IMU (Inertial Measurement Unit) adapter plate and inertial measurement structure for excavator

Abstract

The utility model relates to an IMU (Inertial Measurement Unit) adapter plate and an inertial measurement structure for an excavator, a mounting structure for mounting and fixing an IMU and a fixing hole for mounting and fixing the IMU adapter plate on the excavator are arranged on an adapter plate body, and the mounting hole reserved on the adapter plate is matched with the punching position of the inertial measurement unit. The IMU is installed and fixed through the adapter plate without changing the welding position of the original vehicle body, various hole positions can be reserved in the adapter plate to adapt to installation and fixation of IMUs of different brands, the welding position does not need to be changed, and the convenience and applicability of IMU installation can be effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of inertial measurement, specifically relates to a kind of IMU adapter plate and inertial measurement structure for excavator. BACKGROUND

[0002] The statements herein provide only background information related to the utility model and do not necessarily constitute the prior art.

[0003] In the intelligent development process of excavator, the grasp of its pose information and motion state information is a necessary condition for autonomously completing other tasks. In the intelligentization of excavator, only when the host computer grasps and receives the pose information and navigation information of excavator at the current time, the working state of excavator at the current time can be judged. Therefore, the pose detection system of excavator is the prerequisite and guarantee for the realization of intelligentization of excavator.

[0004] The pose detection of excavator is usually realized by sensor, and with the development of intelligentization of excavator, IMU becomes an indispensable sensor component in many algorithms. IMU (Inertial Measurement Unit) is usually composed of accelerometer, gyroscope and magnetometer, etc. sensor, for measuring the acceleration, angular velocity and direction of object. IMU can obtain attitude angle information by using built-in accelerometer and gyroscope to realize pose determination, and combine sensor fusion algorithm to correct noise and drift, so as to obtain more accurate attitude and position estimation.

[0005] IMU is mainly installed on the body, boom, bucket and shovel of excavator, and is usually fixed on the above-mentioned parts by bolt or screw to monitor the position and motion of these parts. However, in actual installation process, IMU has different installation modes according to different manufacturers, and different hole positions need to be welded on the body according to different brands of IMU, which brings inconvenience to tooling manufacturing. Moreover, the fixed position of IMU on excavator is usually welded in advance, and the welded IMU fixing position is easy to be not matched with the punching position of selected IMU, which leads to difficult installation on excavator, and if the welding position is changed randomly, it will cause inconvenience to drawings, tooling, manufacturing, etc. UTILITY MODEL CONTENT

[0006] The utility model aims at overcoming the shortcomings of prior art, and provides an IMU adapter plate and inertial measurement structure for excavator, which installs and fixes IMU through adapter plate without changing the welding position of original body, and multiple hole positions can be reserved on adapter plate to adapt to the installation and fixation of IMU of different brands, so that the convenience and applicability of IMU installation can be effectively improved without changing the welding position.

[0007] To achieve the above object, the utility model adopts the following technical scheme:

[0008] The embodiment of the utility model provides a kind of for excavator's IMU adapter plate, the adapter plate includes: adapter plate body, there is the mounting structure for installing fixed IMU on adapter plate body;There is also the fixing hole for installing fixed the IMU adapter plate to excavator on adapter plate body.

[0009] The fixing hole is counterbore, and is symmetrically arranged along the two sides of the adapter plate body;Counterbore is provided with a countersunk screw, for fixing the adapter plate body on the excavator.

[0010] The mounting structure is mounting hole, and mounting hole is opened on the adapter plate body according to the selected IMU model, so that IMU is installed and fixed on excavator through the mounting hole on the adapter plate.

[0011] Optionally, the thickness of the adapter plate body is 8-15mm.

[0012] Optionally, the number of fixing holes is even, and the fixing hole is at least 2.

[0013] Optionally, the diameter of the fixing hole is 5-10mm.

[0014] Optionally, the adapter plate body is fixed on the body, the movable arm, the bucket lever and the bucket of excavator.

[0015] Optionally, the adapter plate body is made of aluminum alloy material.

[0016] Optionally, the position and number of mounting holes are determined according to the reserved hole position and number on the selected IMU structure, and the mounting hole is at least 2;When the number of mounting holes is even, the mounting hole is symmetrically arranged along the two sides of the adapter plate body.

[0017] The embodiment of the utility model further provides a kind of for excavator's inertial measurement structure, and the inertial measurement structure includes inertial measurement unit and adapter plate, and the inertial measurement unit is installed and fixed on excavator through the mounting hole reserved on the adapter plate.

[0018] The beneficial effects of the above-mentioned utility model are as follows:

[0019] 1. The utility model installs and fixes IMU through the adapter plate without changing the original body welding position, and multiple hole positions can be reserved on the adapter plate to adapt to the installation and fixation of IMUs of different brands, which avoids the need to weld hole positions of different positions on the body when installing IMUs of different brands, and there is no need to change the existing welding position, only need to set the adaptive mounting hole according to the selected IMU before adapter plate installation, which can effectively improve the convenience and applicability of IMU installation.

[0020] 2. The adapter plate body of the present application is made of low-density, high-strength, corrosion-resistant aluminum alloy material, which is not only light and reliable, but also has high protection level, is suitable for various harsh environments, can provide good mechanical support for IMU, and plays a protective role. BRIEF DESCRIPTION OF DRAWINGS

[0021] The drawings accompanying the specification of this application serve to provide further understanding of the present application, the illustrative embodiments of the present application and the description thereof serve to explain the present application, and do not constitute a limitation thereof.

[0022] Figure 1 is a schematic diagram of the adapter plate structure of the utility model embodiment 1;

[0023] Figure 2 is the utility model embodiment 1 Figure 1 corresponding IMU packaging structure schematic diagram;

[0024] Figures 3-5 is the utility model embodiment 1 different IMU packaging structure and its corresponding adapter plate structure schematic diagram, wherein, Figure 3 (a), Figure 4 (a) and Figure 5 (a) is an IMU packaging structure schematic diagram, Figure 3 (b), Figure 4 (b) and Figure 5 (b) is an adapter plate structure schematic diagram;

[0025] Wherein, 1. adapter plate body, 2. fixing hole, 3. mounting hole, 4. IMU packaging structure, 5. reserved hole. DETAILED DESCRIPTION

[0026] Embodiment 1

[0027] The present embodiment provides an IMU adapter plate for excavator, as Figure 1 shown, comprising an adapter plate body 1, the adapter plate body 1 has a fixing hole 2 for mounting and fixing the IMU adapter plate to the excavator, and the adapter plate 1 also has a mounting structure for mounting and fixing IMU.

[0028] IMU is usually installed on the moving parts such as the body, the movable arm, the bucket rod, the bucket and the chassis of the excavator, which can ensure that the IMU can accurately measure the movement angle of the articulated arm, the bucket and the chassis, so as to realize accurate positioning of the excavator bucket.

[0029] The thickness of the adapter plate body 1 is 8-15mm, the number of the fixing hole 2 on the adapter plate body 1 is even, which is symmetrically arranged along the two sides of the adapter plate body, and the fixing hole 2 is at least provided with two. In the present embodiment, as Figure 1As shown, the thickness of the adapter plate body 1 is 10 mm; the number of fixing holes 2 on the adapter plate body 1 is 4, the fixing holes 2 are counterbores, and the diameter of the counterbores is 7 mm; the counterbores can be provided with countersunk screws for fixing the adapter plate body 1 on the moving parts of the excavator, ensuring the stability of the connection between the adapter plate body 1 and the moving parts of the excavator.

[0030] The mounting structure on the adapter plate body 1 is a mounting hole 3, the position and number of the mounting hole 3 are determined according to the reserved hole position and number on the selected IMU structure, and there are at least two; when the number of mounting holes 3 is even, the mounting holes 3 are symmetrically arranged along the two sides of the adapter plate body. The adapter plate body 1 has multiple mounting hole positions reserved.

[0031] In this embodiment Figure 2 , the selected IMU packaging structure 4 has 4 symmetrically arranged reserved holes 5, so Figure 1 the corresponding mounting holes 3 on the adapter plate body 1 are also 4, and the opening position and number correspond one-to-one with the reserved holes 5 on the IMU packaging structure 4; during installation, only need to place the IMU packaging structure 4 on the adapter plate, align the mounting holes 3 with the reserved holes 5, and fix them with screws. Specifically, in this embodiment Figure 1 , the mounting hole 3 is a threaded hole with a diameter of 5 mm, the number of mounting holes 3 is 4, and they are symmetrically arranged along the two sides of the adapter plate body 1 and located outside the fixing holes 2. Along the length direction of the adapter plate body 1, the distance between the two fixing holes 2 is 68 mm, and the distance between the two mounting holes 3 is 88 mm; along the width direction of the adapter plate body 1, the distance between the two fixing holes 2 is 44 mm, and the distance between the two mounting holes 3 is 49 mm.

[0032] As Figure 3 (a), Figure 4 (a) and Figure 5 (a) shown, the arrangement of the reserved holes 5 on the IMU packaging structure 4 of different brands or models is different. Due to the difference in brand and model, the punching position and number of the IMU are different, and the IMU fixing position on the excavator is usually welded in advance, and the welded IMU fixing position is easy to be not matched with the punching position of the selected IMU, which makes it difficult to be installed on the excavator smoothly, and if the welding position is changed randomly, it will cause inconvenience to drawings, tooling, manufacturing, etc. Therefore, the mounting holes 3 reserved on the adapter plate body 1 of the present application can be adaptively arranged according to the punching position and number of the IMU of different brands or models, without changing the existing welding position, only need to set the adaptive mounting holes according to the selected IMU before installing the adapter plate.

[0033] Specifically, in this embodiment Figure 3(a) The IMU shown is Honeywell HGuide i300 model IMU package structure, only 2 reserved holes 5 are opened on both sides of the package structure 4, Figure 3 (b) The corresponding adapter plate also only needs to open 2 mounting holes on both sides of the adapter plate body 1. Figure 4 (a) The IMU shown is Huashengaisi IMU518A model IMU, which opens 3 reserved holes 5 arranged in a triangle in the upper middle position and the lower two sides of the package structure 4, Figure 4 (b) The corresponding adapter plate also needs to open 3 mounting holes 3 arranged in a triangle on the adapter plate body 1. Figure 5 (a) The IMU shown is Honeywell HG4930 model IMU, which has a cylindrical package structure 4, and 6 reserved holes 5 are opened on both sides of the package structure 4, and 3 reserved holes 5 are arranged in an arc on each side, Figure 5 (b) The corresponding adapter plate also needs to open 3 mounting holes 3 arranged in an arc on both sides of the adapter plate body 1.

[0034] In this embodiment, multiple mounting hole positions can also be reserved on the adapter plate body 1. According to the arrangement mode of the reserved holes 5 on the IMU package structure 4, multiple mounting holes 3 are opened on the adapter plate body 1, so that the multiple mounting holes 3 can simultaneously meet Figure 2 、 Figure 3 (a), Figure 4 (a) and Figure 5 (a) different reserved hole 5 distribution mode combination, so that the adapter plate for installing and fixing different brands or models of IMUs does not need to open mounting holes 3 respectively, improving the processing efficiency of the adapter plate.

[0035] In this embodiment, the adapter plate body 1 is made of aluminum alloy. Aluminum alloy has the characteristics of low density, high strength, corrosion resistance, etc. It is not only light and reliable, but also has high protection level, suitable for various harsh environments, can provide good mechanical support for IMU, and play a protective role.

[0036] This embodiment also provides an inertial measurement structure for a excavator, which comprises an adapter plate and an inertial measurement unit, mounting holes 3 opened on the adapter plate are matched with the positions of reserved holes 5 on the package structure 4 of the inertial measurement unit, and the inertial measurement unit is installed and fixed on the excavator through the mounting holes 3 reserved on the adapter plate. Specifically, in actual application, according to the different fixing positions of the adapter plate and the different brands and models of the selected IMU, the opening positions, sizes and numbers of the fixing holes 2 and the mounting holes 3 need to be adjusted to adapt to different application scenarios.

[0037] The use method of the inertial measurement structure of this embodiment is:

[0038] According to the mounting position already welded on the moving parts such as the body, the movable arm, the bucket lever, the bucket and the chassis of the excavator, the size of the adapter plate body 1 and the size, position and number of the fixing holes 2 are determined; according to the selected brand and model of the IMU, the punching position, size and number of the IMU are determined; according to the punching position, size and number of the IMU, the opening position and size of the mounting hole 3 on the adapter plate body 1 are determined; the adapter plate body 1 is installed and fixed on the moving parts of the excavator, then the positions of the reserved hole 5 of the IMU and the mounting hole 3 on the adapter plate body 1 are aligned, and the IMU is installed and fixed on the adapter plate.

[0039] The above describes the specific embodiments of the utility model in combination with the drawings, but is not a limitation on the protection scope of the utility model, and those skilled in the art should understand that various modifications or deformations made by those skilled in the art on the basis of the technical scheme of the utility model without creative labor are still within the protection scope of the utility model.

Claims

1. An IMU adapter plate for a excavator, characterized by, The adapter plate comprises an adapter plate body, and mounting structures for mounting and fixing the IMU on the adapter plate body; the adapter plate body also has fixing holes for mounting and fixing the IMU adapter plate on the excavator.

2. An IMU adapter plate for an excavator as claimed in claim 1, wherein, The fixing holes are counterbores, and are symmetrically arranged on both sides of the adapter plate body; the counterbores are provided with countersunk screws for fixing the adapter plate body on the excavator.

3. An IMU adapter plate for an excavator as claimed in claim 1, wherein, The mounting structures are mounting holes, and the adapter plate body is provided with mounting holes according to the selected IMU model, so that the IMU is mounted and fixed on the excavator through the mounting holes on the adapter plate.

4. An IMU adapter plate for an excavator as claimed in claim 1, wherein, The thickness of the adapter plate body is 8-15 mm.

5. An IMU adapter plate for an excavator as claimed in claim 2, wherein, The number of the fixing holes is even, and the fixing holes are at least two.

6. An IMU adapter plate for a excavator as set forth in claim 2, characterized in that, The diameter of the fixing holes is 5-10 mm.

7. An IMU adapter plate for a backhoe as defined in claim 1, wherein, The adapter plate body is fixed on the vehicle body, the movable arm, the bucket lever and the bucket of the excavator.

8. An IMU adapter plate for a excavator as set forth in claim 1, characterized in that, The adapter plate body is made of aluminum alloy.

9. An IMU adapter plate for a excavator as claimed in claim 3, wherein, The positions and the number of the mounting holes are determined according to the positions and the number of the reserved holes on the structure of the selected IMU, and the mounting holes are at least two; when the number of the mounting holes is even, the mounting holes are symmetrically arranged on both sides of the adapter plate body.

10. An inertial measurement structure for a excavator, characterized by, The adapter plate is used together with an inertial measurement unit, and the inertial measurement unit is mounted and fixed on the excavator through the mounting holes reserved on the adapter plate.

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