IMU (Inertial Measurement Unit) sensor dynamic precision testing device

Abstract

The utility model relates to the technical field of sensor testing, and provides an IMU sensor dynamic precision testing device which comprises a base, a rotating table, a driving piece and a main control board. The rotating table is rotatably arranged on the base, the rotating table is used for installing a circuit board to be tested, and an IMU sensor is installed on the circuit board to be tested. The driving part is arranged on the base and is in transmission connection with the rotating table to drive the rotating table to rotate. The main control board is fixed on the rotating table, the main control board is provided with a communication interface used for being electrically connected with a circuit board to be tested, and the main control board is electrically connected with the driving piece. According to the IMU sensor dynamic precision testing device of the utility model, the main control board is arranged to acquire detection data of the IMU sensor and operation data of the driving member in real time during the rotation process of the rotating table, and the rotation angle of the rotating table is determined according to the operation data of the driving member; the dynamic response capability of the IMU sensor can be evaluated by comparing the detection data of the IMU sensor at each moment with the rotation angle of the rotary table.

Description

Technical Field

[0001] The utility model relates to the technical field of sensor testing, in particular to an IMU sensor dynamic accuracy testing device. Background Art

[0002] In existing technology, IMU (Inertial Measurement Unit) sensors are primarily used to measure an object's three-axis attitude angle (or angular rate) and acceleration. Currently, IMU accuracy testing primarily focuses on the accuracy of the sensor's detection data, allowing for calibration and adjustment. However, there is a lack of testing for the IMU's dynamic response speed, making it difficult to assess the IMU's dynamic response capabilities during changes in the object's attitude. Utility Model Content

[0003] The utility model provides an IMU sensor dynamic accuracy testing device, which is used to solve the problem that the prior art lacks a test for the dynamic response speed of the IMU sensor.

[0004] The utility model provides an IMU sensor dynamic accuracy test device, comprising:

[0005] base;

[0006] a rotating platform rotatably disposed on the base, the rotating platform being used to mount a circuit board to be tested, wherein an IMU sensor is mounted on the circuit board to be tested;

[0007] A driving member, disposed on the base and in transmission connection with the rotating table to drive the rotating table to rotate;

[0008] A main control board is fixed to the rotating table. The main control board has a communication interface for electrically connecting to the circuit board to be tested. The main control board is electrically connected to the driving member to determine the rotation angle of the rotating table according to the operation of the driving member.

[0009] According to the IMU sensor dynamic accuracy testing device of the present utility model, the base includes a base and a mounting column;

[0010] One end of the mounting column is connected to the base, and the other end is provided with a mounting groove, and the driving member is arranged in the mounting groove.

[0011] According to the IMU sensor dynamic accuracy testing device of the present invention, a counterweight is installed in the base.

[0012] According to the IMU sensor dynamic accuracy testing device of the present invention, the driving member is a rotary motor, the stator of the rotary motor is fixedly connected to the rotary table, and the mover of the rotary motor is fixedly connected to the base.

[0013] According to the IMU sensor dynamic accuracy testing device of the present invention, the rotating table includes a turntable, a mounting platform and a plurality of connecting parts; the mounting platform is fixed to the turntable, and the mounting platform is used to install the circuit board to be tested and the main control board; the plurality of connecting parts are arranged at intervals along the circumference of the turntable, and the turntable is connected to the stator of the rotating motor through the plurality of connecting parts.

[0014] According to the IMU sensor dynamic accuracy testing device of the present invention, the rotating motor is a brushless reduction motor.

[0015] According to the IMU sensor dynamic accuracy testing device of the present invention, the controller of the rotating motor is integrated into the main control board.

[0016] According to the IMU sensor dynamic accuracy testing device of the present invention, it also includes a host computer, and the main control board is wirelessly connected to the host computer.

[0017] According to the IMU sensor dynamic accuracy testing device of the present invention, it also includes a power supply, which is fixed to the rotating table and electrically connected to the main control board and the driving component respectively.

[0018] According to the IMU sensor dynamic accuracy testing device of the present invention, the power supply is a rechargeable battery.

[0019] The IMU sensor dynamic accuracy test device of the present invention has a drive member and a rotating table disposed on a base. The rotating table is used to mount a circuit board to be tested, which is equipped with an IMU sensor. The drive member drives the rotating table to rotate to adjust the rotating table's posture in order to test the IMU sensor. Simultaneously, by disposing a main control board electrically connected to both the circuit board to be tested and the drive member on the rotating table, the main control board can collect the IMU sensor's detection data and the drive member's operating data in real time during the rotating table's rotation. The main control board can also obtain the rotating table's rotation angle based on the drive member's operating data. By comparing the IMU sensor's detection data and the rotating table's rotation angle at each moment of the rotation process, the dynamic response speed of the IMU sensor can be evaluated. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a schematic diagram of an IMU sensor dynamic accuracy testing device provided by an embodiment of the present utility model.

[0022] Figure 2 It is a system schematic diagram of the IMU sensor dynamic accuracy testing device provided by an embodiment of the present utility model.

[0023] Figure 3 It is a schematic diagram of the test results of the IMU sensor dynamic accuracy test device provided by an embodiment of the present utility model.

[0024] Reference numerals:

[0025] 1. IMU sensor dynamic accuracy test device;

[0026] 11. Base; 111. Base; 112. Mounting column; 1121. Mounting slot;

[0027] 12. Rotating table; 121. Turntable; 122. Mounting platform; 123. Connecting piece;

[0028] 13. Driving parts; 14. Main control board; 141. Controller; 15. Host computer; 16. Power supply. DETAILED DESCRIPTION

[0029] To make the purpose, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] The following combination Figure 1-Figure 3 The utility model describes an IMU sensor dynamic accuracy testing device.

[0031] like Figure 1 and Figure 2As shown, the utility model provides an IMU sensor dynamic accuracy test device 1, comprising: a base 11, a rotating table 12, a driving member 13 and a main control board 14. The rotating table 12 is rotatably arranged on the base 11, and the rotating table 12 is used to install a circuit board to be tested, wherein the circuit board to be tested is installed with an IMU sensor. The driving member 13 is arranged on the base 11 and is transmission-connected to the rotating table 12 to drive the rotating table 12 to rotate. The main control board 14 is fixed to the rotating table 12, and the main control board 14 has a communication interface for electrically connecting to the circuit board to be tested. The main control board 14 is electrically connected to the driving member 13 to determine the rotation angle of the rotating table 12 according to the operation of the driving member 13.

[0032] In this embodiment, the base 11 is used to mount and support other components. A driver 13 and a rotatable rotating platform 12 are provided on the base 11. The driver 13 is used to drive the rotating platform 12 to rotate. The rotating platform 12 is used to mount a circuit board to be tested and a main control board 14. The circuit board to be tested is used to mount an IMU sensor to be tested. When the rotating platform 12 rotates relative to the base 11, the IMU sensor can generate corresponding detection data (such as rotation angle, rotation acceleration, and angular velocity) based on the rotation state of the base 11. The circuit board to be tested can communicate with the main control board 14 via a communication interface of the main control board 14, thereby transmitting the detection data detected by the IMU sensor to the main control board 14. At the same time, the main control board 14 is also electrically connected to the driver 13 to collect the operating data of the driver 13 (such as the rotation speed, rotation angle, etc.) in real time, and determine the rotation angle of the turntable 12 based on the operating data of the driver 13. Based on the data collected by the main control board 14, the tester can obtain the relationship curve between the rotation angle of the turntable 12 and time, as well as the relationship curve between the detection data of the IMU sensor and time. By comparing the two, the dynamic response speed of the IMU sensor can be evaluated.

[0033] The IMU sensor dynamic accuracy test device 1 of the present invention is provided with a driving member 13 and a rotating table 12 on a base 11. The rotating table 12 is used to install a circuit board to be tested provided with an IMU sensor. The driving member 13 drives the rotating table 12 to rotate to adjust the posture of the rotating table 12 so as to test the IMU sensor. At the same time, by providing a main control board 14 electrically connected to the circuit board to be tested and the driving member 13 on the rotating table 12, the main control board 14 can collect the detection data of the IMU sensor and the operating data of the driving member 13 in real time during the rotation of the rotating table 12, and obtain the rotation angle of the rotating table 12 based on the operating data of the driving member 13. By comparing the detection data of the IMU sensor and the rotation angle of the rotating table 12 at each moment of the rotation process, the dynamic response speed of the IMU sensor can be evaluated.

[0034] It is understood that in some embodiments, multiple IMU sensors can be installed on the circuit board to be tested at the same time, so as to test multiple IMU sensors at the same time. Alternatively, multiple circuit boards to be tested can be installed on the rotating table 12.

[0035] Specifically, in some embodiments, Figure 1 As shown, the base 11 includes a base 111 and a mounting post 112 . One end of the mounting post 112 is connected to the base 111 , and the other end is provided with a mounting groove 1121 , in which the driving member 13 is disposed.

[0036] In this embodiment, the base 111 is placed on a surface such as a table or the ground to support other components. The base 111 is provided with a mounting post 112. The end of the mounting post 112, away from the base 111, is provided with a mounting slot 1121 for mounting the driver 13. This maintains a certain distance between the driver 13 and the base 111, facilitating the driver 13's rotation of the rotating platform 12. Furthermore, the provision of the mounting slot 1121 for the driver 13 makes the entire connection structure more compact, prevents the driver 13 from being completely exposed, and thus provides a certain degree of protection for the driver 13.

[0037] In some embodiments, a counterweight is installed in the base 111. In this embodiment, by installing a counterweight on the base 111, the weight of the base 111 is increased, the center of gravity of the entire device is lowered, and the entire device is made more stable and reliable during the rotation of the rotating platform 12, and is not easy to overturn.

[0038] Specifically, in some embodiments, the driving member 13 is a rotary motor, the stator of the rotary motor is fixedly connected to the rotary table 12 , and the mover of the rotary motor is fixedly connected to the base 11 .

[0039] In this embodiment, the stator of the rotating motor is fixedly connected to the rotating table 12. When the rotating motor drives the mover to rotate relative to the stator, the stator of the rotating motor rotates synchronously with the rotating table 12. It is understandable that the control wiring harness of the rotating motor (including the connecting wires connecting the rotating motor and the main control board 14) is usually arranged on the stator, so that the connecting wires connecting the rotating motor and the main control board 14 can also rotate synchronously with the rotating table 12 and the main control board 14, without the need to provide a switching structure such as a slip ring between the rotating motor and the main control board 14, thereby simplifying the entire connection structure.

[0040] It is understandable that the rotating motor usually has a built-in encoder to monitor the rotating motor speed and rotation angle in real time. The main control board 14 can be directly connected to the encoder to collect the detection data fed back by the encoder, and then determine the rotation angle of the rotating table 12.

[0041] Specifically, in some embodiments, Figure 1As shown, the rotating platform 12 includes a turntable 121, a mounting platform 122, and a plurality of connectors 123. The mounting platform 122 is fixed to the turntable 121 and is used to mount the circuit board under test and the main control board 14. The plurality of connectors 123 are arranged at intervals along the circumference of the turntable 121, and the turntable 121 is connected to the stator of the rotating motor via the plurality of connectors 123.

[0042] In this embodiment, the turntable 121 of the rotating platform 12 is connected to the stator of the rotating motor. Specifically, the turntable 121 is provided with multiple connectors 123 spaced circumferentially, each of which is connected to the stator of the rotating motor. When the rotating motor drives the turntable 121 to rotate, the torque applied to each circumferential position of the turntable 121 is more evenly distributed, making the rotation process more stable and reliable. A mounting platform 122 is fixed to the turntable 121. Mounting platform 122 is used to mount the circuit board to be tested and the main control board 14. The simple structure makes the mounting platform 122 convenient and practical.

[0043] In a specific embodiment, Figure 1 As shown, the base 11 includes a base 111 and a mounting column 112 arranged on the base 111. A mounting groove 1121 is provided on the top of the mounting column 112, and an opening is provided on one side of the mounting groove 1121. The mover of the rotating motor is fixedly installed in the mounting groove 1121, and the stator of the rotating motor extends from the opening to the outside of the groove and is connected to the turntable 121 through multiple connecting parts 123 to drive the turntable 121 to rotate.

[0044] Specifically, the connecting member 123 may be a bolt, and the turntable 121 is provided with screw holes corresponding to the bolts along the circumference. The bolts pass through the corresponding screw holes and are connected to the stator of the rotating motor.

[0045] Specifically, in some embodiments, the rotary motor is a brushless reduction motor. The accuracy of a brushless reduction motor can meet the dynamic response speed testing requirements of the IMU sensor. It also offers advantages such as high efficiency and energy saving, low noise, low vibration, high reliability, and a long service life. It is convenient and practical, and provides good testing results.

[0046] Furthermore, in some embodiments, the controller 141 of the rotating motor is integrated into the main control board 14. In this embodiment, by integrating the controller 141 of the rotating motor into the main control board 14, the main control board 14 can control the operating parameters of the rotating motor in addition to the detection data of the IMU sensor and the operating data of the rotating motor, so that testers can control and adjust the rotation direction, speed, acceleration, or angle of the rotating motor according to test requirements.

[0047] It is understandable that the controller 141 of the rotating motor and the main control board 14 can also be independently provided.

[0048] In a specific embodiment, Figure 2 As shown, the main control board 14 integrates an MCU (Microcontroller Unit) chip and a controller 141. The MCU chip is connected to the circuit board under test and the controller 141, which is connected to the rotating motor. The MCU chip is used to control the operating parameters of the rotating motor through the controller 141 and collect operating data of the rotating motor and detection data from the IMU sensor.

[0049] Furthermore, in some embodiments, the IMU sensor dynamic accuracy testing device 1 further includes a host computer 15 , and the main control board 14 is wirelessly connected to the host computer 15 .

[0050] In this embodiment, the host computer 15 can be an electronic terminal such as a computer, tablet computer, or server. By connecting the main control board 14 to the host computer 15, the detection data of the IMU sensor and the operating data of the rotating motor collected by the main control board 14 can be transmitted to the host computer 15 for analysis, thereby facilitating the tester's evaluation of the dynamic response capability of the tested IMU sensor. For example, the host computer 15 can be a computer, and the tester can use visualization software installed on the computer to draw a data response curve of the IMU sensor to intuitively reflect the dynamic response capability of the IMU sensor.

[0051] In addition, by wirelessly connecting the main control board 14 and the host computer 15, there is no need to connect wires between the main control board 14 and the host computer 15, making the entire device structure simpler and more portable.

[0052] Figure 3 The test results of a test of the IMU sensor dynamic accuracy test device 1 based on the above embodiment are shown. In the figure, the horizontal axis is time, the vertical axis is rotation angle, curve A is the relationship curve between the rotation angle detected by the encoder of the rotating motor and time, and curve B is the relationship curve between the rotation angle and time calculated by the angular velocity and acceleration monitored by the IMU sensor. By analyzing and comparing curves A and B, various data such as the response speed, hysteresis, overshoot and overshoot of the IMU sensor can be obtained to evaluate the dynamic response capability of the IMU sensor.

[0053] In a specific embodiment, the MCU chip of the main control board 14 is connected to a wireless serial port so as to wirelessly communicate with the host computer 15 via the wireless serial port, so as to send data collected by the MCU chip to the host computer 15 for processing and analysis.

[0054] In some embodiments, as Figure 2 As shown, the IMU sensor dynamic accuracy testing device 1 further includes a power supply 16 , which is fixed to the rotating platform 12 , and is electrically connected to the main control board 14 and the driving component 13 .

[0055] In this embodiment, by installing a power supply 16 on the rotating platform 12, the power supply 16 can separately power the main control board 14 and the driver 13, and can also power other components through the main control board 14 to facilitate testing. Furthermore, during testing, the power supply 16 rotates synchronously with the rotating platform 12, eliminating the need for a slip ring or other switching structure between the power supply 16 and the main control board 14.

[0056] Specifically, in some embodiments, the power supply 16 is a rechargeable battery. The rechargeable battery has a simple structure and is easy to install. It can be recharged repeatedly and has a long service life. It is convenient and practical.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An IMU sensor dynamic accuracy test device, characterized in that: include: base; a rotating platform rotatably disposed on the base, the rotating platform being used to mount a circuit board to be tested, wherein an IMU sensor is mounted on the circuit board to be tested; A driving member, disposed on the base and in transmission connection with the rotating table to drive the rotating table to rotate; A main control board is fixed to the rotating table. The main control board has a communication interface for electrically connecting to the circuit board to be tested. The main control board is electrically connected to the driving member to determine the rotation angle of the rotating table according to the operation of the driving member.

2. The IMU sensor dynamic accuracy test device according to claim 1, characterized in that: The base includes a base and a mounting post; One end of the mounting column is connected to the base, and the other end is provided with a mounting groove, and the driving member is arranged in the mounting groove.

3. The IMU sensor dynamic accuracy test device according to claim 2, characterized in that: A counterweight is installed in the base.

4. The IMU sensor dynamic accuracy test device according to claim 1, characterized in that: The driving component is a rotary motor, the stator of the rotary motor is fixedly connected to the rotary table, and the mover of the rotary motor is fixedly connected to the base.

5. The IMU sensor dynamic accuracy test device according to claim 4, characterized in that: The rotating table includes a turntable, a mounting platform and a plurality of connecting parts; the mounting platform is fixed to the turntable, and the mounting platform is used to install the circuit board to be tested and the main control board; the plurality of connecting parts are arranged at intervals along the circumference of the turntable, and the turntable is connected to the stator of the rotating motor through the plurality of connecting parts.

6. The IMU sensor dynamic accuracy test device according to claim 4, characterized in that: The rotating motor is a brushless reduction motor.

7. The IMU sensor dynamic accuracy test device according to claim 4, characterized in that: The controller of the rotating motor is integrated into the main control board.

8. The IMU sensor dynamic accuracy test device according to claim 1, characterized in that: It also includes a host computer, and the main control board is wirelessly connected to the host computer.

9. The IMU sensor dynamic accuracy test device according to claim 1, characterized in that: It also includes a power supply, which is fixed to the rotating platform and electrically connected to the main control board and the driving component respectively.

10. The IMU sensor dynamic accuracy test device according to claim 9, characterized in that: The power supply is a rechargeable battery.

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