. Figure 10 which is a schematic structural diagram of the connection state of the first plug 22 and the second plug 32 in an inertial measurement device 100 provided by an embodiment of this application. As shown in Figure 9 , the first plug 22 and the second plug 32 are in a separated state. At this time, there is a distance between the housing 10 and the plate body 31, and the pins 40 are not inserted into the jacks 311. As shown in Figure 10 , the first plug 22 and the second plug 32 are in a connected state. At this time, the housing 10 abuts against the plate body 31, and the pins 40 are inserted into the jacks 311.

[0093] Please refer to Figure 9 and Figure 10 . The housing 10 is formed with a hollow window 18, and the hollow window 18 is arranged corresponding to the first plug 22. By setting the hollow window 18, it is convenient for the operator to observe the connection situation between the first plug 22 and the second plug 32, making the use of the inertial measurement device 100 more convenient.

[0094] In one embodiment, please refer to Figure 11 , Figure 11 which is an exploded view of another inertial measurement device 100 provided by an embodiment of this application. The housing 10 is further provided with a connection hole 16, and the connection hole 16 extends along the depth direction of the cavity 11. The inertial measurement device 100 further includes a fastener 50, and the fastener 50 passes through the plate body 31 and is detachably connected to the hole wall of the connection hole 16. The housing 10 and the plate body 31 are detachably connected through the fastener 50. Specifically, the fastener 50 can be a screw, a rivet or other structures.

[0095] On this basis, please continue to refer to Figure 11, a first threaded section (not shown in the figure) is provided on the hole wall of the connecting hole 16, and a second threaded section (not shown in the figure) is provided on the fastener 50. The first threaded section is threadedly connected to the second threaded section. The fastener 50 and the hole wall of the connecting hole 16 are detachably connected by a threaded connection. By turning the fastener 50, the installation and disassembly between the housing 10 and the plate body 31 can be achieved, which is convenient and flexible to use. Moreover, the threaded connection can achieve self-locking, making the connection between the housing 10 and the plate body 31 tighter and more reliable.

[0096] Specifically, the number of the fasteners 50 can be flexibly adjusted according to the actual situation. The number of the fasteners 50 can be multiple, and the number of the connecting holes 16 is the same as that of the fasteners 50 and they are arranged in one-to-one correspondence. The present application does not limit the number of the fasteners 50.

[0097] Please continue to refer to Figure 11 , a positioning rod 17 is provided on the housing 10, and a through hole 312 is formed on the plate body 31. Both the positioning rod 17 and the through hole 312 extend along the thickness direction of the plate body 31. The positioning rod 17 is inserted into the through hole 312, and the shapes of the positioning rod 17 and the through hole 312 match each other. By setting the positioning rod 17 to cooperate with the through hole 312 for positioning, it is convenient to assemble the housing 10 and the plate body 31 together, improving the assembly efficiency between the housing 10 and the plate body 31, and moreover, the connection stability between the housing 10 and the plate body 31 can be improved.

[0098] The positioning rod 17 includes a first positioning rod 171 and a second positioning rod 172. The first positioning rod 171 and the second positioning rod 172 are respectively located on both sides of the first plug 22. The through hole 312 includes a first through hole 3121 and a second through hole 3122. The first positioning rod 171 is inserted into the first through hole 3121, and the second positioning rod 172 is inserted into the second through hole 3122. By setting the first positioning rod 171 and the second positioning rod 172, the connection stability between the housing 10 and the plate body 31 is further improved. Moreover, the first positioning rod 171 and the second positioning rod 172 are respectively located on both sides of the first plug 22, making the forces on both sides of the plate body 31 more uniform.

[0099] On this basis, the size of the cross-section of the first positioning rod 171 is tapered along the direction away from the first circuit board 21. That is to say, along the up-down direction, the size of the cross-section of the first positioning rod 171 gradually decreases, and the size of the cross-section at the bottom end of the first positioning rod 171 is smaller than the size of the cross-section at the top end of the first positioning rod 171, which can play a guiding role and is convenient to insert the first positioning rod 171 into the first through hole 3121, improving the assembly efficiency.

[0100] Similarly, the cross-sectional dimension of the second positioning rod 172 is tapered in a direction away from the first circuit board 21. That is, along the direction from top to bottom, the cross-sectional dimension of the second positioning rod 172 gradually decreases, facilitating the insertion of the second positioning rod 172 into the second through hole 3122 and further improving the assembly efficiency.

[0101] The cross-section of the first positioning rod 171 may be inconsistent with the cross-section of the second positioning rod 172, preventing the operator from misplacing the position of the plate body 31 and improving the assembly efficiency.

[0102] As Figure 11 shown, the shape of the cross-section of the first positioning rod 171 may be inconsistent with the shape of the cross-section of the second positioning rod 172. The shape of the cross-section of the first positioning rod 171 may be circular, and the shape of the cross-section of the second positioning rod 172 may be non-circular, facilitating the operator's identification.

[0103] Please refer to Figure 12 , Figure 12 which is a schematic structural diagram of the housing 10 in an inertial measurement device 100 provided by an embodiment of the present application. The cross-sectional dimension of the first positioning rod 171 may be inconsistent with the cross-sectional dimension of the second positioning rod 172. For example, the cross-sections of both the first positioning rod 171 and the second positioning rod 172 may be circular, and the ratio of the diameter of the cross-section of the first positioning rod 171 to the diameter of the cross-section of the second positioning rod 172 may be greater than or equal to 0.5 and less than or equal to 0.8, facilitating the operator's identification and improving the assembly efficiency.

[0104] In addition, the present invention also provides a movable device, including a fuselage and the inertial measurement device 100 as described above. The inertial measurement device 100 is installed on the fuselage. The specific structure of the inertial measurement device 100 refers to the above embodiment. Since the movable device adopts all the technical solutions of the above embodiment, it at least has all the beneficial effects brought by the technical solutions of the above embodiment, which will not be elaborated here one by one.

[0105] The movable device may be a vehicle, a robot or a drone, and the movable device may also be other devices that can move. The inertial data of the movable device is measured by the inertial measurement device 100.

[0106] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A first inertial measurement component, characterized in that, The first inertial measurement component includes: A housing having a cavity with an opening on one side of the cavity; A first circuit board assembly including a first circuit board and a first plug mounted on the first circuit board. The first circuit board is disposed within the cavity, the first plug is oriented towards the side where the opening is located, the first plug is electrically connected to the first circuit board, and the first plug is for plugging into a second plug, and the second plug is disposed on a second circuit board assembly of a second inertial measurement component.

2. The first inertial measurement component according to claim 1, characterized in that The housing includes a detachable upper cover and an outer shell. The outer shell forms a receiving groove, the first circuit board is located within the receiving groove, the upper cover covers the receiving groove, and the upper cover and the groove wall of the receiving groove enclose to form the cavity, and the opening is formed on the bottom wall of the receiving groove.

3. The first inertial measurement component according to claim 2, wherein Mounting grooves are formed on the side wall of the receiving groove, and the upper cover is located within the mounting grooves.

4. The first inertial measurement component according to claim 3, characterized in that, The upper cover is detachably connected to the groove wall of the mounting groove.

5. The first inertial measurement component according to claim 2, characterized in that, The housing further includes positioning posts connected to the outer shell, and the upper cover is provided with positioning holes into which the positioning posts are inserted.

6. The first inertial measurement component according to claim 2, wherein The first circuit board is detachably connected to the bottom wall of the receiving groove.

7. The first inertial measurement component according to claim 2, characterized in that, The outer shell has an identification component.

8. The first inertial measurement component according to claim 7, characterized in that, The identification component is a guiding groove and / or a chamfered notch provided on the outer shell.

9. The first inertial measurement component according to any one of claims 1 to 8, characterized in that The first circuit board assembly further includes a sensing element located on the first circuit board, and the sensing element is electrically connected to the first plug.

10. The first inertial measurement component according to any one of claims 1 to 8, characterized in that The first circuit board assembly further includes a storage chip located on the first circuit board, and the storage chip is electrically connected to the first plug.

11. The first inertial measurement component according to any one of claims 1 to 8, characterized in that, The housing forms a hollow window corresponding to the first plug.

12. A second inertial measurement component, characterized in that, The second inertial measurement component includes: A second plug for plugging into the first plug, and the first plug is disposed on a first circuit board assembly of a first inertial measurement component; A second circuit board assembly including a board body, and the second plug is disposed on the board body.

13. The second inertial measurement component according to claim 12, wherein A control circuit is disposed on the board body and is electrically connected to the second plug.

14. The second inertial measurement component according to claim 12, characterized in that, The second circuit board assembly further includes a second circuit board, and the second plug is electrically connected to the second circuit board.

15. An inertial measurement device, characterized in that, The inertial measurement device includes the first inertial measurement component according to any one of claims 1 to 11, and the second inertial measurement component according to any one of claims 12 to 14; The first inertial measurement component includes a housing and a first circuit board assembly. The housing has a cavity with an opening on one side of the cavity; the first circuit board assembly includes a first circuit board and a first plug mounted on the first circuit board. The first circuit board is disposed within the cavity, the first plug is oriented towards the side where the opening is located, and the first plug is electrically connected to the first circuit board; The second inertial measurement component includes a second plug and a second circuit board assembly. The second circuit board assembly includes a board body, the second plug is disposed on the board body, and the second plug is plugged into the first plug.

16. The inertial measurement device according to claim 15, characterized in that, A receiving space is formed between the plate body and the bottom wall of the cavity; a control circuit is arranged on the plate body, and the control circuit is electrically connected to the second plug through a first connecting member, and the first plug, the second plug and the first connecting member are received in the receiving space.

17. The inertial measurement device according to claim 15, wherein The housing is detachably connected to the plate body.

18. The inertial measurement device according to claim 17, wherein, The inertial measurement device further includes pins connected to the housing, and insertion holes are formed in the plate body, and the pins are inserted into the insertion holes.

19. The inertial measurement device according to claim 17, characterized in that, A connection hole is formed in the housing, and the inertial measurement device further includes a fastener, and the fastener passes through the plate body and is detachably connected to the hole wall of the connection hole.

20. The inertial measurement device according to claim 19, characterized in that, A first thread section is arranged on the hole wall of the connection hole, and a second thread section is arranged on the fastener, and the first thread section is in threaded connection with the second thread section.

21. The inertial measurement device according to any one of claims 15 to 20, characterized in that, A positioning rod is arranged on the housing, and a through hole is formed in the plate body, and the positioning rod is inserted into the through hole.

22. The inertial measurement device according to claim 21, wherein, The positioning rod includes a first positioning rod and a second positioning rod, and the first positioning rod and the second positioning rod are respectively located on opposite sides of the first plug; the through hole includes a first through hole and a second through hole, the first positioning rod is inserted into the first through hole, and the second positioning rod is inserted into the second through hole.

23. The inertial measurement device according to claim 22, characterized in that, The cross section of the first positioning rod is inconsistent with the cross section of the second positioning rod.

24. The inertial measurement device according to claim 23, wherein, The shape of the cross section of the first positioning rod is inconsistent with the shape of the cross section of the second positioning rod; and / or, The size of the cross section of the first positioning rod is inconsistent with the size of the cross section of the second positioning rod.

25. The inertial measurement device according to claim 22, characterized in that, The size of the cross section of the first positioning rod is tapered in a direction away from the first circuit board; and / or, The size of the cross section of the second positioning rod is tapered in a direction away from the first circuit board.

26. A mobile device, characterized in that, The movable device includes a fuselage and the inertial measurement device according to any one of claims 15 to 25, and the inertial measurement device is installed on the fuselage.

27. The mobile device according to claim 26, wherein The movable device is a vehicle, a robot or a drone.

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