Calibration device for inertial measurement unit

Abstract

The utility model provides a calibration device for an inertial measurement unit, relates to the technical field of calibration test equipment, and is designed for solving the problem that a pin header is easy to damage due to the fact that the pin header of the inertial measurement unit needs to be repeatedly inserted and pulled in the use process of the calibration device of the existing inertial measurement unit. The calibration device comprises a calibration frame and a calibration disc detachably arranged on the calibration frame, the calibration disc comprises a bottom plate, a cover plate, a circuit board and an ejector pin group, a plurality of accommodating grooves are formed in the bottom plate and are dispersedly arranged on the bottom plate, and pin headers of the inertial measurement unit are exposed in the direction away from the bottom walls of the accommodating grooves; the circuit board and the ejector pin groups are arranged on the cover plate, the number of the ejector pin groups is the same as that of the accommodating grooves, the ejector pin groups correspond to the accommodating grooves in position, a gap is formed between the cover plate and the bottom plate in a covering state of the cover plate and the bottom plate, and the ejector pin groups are pressed on the pin headers of the corresponding accommodating grooves; the thimble group is electrically connected with the circuit board. According to the utility model, the pin header is not easy to damage.

Description

Technical Field

[0001] This utility model relates to the field of calibration and testing equipment technology, and more specifically, to a calibration device for an inertial measurement unit. Background Technology

[0002] An inertial measurement unit (IMU) is a sensor used to measure and track the attitude (such as orientation, angle, and velocity) of an object. It typically consists of an accelerometer and a gyroscope and can measure the linear acceleration and rotational angular velocity of an object in three directions. It is widely used in fields such as drones, robots, and intelligent transportation.

[0003] To ensure accuracy, inertial measurement units (IMUs) require individual calibration processes, including multi-attitude and temperature drift testing, after mass production. Currently, the common practice is to install each IMU onto a turntable and electrically connect it to the test system using cables. However, this installation method requires power headers and flexible flat cables for power and communication, leading to cable dragging and pin wear. Furthermore, because the IMU pins and the test system's power headers have a rigid fit, repeated insertion and removal can easily damage the pins, affecting reliability. Utility Model Content

[0004] The purpose of this invention is to provide a calibration device for inertial measurement units (IMUs) to solve the technical problem that existing IMU calibration devices are prone to damage to the IMU pin headers due to the need for repeated insertion and removal of the IMU pin headers during use.

[0005] The present invention provides a calibration device for an inertial measurement unit (IMU), comprising a calibration frame and a calibration disk detachably disposed on the calibration frame. The calibration disk includes a base plate, a cover plate, a circuit board, and a pin assembly. The base plate has multiple receiving slots for accommodating IMUs, which are distributed on the base plate. The pins of the IMU protrude in a direction away from the bottom wall of the receiving slot. The circuit board and the pin assembly are both disposed on the cover plate. The number of pin assemblies is the same as the number of receiving slots and their positions correspond. In the closed state of the cover plate and the base plate, there is a gap between the cover plate and the base plate, and the pin assembly presses against the pins of the corresponding receiving slot. The pin assembly is electrically connected to the circuit board.

[0006] Furthermore, the calibration frame has a front opening and a back plate opposite to the front opening, forming an installation space for mounting the calibration disk between the front opening and the back plate; a fixed-side connector is provided on the side of the back plate facing the installation space, and a movable-side connector electrically connected to the circuit board is provided on the cover plate. The movable-side connector is configured to electrically connect to the fixed-side connector after the calibration disk is installed in place, and the circuit board is used to obtain the electrical signal of the fixed-side connector through the movable-side connector.

[0007] Furthermore, the calibration device also includes a locking component electrically connected to the circuit board, the locking component being configured to lock the calibration disk to the calibration frame after the calibration disk is installed in place.

[0008] Furthermore, the locking assembly includes an electromagnet and a ferromagnetic adsorption element used in conjunction with the electromagnet. One of the electromagnet and the ferromagnetic adsorption element is disposed in the mounting space, and the other of the electromagnet and the ferromagnetic adsorption element is disposed in the calibration disk. The electromagnet is electrically connected to the circuit board.

[0009] Furthermore, the calibration frame also includes a first sidewall and a second sidewall respectively disposed on both sides of the front opening. The sidewall facing the installation space is provided with a plurality of first guide rails arranged at intervals in the vertical direction, and the sidewall facing the installation space is provided with a plurality of second guide rails arranged at intervals in the vertical direction. The plurality of second guide rails correspond one-to-one with the plurality of first guide rails. The base plate is removably installed in the installation space via the first guide rails and the second guide rails. The electromagnets are installed on both the first guide rails and the second guide rails, and the ferromagnetic adsorption components are installed on the cover plate.

[0010] Furthermore, both the first guide rail and the second guide rail have a guide ramp at the end near the front opening, which extends upwards along the direction in which the calibration plate enters the installation space.

[0011] Furthermore, the locking assembly also includes a first electric push rod and a second electric push rod. The first electric push rod is disposed on the portion of the cover plate facing the first side wall, and the first side wall has a first locking hole opposite to the first electric push rod. The push rod portion of the first electric push rod can extend into or retract from the first locking hole. The second electric push rod is disposed on the portion of the cover plate facing the second side wall, and the second side wall has a second locking hole opposite to the second electric push rod. The push rod portion of the second electric push rod can extend into or retract from the second locking hole. Both the first electric push rod and the second electric push rod are electrically connected to the circuit board.

[0012] Furthermore, pointed pins are provided at multiple corner positions of the receiving groove, and the multiple pointed pins are respectively used to insert and cooperate with the multiple mounting positioning holes of the inertial measurement unit in a one-to-one correspondence; and / or, one of the base plate and the cover plate is provided with multiple first positioning pins arranged in a dispersed manner, and the other of the base plate and the cover plate is provided with multiple first positioning holes, the number of the first positioning holes being the same as the number of the first positioning pins and their positions corresponding one-to-one, the first positioning pins being used to insert and cooperate with the first positioning holes; and / or, a first protective pad is provided on the bottom wall of the receiving groove, and a second protective pad is provided on the side of the cover plate facing the base plate, the second protective pad being opposite to the first protective pad; and / or, the side wall of the receiving groove is inclined near the groove opening to guide the inertial measurement unit into the receiving groove.

[0013] Furthermore, one of the cover plate and the back plate is provided with a plurality of second positioning pins arranged in a dispersed manner, and the other of the cover plate and the back plate is provided with a plurality of second positioning holes. The number of the second positioning holes is the same as the number of the second positioning pins and their positions correspond one-to-one. The second positioning pins are used to insert and cooperate with the second positioning holes.

[0014] Furthermore, the calibration device also includes a turntable mounting surface, which is fixedly disposed at the bottom of the calibration frame, and the turntable mounting surface is provided with a plurality of connection holes.

[0015] The beneficial effects of this utility model for calibrating inertial measurement units are:

[0016] By setting up a calibration device mainly composed of a calibration frame and a calibration disk, when it is necessary to calibrate and test the inertial measurement unit, multiple inertial measurement units can be placed in multiple receiving slots opened in the base plate. At this time, the pins of the inertial measurement unit are exposed in the direction away from the bottom wall of the receiving slot. Since there is a gap between the cover plate and the base plate after the cover plate is closed, and the ejector pin group is fixed to the cover plate and the number and position correspond to the receiving slot, after the cover plate is closed to the base plate, each ejector pin group set on the cover plate will press against the pins of the inertial measurement unit set in each receiving slot, thereby realizing the connection between the ejector pin group and the pins, and thus achieving the purpose of electrical connection between the pins and the circuit board.

[0017] The calibration device, through the above-mentioned configuration, allows for automatic electrical connection between the inertial measurement unit and the circuit board when calibration testing is required. This is achieved simply by placing the cover plate on the base plate, eliminating the cumbersome steps of repeatedly inserting and removing the header pins as in existing technologies. This not only improves efficiency but also avoids the problem of easy damage to the header pins caused by repeated insertion and removal.

[0018] Furthermore, this calibration device, by creating multiple receiving slots in the base plate, can simultaneously accommodate multiple inertial measurement units (IMUs), enabling simultaneous calibration of multiple IMUs. This eliminates the need to assemble and disassemble each IMU individually during each calibration test, significantly improving calibration efficiency. Moreover, by making the calibration disk and calibration frame detachably connected, it is easy to adaptively adjust the calibration disk used with the calibration frame when the IMU model changes, thus meeting the calibration test requirements of different IMU models. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Figure 1 A schematic diagram of the structure of a calibration device for an inertial measurement unit provided in an embodiment of this utility model;

[0021] Figure 2 An exploded view of the calibration disk of the calibration device for an inertial measurement unit provided in an embodiment of this utility model;

[0022] Figure 3 for Figure 2 Enlarged view of the local structure at point A;

[0023] Figure 4 A partial structural cross-sectional view of a calibration device for an inertial measurement unit provided in an embodiment of this utility model.

[0024] Explanation of reference numerals in the attached figures:

[0025] 100-Calibration frame; 200-Calibration disk; 400-Turntable mounting surface; 010-Inertial measurement unit; 011-Mounting positioning hole; 012-Pin header;

[0026] 110 - Front opening; 120 - Back plate; 121 - Second positioning hole; 130 - Fixed side connector; 140 - First side wall; 141 - First locking hole; 150 - Second side wall; 151 - Second locking hole; 160 - First guide rail; 170 - Second guide rail; 180 - Guide slope;

[0027] 210 - Base plate; 220 - Cover plate; 230 - Circuit board; 240 - Ejector pin assembly; 250 - Moving side connector;

[0028] 211-Receiving groove; 212-Pointed pin; 213-First locating pin; 214-First protective pad;

[0029] 221 - Second locating pin;

[0030] 310-Electromagnet; 320-Ferromagnetic adsorption component; 330-First electric actuator; 340-Second electric actuator. Detailed Implementation

[0031] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of this utility model and are not intended to limit it.

[0032] like Figure 1 As shown, this embodiment provides a calibration device for an inertial measurement unit 010, including a calibration frame 100 and a calibration disk 200 detachably disposed on the calibration frame 100. Wherein, Figure 1 The diagram shows a set of calibration disks 200 installed on a calibration frame 100.

[0033] Please continue to refer to Figure 1 and combined Figure 2 and Figure 3 Specifically, the calibration disk 200 includes a base plate 210, a cover plate 220, a circuit board 230, and a pin assembly 240. The base plate 210 has a receiving slot 211 for accommodating the inertial measurement unit 010. There are multiple receiving slots 211, which are distributed on the base plate 210. The pins 012 of the inertial measurement unit 010 protrude in a direction away from the bottom wall of the receiving slot 211. The circuit board 230 and the pin assembly 240 are both disposed on the cover plate 220. The number of pin assemblies 240 is the same as the number of receiving slots 211 and their positions correspond. When the cover plate 220 and the base plate 210 are closed, there is a gap between the cover plate 220 and the base plate 210. The pin assembly 240 is pressed against the pins 012 of the corresponding receiving slot 211. The pin assembly 240 is electrically connected to the circuit board 230.

[0034] When it is necessary to calibrate the inertial measurement unit 010, multiple inertial measurement units 010 can be placed in multiple receiving slots 211 opened in the base plate 210. At this time, the pins 012 of the inertial measurement unit 010 are exposed in the direction away from the bottom wall of the receiving slot 211. Since there is a gap between the cover plate 220 and the base plate 210 after the cover plate 220 is closed, and the ejector pin group 240 is fixed to the cover plate 220 and the number and position correspond to the receiving slot 211, after the cover plate 220 is closed to the base plate 210, each ejector pin group 240 set on the cover plate 220 will press against the pins 012 of the inertial measurement unit 010 set in each receiving slot 211, thereby realizing the connection between the ejector pin group 240 and the pins 012, and thus achieving the purpose of electrical connection between the pins 012 and the circuit board 230.

[0035] The calibration device, through the above-described configuration, allows for automatic electrical connection between the inertial measurement unit 010 and the circuit board 230 when the inertial measurement unit 010 needs to be connected for calibration testing. This is achieved simply by placing the cover plate 220 on the base plate 210, eliminating the cumbersome steps of repeatedly inserting and removing the header pins 012 as required in the prior art. This not only improves efficiency but also avoids the problem of damage to the header pins 012 caused by repeated insertion and removal.

[0036] Furthermore, by creating multiple receiving slots 211 in the base plate 210, this calibration device can simultaneously accommodate multiple inertial measurement units 010, enabling simultaneous calibration of multiple inertial measurement units 010. During each calibration test, it is unnecessary to assemble and disassemble each inertial measurement unit 010 individually, significantly improving calibration efficiency. Moreover, by making the calibration disk 200 and the calibration frame 100 detachably connected, it is also convenient to adaptively adjust the calibration disk 200 used in conjunction with the calibration frame 100 when the model of the inertial measurement unit 010 changes, thus meeting the calibration test requirements of different models of inertial measurement units 010.

[0037] In this embodiment, after the cover plate 220 and the bottom plate 210 are closed together, since there is a gap between the cover plate 220 and the bottom plate 210, the weight of the cover plate 220 will press against the inertial measurement unit 010 of the receiving groove 211. At this time, each ejector pin assembly 240 on the cover plate 220 is exactly pressed against the row of pins 012 of each inertial measurement unit 010. The spring inside the ejector pin assembly 240 contracts slightly to apply a small pressure to the row of pins 012, thereby ensuring that the ejector pin assembly 240 and the row of pins 012 are tightly fitted.

[0038] It should be noted that the specific structure of the ejector pin assembly 240 can be obtained by those skilled in the art based on existing technology. This embodiment does not improve the specific structure of the ejector pin assembly 240, so this part will not be described in detail.

[0039] Please continue to refer to Figure 1 In this embodiment, the calibration frame 100 has a front opening 110 and a back plate 120 opposite to the front opening 110. An installation space for mounting the calibration disk 200 is formed between the front opening 110 and the back plate 120. A fixed-side connector 130 is provided on the side of the back plate 120 facing the installation space, and a movable-side connector 250 electrically connected to the circuit board 230 is provided on the cover plate 220. The movable-side connector 250 is configured to be electrically connected to the fixed-side connector 130 after the calibration disk 200 is installed in place. The circuit board 230 is used to obtain the electrical signal of the fixed-side connector 130 through the movable-side connector 250.

[0040] After the inertial measurement unit 010 is installed into the receiving slot 211 of the base plate 210, the cover plate 220 is closed onto the base plate 210 to form the calibration disk 200. Then, the calibration disk 200 is pushed into the installation space inside the calibration frame 100 through the front opening 110. Once the calibration disk 200 is in place inside the calibration frame 100, the movable-side connector 250 on the cover plate 220 will connect and engage with the fixed-side connector 130 on the cover plate 220. Since the fixed-side connector 130 already has voltage and communication signals, and the movable-side connector 250 is electrically connected to the circuit board 230, after the movable-side connector 250 mates with the fixed-side connector 130, the circuit board 230 can obtain the electrical signal from the fixed-side connector 130, thereby enabling the circuit board 230 to perform corresponding control operations to achieve automatic control of the inertial measurement unit 010 during the calibration process.

[0041] It should be noted that in this embodiment, the ejector pin assembly 240 is connected to the circuit board 230 via a tail lead, and the power supply and communication signals of the circuit board 230 are connected to the mobile side connector 250 via a wiring harness.

[0042] In this embodiment, the calibration device may further include a locking component. Specifically, the locking component is electrically connected to the circuit board 230 and is configured to lock the calibration disk 200 to the calibration frame 100 after the calibration disk 200 is installed in place.

[0043] After the calibration disk 200 is installed in place inside the calibration frame 100, the moving side connector 250 is electrically connected to the fixed side connector 130. At this time, the circuit board 230 can receive the voltage signal. After stabilization, the circuit board 230 will control the locking component to lock the calibration disk 200 in the calibration frame 100 to prevent the calibration disk 200 from being thrown out from the front opening 110 during the calibration process.

[0044] The aforementioned locking component enables the calibration disk 200 to be automatically locked inside the calibration frame 100 after it is installed in place, thus achieving automatic clamping of the calibration disk 200. This not only greatly improves clamping efficiency but also reduces manual intervention and lowers labor costs.

[0045] Please continue to refer to Figure 1 and combined Figure 4 In this embodiment, the locking component may include an electromagnet 310 and a ferromagnetic adsorption component 320 used in conjunction with the electromagnet 310. The electromagnet 310 is disposed in the mounting space inside the calibration frame 100, and the ferromagnetic adsorption component 320 is disposed on the calibration disk 200. The electromagnet 310 can be electrically connected to the circuit board 230.

[0046] After the calibration disk 200 is installed in place inside the calibration frame 100, the circuit board 230 detects and stabilizes the voltage signal received from the moving side connector 250. Then, the circuit board 230 controls the electromagnet 310 to be energized, generating an attractive force that tightly holds the ferromagnetic magnetic adsorption element 320 on the calibration disk 200, thus locking the calibration disk 200. After the test is completed, the circuit board 230 can be used to de-energize the electromagnet 310, releasing the electromagnet 310 from the ferromagnetic adsorption element 320, allowing the calibration disk 200 to be removed from inside the calibration frame 100.

[0047] This method of locking the calibration plate 200 by using the cooperation of electromagnet 310 and ferromagnetic adsorption component 320 has a simple structure and good locking reliability.

[0048] Specifically, the ferromagnetic adsorption element 320 can be an iron block.

[0049] It should be noted that in this embodiment, the electromagnet 310 disposed inside the calibration frame 100 can be electrically connected to the fixed-side connector 130. At this time, since the circuit board 230 is electrically connected to the movable-side connector 250, and after the calibration disk 200 is installed in place, the movable-side connector 250 is electrically connected to the fixed-side connector 130. Therefore, the circuit board 230 can control the electromagnet 310 to be powered on and off through the movable-side connector 250.

[0050] It is understood that in other embodiments, the electromagnet 310 can also be placed on the calibration disk 200, and the ferromagnetic adsorption member 320 can be placed inside the calibration frame 100, and the electromagnet 310 can be electrically connected to the circuit board 230. This arrangement can also use the circuit board 230 to control the energization and de-energization of the electromagnet 310, so as to lock and unlock the calibration disk 200.

[0051] Please continue to refer to Figure 1 and Figure 4In this embodiment, the calibration frame 100 may further include a first sidewall 140 and a second sidewall 150 disposed on both sides of the front opening 110. The sidewall 140 facing the installation space is provided with a plurality of first guide rails 160 arranged at intervals in the vertical direction, and the sidewall 150 facing the installation space is provided with a plurality of second guide rails 170 arranged at intervals in the vertical direction. The plurality of second guide rails 170 correspond one-to-one with the plurality of first guide rails 160. The base plate 210 is removably installed in the installation space via the first guide rails 160 and the second guide rails 170. The first guide rails 160 and the second guide rails 170 are both equipped with the aforementioned electromagnets 310, and the magnetic adsorption components are installed on the cover plate 220.

[0052] After placing the inertial measurement unit 010 in the receiving slot 211 of the base plate 210 and covering it with the cover plate 220, the base plate 210 can be supported, and the calibration disk 200 can be positioned directly in front of the front opening 110. The calibration disk 200 is then inserted into the calibration frame 100 along the first guide rail 160 and the second guide rail 170. Once the calibration disk 200 is in place inside the calibration frame 100, the circuit board 230 controls the electromagnet 310 to be energized. The electromagnet 310, in conjunction with the ferromagnetic adsorption component 320, secures both sides of the calibration disk 200 to the first guide rail 160 and the second guide rail 170, respectively. After the calibration test is completed, the circuit board 230 controls the electromagnet 310 to be de-energized, causing the magnetic force between the electromagnet 310 and the ferromagnetic adsorption component 320 to disappear, allowing the calibration disk 200 to be pulled out from the front opening 110.

[0053] When there are multiple calibration disks 200, the multiple calibration disks 200 can be installed on the first guide rail 160 and the second guide rail 170 at different height positions, so that the calibration frame 100 can load multiple calibration disks 200 at the same time, thereby realizing the test calibration of more inertial measurement units 010.

[0054] The pull-out installation method of the calibration disk 200 offers high assembly and disassembly efficiency and allows for the simultaneous loading of multiple calibration disks 200, further expanding the testing capacity of the calibration device for the inertial measurement unit 010. Furthermore, by installing electromagnets 310 on both the first guide rail 160 and the second guide rail 170, the calibration disk 200 is simultaneously subjected to magnetic attraction on both sides after installation, ensuring high fixation reliability and guaranteeing the installation stability of the calibration disk 200.

[0055] Please continue to refer to Figure 1In this embodiment, the electromagnet 310 is installed in the first guide rail 160 and the second guide rail 170 in an embedded manner. This embedded installation method of the electromagnet 310 not only provides a reliable attraction force when energized to lock the position of the calibration disk 200, but also does not occupy the internal space of the calibration frame 100.

[0056] Please continue to refer to Figure 1 In this embodiment, both the first and second side plates are provided with a plurality of weight-reducing holes. Furthermore, the calibration frame 100 also includes a top plate and a bottom plate 210 fixedly connected between the first and second side plates, and the top and bottom plates 210 are also provided with a plurality of weight-reducing holes. This design not only ensures the structural strength of the calibration frame 100 but also reduces its weight. The weight-reducing holes also serve a heat dissipation function, preventing component failure due to excessive heat inside the calibration frame 100.

[0057] Please continue to refer to Figure 1 In this embodiment, the supporting walls of both the first guide rail 160 and the second guide rail 170 are provided with guide ramps 180 at one end near the front opening 110. The guide ramps 180 extend upward along the direction in which the calibration plate 200 enters the installation space.

[0058] The guide ramp 180 can guide the calibration plate 200 as it enters the installation space from the front opening 110, thereby reducing jamming during the installation of the calibration plate 200 and improving assembly efficiency.

[0059] Please continue to refer to Figure 1 and Figure 4 In this embodiment, the locking assembly may further include a first electric push rod 330 and a second electric push rod 340. Specifically, the first electric push rod 330 is provided on the part of the cover plate 220 facing the first side wall 140, and the first side wall 140 has a first locking hole 141 opposite to the first electric push rod 330. The push rod part of the first electric push rod 330 can extend into or retract from the first locking hole 141. The second electric push rod 340 is provided on the part of the cover plate 220 facing the second side wall 150, and the second side wall 150 has a second locking hole 151 opposite to the second electric push rod 340. The push rod part of the second electric push rod 340 can extend into or retract from the second locking hole 151. Both the first electric push rod 330 and the second electric push rod 340 are electrically connected to the circuit board 230.

[0060] While the circuit board 230 controls the electromagnet 310 to be energized, and the electromagnet 310 and the ferromagnetic adsorption component 320 are magnetically attracted to fix the two sides of the calibration disk 200 to the first guide rail 160 and the second guide rail 170 respectively, the circuit board 230 also controls the push rods of the first electric push rod 330 and the second electric push rod 340 to extend. The push rod of the first electric push rod 330 extends into the first locking hole 141 in the first side wall 140, and the push rod of the second electric push rod 340 extends into the second locking hole 151 in the second side wall 150, forming a latching state on both sides of the calibration disk 200. After calibration is completed, the circuit board 230 controls the push rods of the first electric push rod 330 and the second electric push rod 340 to retract, thereby releasing the locking effect of the first electric push rod 330 and the second electric push rod 340 on the calibration disk 200, allowing the calibration disk 200 to be pulled out from the calibration frame 100.

[0061] This setting ensures that even if the electromagnet 310 suddenly loses power and loses its attraction during the calibration process of the calibration frame 100 rotation calibration, the calibration disk 200 will not be thrown out of the calibration frame 100 due to inertial force, thus ensuring the smooth progress of the calibration test.

[0062] In this embodiment, the extension stroke of the push rod portion of both the first electric push rod 330 and the second electric push rod 340 can be 15mm.

[0063] Please continue to refer to Figure 2 and Figure 3 In this embodiment, pointed pins 212 are provided at multiple corner positions of the receiving groove 211, and the multiple pointed pins 212 are respectively used to be inserted and engaged with the multiple mounting and positioning holes 011 of the inertial measurement unit 010 in a one-to-one correspondence.

[0064] When it is necessary to install the inertial measurement unit 010 into the receiving groove 211, the mounting positioning hole 011 of the inertial measurement unit 010 can be aligned with the pin 212 of the receiving groove 211. Then, the inertial measurement unit 010 is placed into the receiving groove 211, and the positioning of the inertial measurement unit 010 is achieved by the insertion and engagement of the pin 212 with the corresponding mounting positioning hole 011, so as to ensure the calibration accuracy of the inertial measurement unit 010.

[0065] Specifically, by using the insertion and engagement of the pointed pin 212 with the mounting positioning hole 011 to position the inertial measurement unit 010, the installation positioning accuracy of the inertial measurement unit 010 can be guaranteed to be within 0.05mm.

[0066] In this embodiment, specifically, the receiving groove 211 is a rectangular groove, and the pointed pins 212 are distributed at the four corners of the receiving groove 211; correspondingly, the inertial measurement unit 010 is provided with four mounting positioning holes 011, and the four mounting positioning holes 011 are respectively provided in one-to-one correspondence with the four pointed pins 212.

[0067] It should be noted that in this embodiment, the shape of the receiving groove 211 is adapted to the shape of the inertial measurement unit 010. This arrangement can reduce the shaking of the inertial measurement unit 010 in the receiving groove 211 and ensure the installation stability of the inertial measurement unit 010. It is understood that the shape of the receiving groove 211 can be adapted to change after the shape of the inertial measurement unit 010 changes.

[0068] Please continue to refer to Figure 2 and Figure 3 In this embodiment, the base plate 210 is provided with a plurality of first positioning pins 213 arranged in a dispersed manner, and the cover plate 220 is provided with a plurality of first positioning holes (not shown in the figure). The number of first positioning holes is the same as the number of first positioning pins 213 and their positions correspond one-to-one. The first positioning pins 213 are used to be inserted and engaged with the first positioning holes.

[0069] When it is necessary to close the cover plate 220 onto the base plate 210, the first positioning hole of the cover plate 220 can be aligned with the first positioning pin 213 of the base plate 210. Then, the cover plate 220 is lowered, and the positioning of the cover plate 220 is achieved by the insertion and cooperation of the first positioning pin 213 and the first positioning hole, so as to ensure the positioning accuracy of the ejector pin assembly 240 and the corresponding pin row 012.

[0070] Specifically, by using the insertion and engagement of the first positioning pin 213 with the first positioning hole to position the cover plate 220, the positioning accuracy of the pin assembly 240 on the cover plate 220 and the pin row 012 on the inertial measurement unit 010 can be guaranteed to be within 0.1mm.

[0071] In other embodiments, the first positioning pin 213 can be disposed on the cover plate 220, and the first positioning hole can be disposed on the base plate 210. The first positioning pin 213 and the first positioning hole can also be used to position the cover plate 220, thereby ensuring the positioning accuracy of the ejector pin assembly 240 and the pin row 012.

[0072] In this embodiment, there are four first positioning pins 213, and correspondingly, there are also four first positioning holes.

[0073] Please continue to refer to Figure 3 In this embodiment, the bottom wall of the receiving groove 211 is provided with a first protective pad 214, and the side of the cover plate 220 facing the bottom plate 210 is provided with a second protective pad (not shown in the figure), and the second protective pad is opposite to the first protective pad 214.

[0074] The aforementioned first protective pad 214 and second protective pad can provide buffer protection and surface protection for the inertial measurement unit 010 during the process of the cover plate 220 closing to the bottom plate 210, preventing bump and impact damage to the inertial measurement unit 010.

[0075] Specifically, the first protective pad 214 can be fixed to the bottom wall of the receiving groove 211 by adhesive bonding. Similarly, the second protective pad can be fixed to the side of the cover plate 220 facing the bottom plate 210 by adhesive bonding. The first protective pad 214 and the second protective pad can be made of silicone.

[0076] In this embodiment, the base plate 210 has 10 receiving slots 211, that is, one calibration disk 200 can simultaneously accommodate 10 inertial measurement units 010.

[0077] Please continue to refer to Figure 3 In this embodiment, the sidewall of the receiving groove 211 is inclined near the groove opening to guide the inertial measurement unit 010 into the receiving groove 211.

[0078] This setup ensures smooth installation of the inertial measurement unit 010 in the receiving slot 211, reducing wear on the inertial measurement unit 010 and improving installation efficiency.

[0079] Please continue to refer to Figure 1 and Figure 2 In this embodiment, the cover plate 220 is provided with a plurality of second positioning pins 221 arranged in a dispersed manner, and the back plate 120 is provided with a plurality of second positioning holes 121. The number of second positioning holes 121 is the same as the number of second positioning pins 221 and their positions correspond one-to-one. The second positioning pins 221 are used to insert and cooperate with the second positioning holes 121.

[0080] As the calibration disk 200 enters the calibration frame 100 through the front opening 110, the second positioning pin 221 located on the cover plate 220 will be inserted into the second positioning hole 121 opened in the back plate 120 to position the calibration disk 200, thereby ensuring the positioning accuracy of the moving side connector 250 and the fixed side connector 130 located on the back plate 120, and thus improving the connection reliability of the moving side connector 250 and the fixed side connector 130.

[0081] Specifically, there are two second positioning pins 221, and correspondingly, there are also two second positioning holes 121. This arrangement ensures that the positioning accuracy of the moving-side connector 250 and the fixed-side connector 130 is within 0.1mm.

[0082] In other embodiments, the second positioning pin 221 can be disposed on the back plate 120, and the second positioning hole 121 can be disposed on the cover plate 220. Similarly, during the movement of the calibration plate 200, the positioning accuracy of the moving side connector 250 and the fixed side connector 130 can be ensured by the insertion and cooperation of the second positioning pin 221 and the second positioning hole 121.

[0083] Please continue to refer to Figure 1 In this embodiment, the calibration device may further include a turntable mounting surface 400. Specifically, the turntable mounting surface 400 is fixedly disposed at the bottom of the calibration frame 100, and the turntable mounting surface 400 is provided with a plurality of connection holes.

[0084] The turntable mounting surface 400 is designed to facilitate the installation of the calibration device onto the rotating device, enabling calibration testing of the inertial measurement unit 010 during rotation. The connection holes in the turntable mounting surface 400 not only facilitate the fixed connection of the calibration frame 100 to it, but also facilitate the fixing of the turntable mounting surface 400 to the rotating device.

[0085] The calibration device is used as follows: When preparing to calibrate the inertial measurement unit 010, keep the pin header 012 of the inertial measurement unit 010 facing upwards, align the mounting positioning holes 011 at the four corners of the inertial measurement unit 010 with the pointed pins 212 of the receiving groove 211 respectively, and further place it into the receiving groove 211; after all the inertial measurement units 010 are placed into the corresponding receiving grooves 211, align the first positioning hole provided on the cover plate 220 with the first positioning hole provided on the base plate 210. With the positioning pins 213 aligned, the cover plate 220 is placed on the base plate 210. At this point, a gap exists between the cover plate 220 and the base plate 210, allowing the weight of the cover plate 220 to be evenly pressed onto each inertial measurement unit 010. The ejector pin assembly 240 on the cover plate 220 rests precisely on the pin row 012 of the inertial measurement unit 010. A spring inside the ejector pin assembly 240 slightly contracts to apply a small pressure to the pin row 012, ensuring a tight fit between the ejector pin assembly 240 and the pin row 012. This completes the assembly of the inertial measurement unit 010 on the calibration disk 200.

[0086] The base plate 210 supporting the calibration plate 200 is pushed into the calibration frame 100 through the front opening 110 along the first guide rail 160 and the second guide rail 170. As the calibration plate 200 gradually enters, the guide slope 180 at the ends of the first guide rail 160 and the second guide rail 170 provides coarse guidance to the calibration plate 200 until the two second positioning pins 221 provided on the cover plate 220 are respectively inserted into the two second positioning holes 121 opened on the back plate 120, thereby achieving the positioning of the calibration plate 200 and ensuring the positioning accuracy of the moving side connector 250 and the fixed side connector 130. When the circuit board 230 detects and stabilizes the voltage signal received from the movable side connector 250, it controls the electromagnets 310 on the first guide rail 160 and the second guide rail 170 to generate attraction, tightly attracting the ferromagnetic adsorption parts 320 on both sides of the cover plate 220, thus locking the calibration disk 200. Simultaneously, the circuit board 230 also controls the push rods of the first electric push rod 330 and the second electric push rod 340 to extend into the first locking hole 141 on the first side wall 140 and the second locking hole 151 on the second side wall 150, forming a latching state and further securing the calibration disk 200. After calibration is completed, the circuit board 230 controls the electromagnets 310 to de-energize and the push rods of the first electric push rod 330 and the second electric push rod 340 to retract, allowing the calibration disk 200 to be pulled out from the front opening 110.

[0087] In this calibration device, each calibration disk 200 is mounted on a 250mm×230mm base plate 210, which can calibrate 10 44mm×48mm inertial measurement units 010. Considering automated production, the 360mm high calibration frame 100 can simultaneously install 4 sets of calibration disks 200. If the automated production is simplified, the 360mm high calibration frame 100 can simultaneously install 6 to 7 sets of calibration disks 200. Furthermore, the inertial measurement units 010 do not need to be assembled and disassembled one by one, and the calibration disks 200 do not need to be assembled and disassembled either. Compared with the traditional single-station solution, the efficiency can be improved by 5 to 8 times.

[0088] It should be noted that in this embodiment, after the calibration device is connected to the turntable via the turntable mounting surface 400, how to test each inertial measurement unit 010 is something that those skilled in the art can obtain based on existing technology. This embodiment does not improve on this, so it will not be described in detail here.

[0089] It should also be noted that in this embodiment, the data communication of each calibration disk 200 can be achieved not only through Ethernet, but also through other communication methods such as CAN bus and WiFi wireless communication.

[0090] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the present invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

[0091] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0092] In the above embodiments, descriptions of directions such as "up", "down", and "side" are based on the accompanying drawings.

[0093] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A calibration device for an inertial measurement unit, characterized in that, The system includes a calibration frame (100) and a calibration disk (200) detachably mounted on the calibration frame (100). The calibration disk (200) includes a base plate (210), a cover plate (220), a circuit board (230), and a pin assembly (240). The base plate (210) has multiple receiving slots (211) for accommodating an inertial measurement unit (010), which are distributed on the base plate (210). The pins (012) of the inertial measurement unit (010) face the slots away from the receiving slots (211). The bottom wall is exposed; the circuit board (230) and the ejector pin assembly (240) are both disposed on the cover plate (220). The number of ejector pin assemblies (240) is the same as the number of receiving grooves (211) and their positions correspond. In the closed state of the cover plate (220) and the bottom plate (210), there is a gap between the cover plate (220) and the bottom plate (210). The ejector pin assembly (240) is pressed against the row of pins (012) of the corresponding receiving groove (211). The ejector pin assembly (240) is electrically connected to the circuit board (230).

2. The calibration device according to claim 1, characterized in that, The calibration frame (100) has a front opening (110) and a back plate (120) opposite to the front opening (110), forming an installation space for mounting a calibration disk (200) between the front opening (110) and the back plate (120); a fixed-side connector (130) is provided on the side of the back plate (120) facing the installation space, and a movable-side connector (250) electrically connected to the circuit board (230) is provided on the cover plate (220), the movable-side connector (250) is configured to electrically connect to the fixed-side connector (130) after the calibration disk (200) is installed in place, and the circuit board (230) is used to obtain the electrical signal of the fixed-side connector (130) through the movable-side connector (250).

3. The calibration device according to claim 2, characterized in that, The calibration device further includes a locking component electrically connected to the circuit board (230), the locking component being configured to lock the calibration disk (200) to the calibration frame (100) after the calibration disk (200) is installed in place.

4. The calibration device according to claim 3, characterized in that, The locking assembly includes an electromagnet (310) and a ferromagnetic adsorption element (320) used in conjunction with the electromagnet (310). One of the electromagnet (310) and the ferromagnetic adsorption element (320) is disposed in the mounting space, and the other of the electromagnet (310) and the ferromagnetic adsorption element (320) is disposed in the calibration disk (200). The electromagnet (310) is electrically connected to the circuit board (230).

5. The calibration device according to claim 4, characterized in that, The calibration frame (100) further includes a first sidewall (140) and a second sidewall (150) respectively disposed on both sides of the front opening (110). The sidewall (140) facing the installation space is provided with a plurality of first guide rails (160) arranged at intervals in the vertical direction. The sidewall (150) facing the installation space is provided with a plurality of second guide rails (170) arranged at intervals in the vertical direction. The plurality of second guide rails (170) correspond one-to-one with the plurality of first guide rails (160). The base plate (210) is removably installed in the installation space through the first guide rails (160) and the second guide rails (170). The electromagnets (310) are installed on both the first guide rails (160) and the second guide rails (170). The ferromagnetic adsorption component (320) is installed on the cover plate (220).

6. The calibration device according to claim 5, characterized in that, Both the first guide rail (160) and the second guide rail (170) have a guide ramp (180) at one end near the front opening (110), and the guide ramp (180) extends upward along the direction of the calibration plate (200) into the installation space.

7. The calibration device according to claim 5, characterized in that, The locking assembly further includes a first electric push rod (330) and a second electric push rod (340). The first electric push rod (330) is disposed on the part of the cover plate (220) facing the first side wall (140). The first side wall (140) has a first locking hole (141) opposite to the first electric push rod (330). The push rod part of the first electric push rod (330) can extend into or retract from the first locking hole (141). The second electric push rod (340) is disposed on the part of the cover plate (220) facing the second side wall (150). The second side wall (150) has a second locking hole (151) opposite to the second electric push rod (340). The push rod part of the second electric push rod (340) can extend into or retract from the second locking hole (151). Both the first electric push rod (330) and the second electric push rod (340) are electrically connected to the circuit board (230).

8. The calibration apparatus according to any one of claims 1-7, characterized in that, The receiving groove (211) is provided with pointed pins (212) at multiple corner positions, and the multiple pointed pins (212) are respectively used to be inserted into the multiple mounting positioning holes (011) of the inertial measurement unit (010) in a one-to-one correspondence; and / or, one of the base plate (210) and the cover plate (220) is provided with multiple dispersed first positioning pins (213), and the other of the base plate (210) and the cover plate (220) is provided with multiple first positioning holes, the number of the first positioning holes being the same as the number of the first positioning pins (213). The number of the first positioning pins (213) are the same and their positions correspond one-to-one. The first positioning pin (213) is used to be inserted into the first positioning hole. And / or, the bottom wall of the receiving groove (211) is provided with a first protective pad (214), and the side of the cover plate (220) facing the bottom plate (210) is provided with a second protective pad, which is opposite to the first protective pad (214). And / or, the side wall of the receiving groove (211) is inclined near the groove opening to guide the inertial measurement unit (010) into the receiving groove (211).

9. The calibration apparatus according to any one of claims 2-7, characterized in that, One of the cover plate (220) and the back plate (120) is provided with a plurality of second positioning pins (221) arranged in a dispersed manner, and the other of the cover plate (220) and the back plate (120) is provided with a plurality of second positioning holes (121). The number of second positioning holes (121) is the same as the number of second positioning pins (221) and their positions correspond one-to-one. The second positioning pins (221) are used to insert and cooperate with the second positioning holes (121).

10. The calibration apparatus according to any one of claims 1-7, characterized in that, The calibration device also includes a turntable mounting surface (400), which is fixedly disposed at the bottom of the calibration frame (100), and the turntable mounting surface (400) has a plurality of connection holes.

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