Motion state detection apparatus and electronic device
Patent Information
- Application Number
- CN202521680288.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-07
- Publication Date
- 2026-09-22
- Estimated Expiration
- 2035-08-07
AI Technical Summary
[0004]本申请实施例提供一种运动状态检测装置，旨在解决现有的物品运动状态检测存在检测精度低以及无法检测物品局部状态的问题
[0021]本申请的有益效果：本申请提供的运动状态检测装置包括GNSS模块，GNSS模块用于接收GNSS信号；若干MRU传感器，若干MRU传感器分散安装在被测物体上，每一MRU传感器用于测量被测物体的姿态数据；以及处理器模块，处理器模块与GNSS模块和MRU传感器连接，用于接收GNSS信号和姿态数据，并基于GNSS信号和姿态数据确定被测物体的姿态。通过GNSS模块结合若干MRU传感器可获得被测物体的局部状态，另外在通常情况下可通过GNSS模块获取GNSS信号，而在一些类似峡谷、隧道或者地下库等存在遮挡或者信号不清晰的场景中，此时GNSS信号不可用或受限，则可以通过若干MRU传感器来检测被测物体的运动状态，物品运动状态检测精度高。
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Figure CN224788951U_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of electronic equipment technology, and in particular relates to a motion state detection device and electronic equipment. Background Technology
[0002] In the use of many tools and equipment, it is necessary to detect and output status information such as forward movement, backward movement, turning, climbing, descending, tilting, rollover, speed, and position of the tools and equipment (such as automobiles, large cargo transport equipment, and electronic products). Currently, to achieve these detection functions, a variety of sensors are needed, including GNSS positioning, limit switches, differentials, attitude sensors, wheel speed sensors, lidar, and cameras.
[0003] These status detection processes require the use of multiple sensors, which can lead to increased cumulative sensor errors, resulting in larger data errors and lower detection accuracy. Furthermore, some commonly used inertial navigation solutions employ GNSS+IMU (Inertial Measurement Unit), but this approach can only reflect the overall state of the tool or object, failing to capture its local state. This can easily cause the tool or object to tilt or even create safety hazards. Utility Model Content
[0004] This application provides a motion state detection device, which aims to solve the problems of low detection accuracy and inability to detect local states of objects in existing motion state detection methods.
[0005] This application provides a motion state detection device, comprising:
[0006] GNSS module, the GNSS module is used to receive GNSS signals;
[0007] Several MRU sensors are distributed and mounted on the object under test. Each MRU sensor is used to measure the attitude data of the object under test; and
[0008] The processor module, connected to the GNSS module and MRU sensor, is used to receive GNSS signals and attitude data, and determine the attitude of the object under test based on the GNSS signals and attitude data.
[0009] Furthermore, the GNSS module includes a GNSS receiver, a first GNSS antenna, and a second GNSS antenna;
[0010] The output of the GNSS receiver is connected to the processor module, and the input of the GNSS receiver is connected to the first GNSS antenna and the second GNSS antenna.
[0011] The first GNSS antenna and the second GNSS antenna are GNSS_ANT1 and GNSS_ANT2, respectively. The first GNSS antenna and the second GNSS antenna are installed at both ends of the object being measured, and the line connecting the first GNSS antenna and the second GNSS antenna is parallel to the direction in which the object being measured travels in a straight line.
[0012] Furthermore, mounting positions are provided at the edges of the object being measured in each direction, and these mounting positions are used to mount the MRU sensor.
[0013] Furthermore, it also includes a shock-absorbing base, which is located at the mounting position, and the MRU sensor is mounted on the shock-absorbing base.
[0014] Furthermore, it also includes a circuit board, on which the processor and GNSS module are all integrated.
[0015] Furthermore, the circuit board has at least one of the following: IMU interface, antenna interface, CAN interface, UART interface, and USB interface.
[0016] Furthermore, the IMU interface, antenna interface, CAN interface, UART interface, and USB interface are either screw-on or plug-in type.
[0017] Furthermore, it also includes independent boards, with each MRU sensor mounted on an independent board;
[0018] The independent small board has a first plug-in port, and the circuit board has a second plug-in port. The second plug-in port is plugged into the first plug-in port, or the second plug-in port and the first plug-in port are connected by a cable.
[0019] Furthermore, the GNSS module and MRU sensor are configured to support real-time dynamic RTK positioning.
[0020] Secondly, this application also provides an electronic device, including the motion state detection device as described above.
[0021] The beneficial effects of this application are as follows: The motion state detection device provided by this application includes a GNSS module for receiving GNSS signals; several MRU sensors, which are distributed and installed on the object under test, each MRU sensor for measuring the attitude data of the object under test; and a processor module, which is connected to the GNSS module and the MRU sensors, for receiving GNSS signals and attitude data, and determining the attitude of the object under test based on the GNSS signals and attitude data. By combining the GNSS module with several MRU sensors, the local state of the object under test can be obtained. Furthermore, while GNSS signals can usually be obtained through the GNSS module, in scenarios such as canyons, tunnels, or underground warehouses where there is obstruction or unclear signal, GNSS signals are unavailable or limited. In such cases, the motion state of the object under test can be detected using several MRU sensors, resulting in high accuracy in motion state detection. Attached Figure Description
[0022] Figure 1 This is a schematic diagram of the module structure of one embodiment of the motion state detection device provided in this application;
[0023] Figure 2 This is a schematic diagram of the structure of a GNSS antenna in one embodiment of the motion state detection device provided in this application.
[0024] Figure 3 This is a schematic diagram of the structure of a vehicle in the prior art;
[0025] Figure 4 This is a schematic diagram of the structure of the motion state detection device provided in this application, in which the object being measured is triangular.
[0026] Figure 5 This is a schematic diagram of the quadrilateral structure of an embodiment of the motion state detection device provided in this application.
[0027] Explanation of reference numerals in the attached figures:
[0028] 100 - GNSS module, 110 - GNSS receiver, 120 - First GNSS antenna, 130 - Second GNSS antenna, 200 - MRU sensor, 300 - Processor module, 400 - Object under test. Detailed Implementation
[0029] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. Examples of embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. Furthermore, it should be understood that the specific embodiments described herein are merely for explaining this application and are not intended to limit this application.
[0030] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "left", "right", "horizontal", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0032] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0033] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0034] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference values and / or reference letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.
[0035] The motion state detection device provided in this application includes a GNSS module for receiving GNSS signals; several MRU sensors, which are distributed and installed on the object under test, each MRU sensor measuring the attitude data of the object; and a processor module connected to the GNSS module and the MRU sensors for receiving GNSS signals and attitude data, and determining the attitude of the object based on the GNSS signals and attitude data. By combining the GNSS module with the several MRU sensors, the local state of the object under test can be obtained. Furthermore, while GNSS signals can usually be acquired through the GNSS module, in scenarios with obstructions or unclear signals, such as canyons, tunnels, or underground warehouses, where GNSS signals are unavailable or limited, the motion state of the object can be detected using the several MRU sensors, resulting in high accuracy in motion state detection.
[0036] like Figures 1 to 5 As shown, this application embodiment provides a motion state detection device, including:
[0037] GNSS module 100, GNSS module 100 is used to receive GNSS signals;
[0038] Several MRU sensors 200 are distributed and mounted on the object under test 400. Each MRU sensor 200 is used to measure the attitude data of the object under test 400; and
[0039] The processor module 300 is connected to the GNSS module 100 and the MRU sensor 200 to receive GNSS signals and attitude data, and to determine the attitude of the object under test 400 based on the GNSS signals and attitude data.
[0040] The GNSS (Global Navigation Satellite System Receiver) module can receive signals from multiple global navigation satellite systems (such as GPS, GLONASS, Galileo, or BeiDou) and determine the user's location, speed, and time information by calculating the signal transmission time difference.
[0041] Optionally, the location data can be used in various location and navigation applications, such as autonomous driving, surveying and mapping, without limitation.
[0042] Optionally, the GNSS module 100 and MRU sensor 200 are configured to support real-time dynamic RTK positioning and provide positioning data with at least centimeter-level accuracy. RTK positioning uses the phase measurement of the carrier wave of a GNSS signal (e.g., for obtaining satellite position) and relies on a single reference station or interpolated virtual station to provide real-time correction (e.g., differential positioning data). In high-precision positioning applications, slight tilt or movement of the GNSS receiver 110 may affect the accuracy of the positioning data generated by the GNSS receiver 110.
[0043] The MRU (motion reference unit) sensor is a type of attitude sensor. The MRU sensor 200 is a high-performance three-dimensional motion attitude measurement system based on MEMS (Micro-Electro-Mechanical Systems) technology. It includes motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass. It obtains temperature-compensated three-dimensional attitude and orientation data through an embedded low-power ARM processor.
[0044] The processor module 300 can be an MCU (Microcontroller Unit). The processor module 300 is the main controller and its main function is data analysis and attitude calculation. It outputs the motion state information of the object. The output can use common interfaces such as CAN bus, UART, and USB to facilitate the expansion of industrial and consumer functions.
[0045] In implementation, the processor module 300, GNSS module 100, and several MRU sensors 200 are all mounted on the object under test 400. For example, the processor module 300, GNSS module 100, and several MRU sensors 200 are used in electronic equipment, which is then installed on the object under test 400. The object under test 400 refers to a mobile device, which includes, but is not limited to, automobiles, engineering vehicles, drones, and robotic vacuum cleaners.
[0046] During use, the GNSS module 100 needs to receive signals from multiple satellites clearly and without obstruction. In scenarios such as urban canyons, tunnels, and underground parking garages, the signal weakens or is even completely lost. In such cases, the motion state of the object 400 can be deduced by measuring its own angular velocity and linear acceleration using the MRU sensor 200. Furthermore, the three-axis electronic compass can indicate the direction of the object's motion. It does not rely on any external signal source, so the MRU sensor 200 can operate independently in environments where GNSS signals are unavailable or limited.
[0047] Since the measurement error of the MRU sensor 200 accumulates over time, the calculated position and attitude errors increase rapidly. However, the absolute position and velocity information provided by the GNSS module 100 can continuously correct the accumulated error of the IMU sensor after the GNSS signal is recovered, which significantly improves the accuracy of the MRU sensor 200 in the short term and the long-term stability.
[0048] In some embodiments, the GNSS module 100 includes a GNSS receiver 110, a first GNSS antenna 120, and a second GNSS antenna 130;
[0049] The output of the GNSS receiver 110 is connected to the processor module 300, and the input of the GNSS receiver 110 is connected to the first GNSS antenna 120 and the second GNSS antenna 130.
[0050] The first GNSS antenna 120 and the second GNSS antenna 130 are respectively installed at both ends of the object under test 400, and the line connecting the first GNSS antenna 120 and the second GNSS antenna 130 is parallel to the direction in which the object under test 400 travels in a straight line.
[0051] By setting the positional relationship between the two GNSS antennas as described above, as follows: Figure 2 As shown, the head and tail of the measured object 400 can be identified, thereby determining the direction of motion of the measured object 400. Figure 2 The direction pointed to by the arrow is the direction of motion of the object being measured (40°).
[0052] In some embodiments, mounting positions are provided at the edges of the object under test 400 in each direction, and the mounting positions are used to mount the MRU sensor 200.
[0053] By mounting the MRU sensor 200 on the edge of the object under test 400 and distributing it in various directions of the object under test 400, the local pose of the object under test 400 can be detected better.
[0054] In traditional object attitude detection schemes, a single IMU (Inertial Measurement Unit) is commonly used. This single IMU is typically installed at the center of gravity of the object being measured (400). This means the IMU can only detect the overall state of the object and cannot reflect its local state. For example, consider... Figure 3 Taking the vehicle shown as an example, Figure 3 Points a, b, c, and d represent the four corners of the vehicle. Generally, a single IMU is installed at one point in area A at the front of the vehicle. At this time, the ad line position far from the IMU position, when the tilt angle is small, is better than the IMU's own sensitivity or installation problem. It cannot detect that the ad line position has tilted. When the tilt is detected, the ad line position has tilted too much.
[0055] This application provides several MRU sensors 200 for confirming the attitude state of the object under test 400. The number of MRU sensors 200 can be specifically set according to actual usage requirements and the shape and structure of the object under test 400. For example, taking the object under test 400 as a triangular object, three MRU sensors 200 are required. Figure 4 The MRU_1, MRU_2, and MRU_3 are shown. Similarly, when the object being measured is a quadrilateral or larger shape, at least four MRU sensors 200 should be used, such as... Figure 5 The MRU_1, MRU_2, MRU_3, MRU_4, and even MRU_5 shown are not limited. The MRU sensors 200 are distributed around the object under test 400 and can detect the attitude data around the object under test 400 at any time. After data integration by the MCU, the fine attitude of the entire object under test 400 can be analyzed.
[0056] It should be noted that when the measured object 400 is described as a triangle or quadrilateral, it means that the horizontal projection of the measured object 400 forms a triangle or quadrilateral. In addition, the description of the measured object 400 as a triangle or quadrilateral is an example of the embodiments of this application and not a specific limitation of this application. In some other embodiments, the measured object 400 may also be other shapes, which are not limited.
[0057] The motion state detection device provided in this application includes a GNSS module 100 for receiving GNSS signals; several MRU sensors 200, which are distributed and installed on the object under test 400, each MRU sensor 200 measuring the attitude data of the object under test 400; and a processor module 300 connected to the GNSS module 100 and the MRU sensors 200 for receiving GNSS signals and attitude data, and determining the attitude of the object under test 400 based on the GNSS signals and attitude data. The local state of the object under test 400 can be obtained by combining the GNSS module 100 with the several MRU sensors 200. In addition, while GNSS signals can usually be obtained through the GNSS module 100, in scenarios with obstructions or unclear signals, such as canyons, tunnels, or underground warehouses, where GNSS signals are unavailable or limited, the motion state of the object under test 400 can be detected by the several MRU sensors 200, resulting in high accuracy in motion state detection.
[0058] Optionally, a vibration damping base (not shown) is also included, which is located at the mounting position, and the MRU sensor 200 is mounted on the vibration damping base. By mounting the MRU sensor 200 on the vibration damping base, a rigid connection is achieved between the MRU sensor 200 and the object being measured 400, which can effectively reduce mechanical vibration and ensure detection accuracy.
[0059] In some embodiments, a circuit board (not shown) is also included, on which both the processor and the GNSS module 100 are integrated. The circuit board can be a PCB (Printed Circuit Board) or other circuit boards. The processor and the GNSS module 100 are integrated on a single circuit board through a modular design, which facilitates installation on the object under test 400 and also facilitates connection and assembly with other MRU sensors 200.
[0060] Similarly, each MRU sensor 200 can also adopt a modular design, for example, providing several independent small boards (not shown in the figure). Each MRU sensor 200 is set on an independent small board. The independent small board has a first plug-in port, and the circuit board has a second plug-in port. The second plug-in port is plugged into the first plug-in port, or the second plug-in port and the first plug-in port are connected by a cable, which facilitates the assembly and connection between the modules.
[0061] Optionally, the circuit board has at least one of an IMU interface, an antenna interface, a CAN interface, a UART interface, and a USB interface. The IMU interface, antenna interface, CAN interface, UART interface, and USB interface are all connected to the MCU to realize data transmission and facilitate expansion.
[0062] As one possible implementation, the IMU interface, antenna interface, CAN interface, UART interface, and USB interface are either screw-on or plug-in type, which facilitates direct plug-in and plug-out operation.
[0063] Secondly, this application also provides an electronic device, including the motion state detection device as described above.
[0064] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the structure and implementation principle of the electronic device described above can be referred to the corresponding structure and implementation principle in the foregoing embodiments, and will not be repeated here.
[0065] The motion state detection device provided in this application includes a GNSS module 100 for receiving GNSS signals; several MRU sensors 200, which are distributed and installed on the object under test 400, each MRU sensor 200 measuring the attitude data of the object under test 400; and a processor module 300 connected to the GNSS module 100 and the MRU sensors 200 for receiving GNSS signals and attitude data, and determining the attitude of the object under test 400 based on the GNSS signals and attitude data. The local state of the object under test 400 can be obtained by combining the GNSS module 100 with the several MRU sensors 200. In addition, while GNSS signals can usually be obtained through the GNSS module 100, in scenarios with obstructions or unclear signals, such as canyons, tunnels, or underground warehouses, where GNSS signals are unavailable or limited, the motion state of the object under test 400 can be detected by the several MRU sensors 200, resulting in high accuracy in motion state detection.
[0066] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. A motion state detection device, characterized in that, include: GNSS module, the GNSS module being used to receive GNSS signals; A plurality of MRU sensors are distributed and mounted on the object under test, and each MRU sensor is used to measure the attitude data of the object under test. as well as A processor module, connected to the GNSS module and the MRU sensor, is used to receive the GNSS signal and the attitude data, and determine the attitude of the object under test based on the GNSS signal and the attitude data.
2. The motion state detection device as described in claim 1, characterized in that, The GNSS module includes a GNSS receiver, a first GNSS antenna, and a second GNSS antenna. The output of the GNSS receiver is connected to the processor module, and the input of the GNSS receiver is connected to the first GNSS antenna and the second GNSS antenna. The first GNSS antenna and the second GNSS antenna are respectively installed at both ends of the object under test, and the line connecting the first GNSS antenna and the second GNSS antenna is parallel to the direction in which the object under test travels in a straight line.
3. The motion state detection device as described in claim 1, characterized in that, The object being measured has mounting positions at its edges in each direction, which are used to mount the MRU sensor.
4. The motion state detection device as described in claim 3, characterized in that, It also includes a shock-absorbing base, which is disposed at the mounting position, and the MRU sensor is mounted on the shock-absorbing base.
5. The motion state detection device as described in claim 1, characterized in that, It also includes a circuit board, on which both the processor and the GNSS module are integrated.
6. The motion state detection device as described in claim 5, characterized in that, The circuit board has at least one of the following: IMU interface, antenna interface, CAN interface, UART interface, and USB interface.
7. The motion state detection device as described in claim 6, characterized in that, The IMU interface, the antenna interface, the CAN interface, the UART interface, and the USB interface are either screw-on or plug-in type.
8. The motion state detection device as described in claim 5, characterized in that, It also includes an independent board, with each of the MRU sensors mounted on one of the independent boards; The independent small board is provided with a first plug-in port, and the circuit board is provided with a second plug-in port. The second plug-in port is plugged into the first plug-in port, or the second plug-in port and the first plug-in port are connected by a cable.
9. The motion state detection device as described in any one of claims 1 to 8, characterized in that, The GNSS module and the MRU sensor are configured to support real-time dynamic RTK positioning.
10. An electronic device, characterized in that, Includes the motion state detection device as described in any one of claims 1 to 9.