Attitude delay measuring device

Abstract

The utility model discloses an attitude delay measuring device, which relates to the technical field of inertial measurement, and is characterized by comprising a shell; the IMU module is movably arranged in the shell; the contact assembly comprises a first conducting layer which is fixed at the bottom of the IMU module and is electrically connected with a 3.3 V voltage output pin of the IMU module and a second conducting layer on-off switch which is fixed at the inner bottom of the shell and is electrically connected with a PPS pin of the IMU module, and the contact assembly is connected between the first conducting layer and the 3.3 V voltage output pin and / or between the second conducting layer and the PPS pin; the driving assembly is arranged between the shell and the IMU module and used for driving the IMU module to move, so that the first conductive layer and the second conductive layer are attached to each other or separated from each other, and the first conductive layer and the second conductive layer which are attached to each other can be locked and fixed. The device has the advantages of small and compact structure, wide application range, convenience and rapidness in use and high measurement precision.

Description

TECHNICAL FIELD

[0001] The utility model relates to inertial measurement technical field more specifically, it relates to a posture delay measuring device. BACKGROUND

[0002] Inertial measurement unit (IMU) is a kind of integrated accelerometer and gyroscope sensor device, by measuring the three-axis acceleration and angular velocity data of object, combining algorithm to solve its attitude, motion trajectory etc.Parameter, is widely used in unmanned aerial vehicle, robot, excavator etc.The motion capture field of equipment.In equipment calibration or motion state switching scene, need to accurately judge whether IMU is in stationary state and measure its response delay from motion to stationary, to ensure the synchronism and reliability of attitude data.The traditional method relies on sensor module value threshold judgment (such as when judging stationary, the acceleration sensor module value is close to gravity acceleration, and the gyroscope module value tends to zero), but such method is susceptible to uniform motion, environmental vibration or sensor noise interference, leading to stationary time marker lag or misjudgment, and then influence the accuracy of delay measurement.

[0003] For the above problems, a new measurement scheme is provided, and the technical points of the scheme are: an IMU module, the IMU module includes a processor;Further including contact assembly, contact assembly includes the first conductive layer fixed on the bottom of IMU module and electrically connected with the 3.3V output pin of IMU module and the second conductive layer fixed on the desktop and electrically connected with the PPS pin of IMU module, the first conductive layer and the second conductive layer contact trigger a pulse signal, and the trigger time of the pulse signal is the stationary time timestamp of IMU module;The processor is used to generate the stationary time timestamp of IMU module according to the pulse signal, and outputs the delay time by comparing the stationary time timestamp of IMU module with the attitude data stable timestamp of IMU module.

[0004] Although the above-mentioned mode triggers the pulse signal by the physical contact of the first conductive layer and the second conductive layer and obtains the stationary time timestamp, the mode does not depend on the analysis of sensor data, avoids the uncertainty caused by environmental noise, sensor drift or data processing algorithm, and improves the delay measurement precision, but the second conductive layer is arranged on the desktop, and the first conductive layer is contacted with the second conductive layer by manually holding the IMU module close to the desktop, so that the delay time cannot be accurately measured when the first conductive layer moves unexpectedly compared with the second conductive layer, and the desktop installation mode has poor applicability in narrow space, which restricts the flexibility and reliability of the measurement scene.

[0005] Therefore, a new scheme needs to be proposed to solve this problem. UTILITY MODEL CONTENT

[0006] The posture delay measuring device has the advantages of small and compact structure, wide application range, convenient and fast use, and high measurement precision.

[0007] The technical purpose of the posture delay measuring device is achieved by the following technical scheme.

[0008] The shell;

[0009] The IMU module is movably arranged in the shell;

[0010] The contact assembly comprises a first conductive layer fixed to the bottom of the IMU module and electrically connected with a 3.3V voltage output pin of the IMU module, and a second conductive layer fixed to the bottom of the shell and electrically connected with a PPS pin of the IMU module;

[0011] The on-off switch is connected between the first conductive layer and the 3.3V voltage output pin and / or connected between the second conductive layer and the PPS pin;

[0012] The driving assembly is arranged between the shell and the IMU module, and is used for driving the IMU module to move, so that the first conductive layer and the second conductive layer are attached to each other or separated, and the attached first conductive layer and second conductive layer can be fixed by locking.

[0013] In one embodiment, the shell comprises a bottom shell and an upper cover detachably connected with the bottom shell through a first bolt, the side wall of the bottom shell is respectively provided with a power interface, a data inlet and a data outlet electrically connected with the IMU module through a flexible flat cable, and the power-on switch is installed on the side wall of the bottom shell.

[0014] In one embodiment, the IMU module comprises a PCB board, an IMU sensor (also called an inertial measurement unit) and a processor arranged on the PCB board and electrically connected.

[0015] In one embodiment, the first conductive layer and the second conductive layer are both conductive metal plates, the posture delay measuring device further comprises a support, the support is provided with a clamping groove, the PCB board is clamped in the clamping groove, the first conductive layer is fixed to the bottom of the support, and the second conductive layer is connected with the inner bottom of the bottom shell through a second bolt.

[0016] In one of the embodiments, the driving assembly comprises a connecting sleeve fixed on the upper cover, a first connecting column with one end extending out of the connecting sleeve and the other end fixedly connected with the top of the support, and a second connecting column fixed on the end of the first connecting column away from the support, the diameter of the first connecting column is larger than that of the second connecting column, a gasket is slidably connected on the second connecting column, a spring is sleeved on the second connecting column between the gasket and the first connecting column, a gland is further arranged on the second connecting column above the gasket, a threaded connection structure is arranged between the outer wall of the connecting sleeve and the inner wall of the gland, and the first connecting column drives the support to descend to lock and fix the first conductive layer and the second conductive layer when the gland is tightened with the connecting sleeve.

[0017] In one of the embodiments, the end of the second connecting column away from the first connecting column is provided with a handle, and the first connecting column has a gap between the connecting sleeve to allow the first connecting column to move.

[0018] In one of the embodiments, the outer bottom of the shell is provided with a magnet for adsorbing and fixing the shell on a target position.

[0019] In summary, the utility model has the following beneficial effects: the utility model through setting up the shell, and setting up the IMU module and the contact assembly in the shell, get rid of the limit of desktop installation test, have compact structure, can be applicable to the demand of detection under various working conditions, and through the driving assembly drives the IMU module to move, can realize the first conductive layer and the second conductive layer, thereby triggering the trigger pulse signal and obtaining the time stamp at the stationary moment, and can realize the state of the IMU module from movement to stationary in the shell in the moving process, have the advantages of simple and quick operation, when the measurement is completed, realize the lock of the first conductive layer and the second conductive layer through the driving assembly, and disconnect the on-off switch at the same time, prevent the attitude delay measurement device from being damaged in the subsequent transportation or non-use process. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a structural schematic view of the attitude delay measurement device of the embodiment of the application.

[0021] Figure 2 It is a sectional view of the attitude delay measurement device of the embodiment of the application.

[0022] Figure 3 It is Figure 2 the enlarged view of A part in the figure.

[0023] In the diagram: 1. Housing; 1a. Bottom shell; 1b. Top cover; 2. On / off switch; 3. Drive assembly; 4. Power interface; 5. Data input; 6. Data output; 7. PCB board; 8. Bracket; 9. First connecting post; 10. First conductive layer; 11. Second conductive layer; 12. Connecting sleeve; 13. Second connecting post; 14. Handle; 15. Pressure cap; 16. Gasket; 17. Spring; 18. Gap. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] like Figures 1 to 3 As shown, an embodiment of this application provides an attitude delay measurement device, including: a housing 1; an IMU module movably disposed within the housing 1; a contact component including a first conductive layer 10 fixed to the bottom of the IMU module and electrically connected to the 3.3V voltage output pin of the IMU module, and a second conductive layer 11 fixed to the bottom of the housing 1 and electrically connected to the PPS pin of the IMU module; an on / off switch 2 connected via a flexible flat cable between the first conductive layer 10 and the 3.3V voltage output pin and / or between the second conductive layer 11 and the PPS pin; and a drive component 3 disposed between the housing 1 and the IMU module for driving the IMU module to move, causing the first conductive layer 10 and the second conductive layer 11 to adhere to or separate from each other, and for locking and fixing the adhered first conductive layer 10 and the second conductive layer 11.

[0026] As can be seen from the functional characteristics of the IMU module itself, the IMU module can output a 3.3V voltage when powered by 5V / 12V, and a corresponding 3.3V voltage output pin is provided.

[0027] Specifically, the outer casing includes a bottom shell 1a and a top cover 1b that is detachably connected to the bottom shell 1a by a first bolt. The side wall of the bottom shell 1a is provided with a power interface 4, a data input 5 and a data output 6 that are electrically connected to the IMU module via a flexible flat cable. A power switch is installed on the side wall of the bottom shell 1a.

[0028] Specifically, the IMU module includes a PCB board 7, an IMU sensor and a processor mounted on the PCB board 7 and electrically connected thereto. The processor may be a microcontroller. The IMU module adopts existing technology. Other detailed structures are not described in this embodiment.

[0029] In use of the posture delay measuring device, the shell 1 can be fixed on a stationary table of a target device, an external power supply is connected to the power supply interface 4, the data inlet 5 and the data outlet 6 are connected to the target device through data lines respectively, the target device feeds back a target action signal to the IMU module through the data inlet 5, the IMU module is driven to move by the driving assembly 3, so that the first conductive layer 10 and the second conductive layer 11 are in contact, at this time, the 3.3V voltage output pin outputs a rising edge pulse through the PPS pin, the single-chip microcomputer records the time as a stationary time stamp T1, and continuously collects the posture data of the IMU module, and records the stable time stamp T2 when the posture data tends to be stable, so that the delay time ΔT = T2-T1 can be obtained based on T1 and T2, compared with the traditional mode, the stationary time stamp is obtained by triggering the pulse signal through physical contact, the mode does not depend on the analysis of sensor data, avoids the uncertainty caused by environmental noise, sensor drift or data processing algorithm, improves the delay measurement precision, and simultaneously fixes the first conductive layer 10 and the second conductive layer 11 through the driving assembly 3 after measurement, and simultaneously disconnects the on-off switch 2, so that the posture delay measuring device is prevented from being damaged in subsequent transportation or non-use process.

[0030] In the above mode, the shell 1 is arranged, and the IMU module and the contact assembly are arranged in the shell 1, so that the limitation of desktop installation test is eliminated, the structure is compact, and the detection requirement in various working conditions can be met, the first conductive layer 10 and the second conductive layer 11 are driven to move by the driving assembly 3, so that the trigger pulse signal is triggered and the stationary time stamp is obtained, and the IMU module can be moved from the moving state to the stationary state in the shell 1, and the operation is simple and quick.

[0031] In the embodiment, the first conductive layer 10 and the second conductive layer 11 are both conductive metal plates, the posture delay measuring device further comprises a support 8, the support 8 is provided with a clamping groove, the PCB 7 is clamped in the clamping groove, the first conductive layer 10 is fixed to the bottom of the support 8, and the second conductive layer 11 is connected to the inner bottom of the bottom shell 1a through the second bolt.

[0032] In the embodiment, the driving assembly 3 comprises a connecting sleeve 12 fixed through the upper cover 1b, a first connecting column 9 with one end extending into the connecting sleeve 12 and the other end fixedly connected with the top of the support 8, and a second connecting column 13 fixed at the end of the first connecting column 9 away from the support 8, the diameter of the first connecting column 9 is larger than that of the second connecting column 13, the second connecting column 13 is slidingly connected with a gasket 16, the spring 17 is sleeved on the second connecting column 13 between the gasket 16 and the first connecting column 9, the second connecting column 13 is further provided with a gland 15 above the gasket 16, the outer wall of the connecting sleeve 12 and the inner wall of the gland 15 are provided with a threaded connection structure, and the gland 15 is configured to, when the gland 15 is tightened with the connecting sleeve 12, the first connecting column 9 drives the support 8 to descend to lock and fix the first conductive layer 10 and the second conductive layer 11.

[0033] In the above manner, when the gland 15 is tightened with the connecting sleeve 12, the gland 15 is pressed on the gasket 16, thereby bringing the support 8 to be pressed downward, and after the first conductive layer 10 and the second conductive layer 11 are tightly abutted, the spring 17 can provide a pre-tightening buffer to make the abutting effect better and not easily damage the first conductive layer 10 and the second conductive layer 11.

[0034] In the embodiment, the second connecting column 13 is provided with a handle 14 for operating the movement of the support 8 at the end away from the first connecting column 9, and the first connecting column 9 and the connecting sleeve 12 have a gap 18 for the movement of the first connecting column 9, so that the first connecting column 9 can not be completely straight up and down, but can have a certain swing, thereby simulating the hand-held downward pressing manner in the existing manner, so that more posture information can be obtained.

[0035] In the embodiment, the outer bottom of the shell 1 is provided with a magnet for adsorbing and fixing the shell 1 on a target position, so that the posture delay measuring device can be quickly, conveniently and stably installed on target positions of various metal materials without the need of additional complex fixing tools or tedious installation operations, thereby greatly improving the installation efficiency and flexibility of the device.

[0036] The preferred embodiments of the utility model are described above, the protection scope of the utility model is not limited to the above-mentioned embodiments only, any technical scheme belonging to the utility model idea is within the protection scope of the utility model. It should be noted that, for ordinary skilled persons in the art, some improvements and decorations without departing from the principle of the utility model can also be considered as the protection scope of the utility model.

Claims

1. A device for measuring attitude delay, characterized by: The attitude delay measurement device comprises: a shell (1); an IMU module movably arranged in the shell (1); a contact assembly comprising a first conductive layer (10) fixed at the bottom of the IMU module and electrically connected with a 3.3V voltage output pin of the IMU module, and a second conductive layer (11) fixed at the bottom of the shell (1) and electrically connected with a PPS pin of the IMU module; an on-off switch (2) connected between the first conductive layer (10) and the 3.3V voltage output pin and / or connected between the second conductive layer (11) and the PPS pin; a driving assembly (3) arranged between the shell (1) and the IMU module, used to drive the IMU module to move, so that the first conductive layer (10) and the second conductive layer (11) are attached or separated from each other, and the first conductive layer (10) and the second conductive layer (11) after being attached can be fixed.

2. The attitude delay measuring apparatus according to claim 1, characterized by: The shell comprises a bottom shell (1a) and an upper cover (1b) detachably connected with the bottom shell (1a) through a first bolt, and the side wall of the bottom shell (1a) is respectively provided with a power supply interface (4), a data inlet (5) and a data outlet (6) electrically connected with the IMU module through a flexible flat cable, and the on-off switch is mounted on the side wall of the bottom shell (1a).

3. The attitude delay measuring apparatus according to claim 2, characterized by: The IMU module comprises a PCB board (7), an IMU sensor and a processor arranged on the PCB board (7) and electrically connected.

4. The attitude delay measuring apparatus according to claim 3, characterized by: The first conductive layer (10) and the second conductive layer (11) are both conductive metal plates, and the attitude delay measurement device further comprises a bracket (8), the bracket (8) is provided with a clamping groove, the PCB board (7) is clamped in the clamping groove, the first conductive layer (10) is fixed at the bottom of the bracket (8), and the second conductive layer (11) is connected with the inner bottom of the bottom shell (1a) through a second bolt.

5. The attitude delay measuring apparatus according to claim 4, characterized by: The driving assembly (3) comprises a connecting sleeve (12) penetratingly fixed on the upper cover (1b), a first connecting column (9) with one end extending out of the connecting sleeve (12) and the other end fixedly connected with the top of the bracket (8), and a second connecting column (13) fixed at the end of the first connecting column (9) away from the bracket (8), the diameter of the first connecting column (9) is greater than the diameter of the second connecting column (13), a gasket (16) is slidably connected on the second connecting column (13), a spring (17) is sleeved on the second connecting column (13) between the gasket (16) and the first connecting column (9), a gland (15) is further arranged on the second connecting column (13) above the gasket (16), a threaded connection structure is arranged between the outer wall of the connecting sleeve (12) and the inner wall of the gland (15), and the gland (15) is configured to be tightened with the connecting sleeve (12), so that the first connecting column (9) drives the bracket (8) to descend to fix the first conductive layer (10) and the second conductive layer (11).

6. The attitude delay measuring apparatus according to claim 5, characterized by: An end of the second connecting column (13) away from the first connecting column (9) is provided with a handle (14), and the first connecting column (9) and the connecting sleeve (12) have a gap (18) allowing the first connecting column (9) to move.

7. The attitude delay measuring apparatus according to claim 1, characterized by: The outer bottom of the shell (1) is provided with a magnet capable of adsorbing and fixing the shell (1) on a target position.

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