CN102419174B - Two-dimensional/three-dimensional angular velocity detection devices as well as angular velocity detection methods and attitude sensing devices of detection devices - Google Patents
Two-dimensional/three-dimensional angular velocity detection devices as well as angular velocity detection methods and attitude sensing devices of detection devices Download PDFInfo
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- CN102419174B CN102419174B CN201110234403.9A CN201110234403A CN102419174B CN 102419174 B CN102419174 B CN 102419174B CN 201110234403 A CN201110234403 A CN 201110234403A CN 102419174 B CN102419174 B CN 102419174B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5607—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using vibrating tuning forks
Abstract
The invention discloses two-dimensional/three-dimensional angular velocity detection devices as well as angular velocity detection methods and attitude sensing devices of the detection devices. The two-dimensional angular velocity detection device comprises two gyroscopes, wherein the two gyroscopes respectively comprise a detection arm, a first actuating arm and a second actuating arm arranged at two sides of the detection arm, a connecting part connecting the centers of the detection arm, the first actuating arm and the second actuating arm, a drive circuit for driving the vibration of the first actuating arm and the second actuating arm, and a detection circuit for detecting the output voltage of the corresponding detection arm, wherein the output voltage of each detection arm is associated with the angular velocity of a plane on which the gyroscopes are located; the detection arms of the two gyroscopes are mutually perpendicular; when the gyroscopes are static, the first actuating arm and the second actuating arms vibrate relatively and the detection arms are static; when the gyroscopes move, the first actuating arm, the second actuating arm and the detection arm all vibrate in the same direction; the first actuating arm and the second actuating arm vibrate at working frequencies due to the drive circuit; and the working frequencies of the two gyroscopes are different. According to the invention, the detection accuracy is improved.
Description
Technical field
The present invention relates to angular velocity detection technical field, particularly a kind of two-dimensional/three-dimensional angular speed detecting apparatus, method, attitude sensing equipment.
Background technology
At present, the location great majority of computer mouse pointer all rely on optical sensor or laser sensor to realize, and these sensors, all based on physical optics principle, make sensor need to rely on the platforms such as desktop to realize.But along with the day by day raising of people to working environment and simple operation requirement, user wishes that mouse can depart from the dependence to desktop, upgrades to space mouse, can realize suspension three-dimensional operation, the wrist of only need gently waving, pointer can arbitrarily move, and easily controls apparatus such as computer.Therefore, arise at the historic moment based on gyrostatic space mouse.
Gyroscope technology has experienced the development of quite a while, and classical gyroscope has the rotor of rigid body of High Rotation Speed, relies on the performance of self can catch the attitude of self.It is for marine navigation the earliest, is also widely used afterwards in aerospace cause.Gyrostatic ultimate principle is while using objects at high speed rotation, and powerful angular momentum makes the turning axle stable character of pointing to a direction always, manufacturing directed instrument out.Point to when inconsistent when direction of motion and rotating shaft, can produce corresponding drift angle, then according to the relation of drift angle and motion, movement locus and the position of movement parts up till now, thereby realize the function of location.
Traditional gyroscope is an object that not stall is moving, utilizes conservation of angular momentum principle, and the sensing of its rotating shaft does not change with its support rotation of carrying.The revolvable object not supporting moving so not stall to be processed in silicon chip substrate with micro mechanical technology, obviously extremely difficult.For this reason, microelectromechanical systems (Micro-electromechanical Systems, MEMS) gyroscope utilizes Coriolis force (Coriolisforce) to realize the miniaturization of equipment on the basis based on traditional gyroscope characteristic.Gori Ao Lili, coriolis force that Coriolis force is namely often said, it is that it comes from the inertia that object of which movement has to carrying out straight-line particle in rotating system because inertia is described with respect to the one of the straight-line skew of rotating system generation.
A kind of space mouse is provided in the Chinese patent application that patent publication No. is CN102043475A, has comprised: body, X-axis gyroscope, Y-axis gyroscope, main process chip, signal transmitter unit; On described body, be provided with mouse left, center, right key, slider bar, signal launch window, described slider bar can send instruction to main process chip X-axis gyroscope, the gyrostatic mobile message of Y-axis are finely tuned; Described mouse left, center, right key can send instruction to main process chip X-axis gyroscope, the gyrostatic mobile message of Y-axis are confirmed and processed; Then, confirmation/process information, through main process chip processing, sends firing order to described transmitter unit; Described transmitter unit is arranged on signal launch window inside, transmits and sends from described signal launch window.
Above-mentioned gyroscope is single axis gyroscope, and in order to gather the angular velocity information of two planes in space, two gyroscopes need to be set: X-axis gyroscope and Y-axis gyroscope, and need to place vertical with Y-axis gyroscope X-axis gyroscope.
Think example with X-axis gyro, when X-axis gyroscope rotates, have in the time that output shaft (X-axis) angular velocity (rad/s) is inputted, in X-direction, be subject to Coriolis force effect and make gyroscope produce vibration in this direction, now the displacement X (t) of gyroscope in X-axis is:
X(t)＝Acos(ω
zt-Φ
c)
Wherein:
X
0for the peak swing of vibration input, f
0for the resonance frequency of output shaft, Q
0for mechanical quality factor, ω
zfor the angular velocity of vibration input, A is the vibration amplitude of gyroscope on output shaft, Φ
cfor gyrostatic initial phase, f
cfor the resonance frequency of vibrating shaft, ω
cfor the angular velocity of vibrating shaft.
In addition, due to piezoelectric effect, at the axial output voltage of output, displacement X's gyroscope (t) on output shaft is directly proportional to gyroscope, therefore gyroscope is just proportional with peak swing and the input angular velocity of vibration input at the axial output voltage of output, is the function of vibrating shaft and output shaft resonance frequency simultaneously.
Existing angular speed detecting apparatus and attitude sensing equipment can be by gyroscope the output voltage on output shaft obtain the angular velocity information of this plane.
But, in described the comprising in two or more gyrostatic angular speed detecting apparatus and attitude sensing equipment such as described Chinese patent application, if gyrostatic frequency of operation (that is to say the resonance frequency of gyroscope vibrating shaft) is identical, two gyrostatic vibrating shafts easily produce resonance effect in the time vibrating with same frequency so, and described resonance effect can affect the accuracy of detection of angular speed detecting apparatus and attitude sensing equipment.
Summary of the invention
The problem that the present invention solves is to provide a kind of two-dimensional/three-dimensional angular speed detecting apparatus, method, attitude sensing equipment, has higher accuracy of detection.
For addressing the above problem, the invention provides a kind of two-dimentional angular speed detecting apparatus, comprising: two gyroscopes, described two gyroscopes comprise respectively: detection arm; Be positioned at the first actuating arm and second actuating arm of described detection arm both sides; Connect the connecting portion at described detection arm center, the first actuating arm center and the second actuating arm center; Driving circuit, for driving described the first actuating arm and described the second actuating arm to vibrate; Testing circuit, for detection of the output voltage of described detection arm, the output voltage of described detection arm is relevant to the angular velocity of gyroscope place plane; Described two gyrostatic detection arm are mutually vertical; When described gyroscope is static, the first actuating arm and the second actuating arm Relative Vibration, detection arm is static; When described Motions of Gyroscope, the first actuating arm, the second actuating arm and detection arm be vibration in the same way all, and wherein, described driving circuit makes the first actuating arm and the second actuating arm vibrate with frequency of operation; Described two gyrostatic frequency of operation are not identical.
Alternatively, described testing circuit comprises: data collecting card, is connected with described detection arm, for exporting the voltage analog value in described detection arm; Analog to digital converter, is connected with described data collecting card, for described voltage analog value is converted to voltage digital value.
Alternatively, described testing circuit comprises: data collecting card, is connected with described detection arm, for exporting the voltage analog value in described detection arm; Amplifier, is connected with described data collecting card, amplifies processing for the voltage analog value in described detection arm; Low-pass filter, is connected with described amplifier, for carrying out filtering processing to amplifying voltage analog value after treatment, and sends filtered voltage analog value to described analog to digital converter; Analog to digital converter, is connected with described low-pass filter, for filtered described voltage analog value is converted to voltage digital value.
Alternatively, described driving circuit makes the vibration frequency of each described gyrostatic the first actuating arm and the second actuating arm all identical.
Alternatively, described driving circuit makes the vibration frequency of described gyrostatic the first actuating arm and the second actuating arm in the scope of 40KHz～60KHz.
Alternatively, described gyrostatic material is crystal.
Alternatively, described two gyroscopes do not contact.
Alternatively, described two gyroscopes are fully or partially contacted.
Alternatively, also comprise: switch, for controlling the opening and closing of described driving circuit, when described driving circuit is opened, described two-dimentional angular speed detecting apparatus is normally worked; When described driving circuit cuts out, described two-dimentional angular speed detecting apparatus is not worked.
Correspondingly, the present invention also provides a kind of two-dimensional attitude awareness apparatus that comprises described two-dimentional angular speed detecting apparatus.
Alternatively, described two-dimensional attitude awareness apparatus is space mouse.
Alternatively, described two-dimentional angular speed detecting apparatus is arranged on the front end of described two-dimensional attitude awareness apparatus.
Correspondingly, the present invention also provides the two-dimentional angular speed detecting apparatus described in a kind of use to detect the method for angular velocity, comprise: for gyroscope described in each, drive respectively the first actuating arm and the second actuating arm to vibrate, described the first actuating arm and the second actuating arm are vibrated under frequency of operation, wherein, two gyrostatic frequency of operation are not identical; Obtain its reference voltage, described reference voltage is the output voltage of described gyroscope detection arm when static; The output voltage of detection arm while detecting described Motions of Gyroscope; Output voltage according to reference voltage during with described Motions of Gyroscope obtains angular velocity corresponding to described gyroscope place plane, and difference and the described angular velocity of output voltage when wherein said Motions of Gyroscope and described reference voltage are linear.
Correspondingly, the present invention also provides a kind of three dimensional angular speed detector, comprising: three gyroscopes, and described three gyroscopes comprise respectively: detection arm; Be positioned at the first actuating arm and second actuating arm of described detection arm both sides; Connect the connecting portion at described detection arm center, the first actuating arm center and the second actuating arm center; Driving circuit, for driving described the first actuating arm and described the second actuating arm to vibrate; Testing circuit, for detection of the output voltage of described detection arm, the output voltage of described detection arm is relevant to the angular velocity of gyroscope place plane; Described three gyrostatic detection arm are mutually vertical respectively; When described gyroscope is static, the first actuating arm and the second actuating arm Relative Vibration, detection arm is static; When described Motions of Gyroscope, the first actuating arm, the second actuating arm and detection arm be vibration in the same way all, and wherein, described driving circuit makes the first actuating arm and the second actuating arm vibrate with frequency of operation; Described three gyrostatic frequency of operation are different.
Correspondingly, the present invention also provides a kind of 3 d pose awareness apparatus of described three dimensional angular speed detector.
Alternatively, described three dimensional angular speed detector is arranged on the front end of described 3 d pose awareness apparatus.
Correspondingly, the present invention also provides the three dimensional angular speed detector described in a kind of use to detect the method for angular velocity, comprise: for gyroscope described in each, drive respectively the first actuating arm and the second actuating arm to vibrate, described the first actuating arm and the second actuating arm are vibrated under frequency of operation, and wherein three gyrostatic frequency of operation are different; Obtain its reference voltage, described reference voltage is the output voltage of described gyroscope detection arm when static; The output voltage of detection arm while detecting described Motions of Gyroscope; Output voltage according to reference voltage during with described Motions of Gyroscope obtains angular velocity corresponding to described gyroscope place plane, and difference and the described angular velocity of output voltage when wherein said Motions of Gyroscope and described reference voltage are linear.
Compared with prior art, the present invention has the following advantages:
Described driving circuit makes the first actuating arm and the second actuating arm vibrate with frequency of operation, each gyrostatic frequency of operation is not identical, can avoid like this producing resonance effect between each gyroscope, avoid each gyrostatic the first actuating arm and the second actuating arm are subject to resonant enhance Oscillation Amplitude to become large and make the Oscillation Amplitude of detection arm become large, thereby can avoid increasing the output voltage of detection arm, and then improve accuracy of detection;
Described driving circuit makes the first actuating arm and the second actuating arm vibrate with frequency of operation, each gyrostatic frequency of operation is not identical, can between each gyroscope, produce and avoid resonance effect like this, avoid each gyrostatic the first actuating arm and the second actuating arm to be subject to resonant enhance Oscillation Amplitude to become large and make the Oscillation Amplitude of detection arm become large, preventing that the first actuating arm, the second actuating arm, detection arm from working and reducing the life-span under larger vibration amplitude.
Accompanying drawing explanation
Fig. 1 is the structural representation of the two-dimentional angular speed detecting apparatus of first embodiment of the invention;
Fig. 2 is the structural representation of the two-dimentional angular speed detecting apparatus of second embodiment of the invention;
Fig. 3 is the structural representation of the two-dimentional angular speed detecting apparatus of third embodiment of the invention;
Fig. 4 is the structural representation of the two-dimentional angular speed detecting apparatus of fourth embodiment of the invention;
Fig. 5 is the structural representation of the two-dimentional angular speed detecting apparatus of fifth embodiment of the invention;
Fig. 6 is the schematic diagram that is related between the output voltage of detection arm in the two-dimentional angular speed detecting apparatus of the embodiment of the present invention and angular velocity.
Embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.
Set forth in the following description a lot of details so that fully understand the present invention, implemented but the present invention can also adopt other to be different from alternate manner described here, therefore the present invention is not subject to the restriction of following public specific embodiment.
Be elaborated below in conjunction with accompanying drawing.
Shown in Figure 1, for addressing the above problem, the embodiment of the present invention provides a kind of two-dimentional angular speed detecting apparatus, comprising: the first gyroscope and the second gyroscope, wherein:
Described the first gyroscope comprises: the first detection arm 110; Be positioned at the first actuating arm 120 and second actuating arm 130 of described the first detection arm 110 both sides; Connect first connecting portion 140 at described the first detection arm 110 centers and described the first actuating arm 120 centers; Connect second connecting portion 150 at described the first detection arm 110 centers and described the second actuating arm 130 centers; The first driving circuit (not shown), connects described the first actuating arm 120 and described the second actuating arm 130, for driving described the first actuating arm 120 and described the second actuating arm 130 to vibrate; The first testing circuit (not shown), connects described the first detection arm 110, and for detection of the output voltage of described the first detection arm 110, the output voltage of described the first detection arm 110 is relevant to the angular velocity of the first gyroscope place plane;
Described the second gyroscope comprises: the second detection arm 210; Be positioned at the 3rd actuating arm 220 and 4 wheel driven swing arm 230 of described the second detection arm 210 both sides; Connect the 3rd connecting portion 240 at described the second detection arm 210 centers and described the 3rd actuating arm 220 centers; Connect the 4th connecting portion 250 at described the second detection arm 210 centers and described 4 wheel driven swing arm 230 centers; The second driving circuit (not shown), connects described the 3rd actuating arm 220 and described 4 wheel driven swing arm 230, for driving described the 3rd actuating arm 220 and described 4 wheel driven swing arm 230 to vibrate; The second testing circuit (not shown), connects described the second detection arm 210, and for detection of the output voltage of described the second detection arm 210, the output voltage of described the second detection arm 210 is relevant to the angular velocity of the second gyroscope place plane;
Described the first gyroscope is positioned on surface level, and described the second gyroscope is arranged on vertical plane, and described the first detection arm 110 is vertical with described the second detection arm 210.
Described the first gyroscope is identical with described the second gyrostatic structure, is all single shaft MEMS gyroscope.In each gyroscope, the vibration frequency of two actuating arms is identical.Described the first actuating arm 120, described the second actuating arm 130 are all parallel with described the first detection arm 110, and in order to save space, described the first actuating arm 120, described the second actuating arm 130 and described the first detection arm 110 equal in length.Similarly, described the 3rd actuating arm 220, described 4 wheel driven swing arm 230 are all parallel with described the second detection arm 210, described the 3rd actuating arm 220, described 4 wheel driven swing arm 230 and described the second detection arm 210 equal in length.Further, the length of described the first detection arm 110 and described the second detection arm 210 can be identical, also can be different.
Common gyrostatic frequency of operation refers to the vibration frequency of actuating arm in gyroscope, and in the present invention, the first gyroscope is not identical with the second gyrostatic frequency of operation, to avoid resonance effect, and then improves the accuracy of detection of two-dimentional angular speed detecting apparatus.Particularly, the first driving circuit makes the first actuating arm 120 identical with the vibration frequency of the second actuating arm 130, is designated as the first vibration frequency.The second driving circuit makes the 3rd actuating arm 220 identical with the vibration frequency of 4 wheel driven swing arm 230, is designated as the second vibration frequency.Wherein, described the first vibration frequency is different from described the second vibration frequency, so just can avoid two gyroscopes to resonate, thereby avoid the first actuating arm 120 and the second actuating arm 130 in the first gyroscope to be subject to resonant enhance Oscillation Amplitude to become large and increase the Oscillation Amplitude (or avoid the 3rd actuating arm 220 and 4 wheel driven swing arm 230 in the second gyroscope to be subject to resonant enhance Oscillation Amplitude to become large and increase the Oscillation Amplitude of the second detection arm 210) of the first detection arm 110, can avoid increasing the output voltage output voltage of the second detection arm 210 (or avoid increasing) of the first detection arm 110, and then the accuracy of detection that guarantees two-dimentional angular speed detecting apparatus is better.
Further, the difference of the vibration frequency of described two gyroscope actuating arms is larger, and resonant enhance is less, thereby makes accuracy of detection better.
In addition, the first gyroscope is not identical with the second gyrostatic frequency of operation, to avoid resonance effect, avoid the first actuating arm 120 and the second actuating arm 130 in the first gyroscope to be subject to resonant enhance Oscillation Amplitude to become large and increase the Oscillation Amplitude (or avoid the 3rd actuating arm 220 and 4 wheel driven swing arm 230 in the second gyroscope to be subject to resonant enhance Oscillation Amplitude to become large and increase the Oscillation Amplitude of the second detection arm 210) of the first detection arm 110, thereby prevent the first actuating arm 120, the second actuating arm 130, the first detection arm 110 is worked and is reduced life-span (or the 3rd actuating arm 220 in preventing the second gyroscope under larger vibration amplitude, 4 wheel driven swing arm 230, the second detection arm 210 is worked and is reduced the life-span under larger vibration amplitude).
In order to reduce to measure number of times, the vibration frequency of two gyrostatic actuating arms of the present embodiment is in low-frequency range.Particularly, described the first vibration frequency can be 40KHz～60KHz, and described the second vibration frequency can be also 40KHz～60KHz.For example, it is 46.5KHz that described the first driving circuit makes the vibration frequency of described first gyrostatic the first actuating arm 120 and the second actuating arm 130, and it is 50.3KHz that described the second driving circuit makes the vibration frequency of described the second gyrostatic the 3rd actuating arm 220 and 4 wheel driven swing arm 230.
When described the first gyroscope does not move, the first actuating arm 120 and the second actuating arm 130 Relative Vibrations, can eliminate mutually vibration each other by the first actuating arm 120 and the second actuating arm 130 Relative Vibrations, so remain static in the first detection arm 110 of central authorities.Because the first detection arm 110 remains static, therefore can correct measurement go out angular speed detecting apparatus and do not move in the first gyroscope place plane.Similarly, when described the second gyroscope does not move, the 3rd actuating arm 220 and 4 wheel driven swing arm 230 Relative Vibrations, can eliminate mutually vibration each other by the 3rd actuating arm 220 and 4 wheel driven swing arm 230 Relative Vibrations, so remain static in the second detection arm 210 of central authorities.
When described the first gyroscope moves, due to the effect of Coriolis force, the first detection arm 110 will up-down vibration be got up, thereby produce the output voltage that is proportional to rotational angular velocity, and the first actuating arm 120, the second actuating arm 130 can produce vibration in the same way, due to the vibration in the same way of the first actuating arm 120 and the second actuating arm 130, the first detection arm 110 of central authorities also can occur and the first actuating arm 120 and the second vibration that actuating arm 130 directions are identical, frequency is identical, and the first detection arm 110 produces and detects vibration.Similarly, when described the second gyroscope moves, due to the effect of Coriolis force, the 3rd actuating arm 220 and 4 wheel driven swing arm 230 can produce vibration in the same way, due to the vibration in the same way of the 3rd actuating arm 220 and 4 wheel driven swing arm 230, the second detection arm 210 of central authorities also can occur and the 3rd vibration that actuating arm 220 is identical with 4 wheel driven swing arm 230 directions, frequency is identical, and the second detection arm 210 produces and detects vibration.
Now; in the time there is extraneous impact and extruding; the first actuating arm 120 and the second actuating arm 130 can be protected the first detection arm 110; the 3rd actuating arm 220 and 4 wheel driven swing arm 230 can be protected the second detection arm 210; thereby the first detection arm 110 and the second detection arm 210 are not easy to be subject to extraneous impact and extruding, have guaranteed stability and the accuracy of angular velocity detection.
In order to reduce the impact of environment temperature on gyroscope survey, preferably, in the present embodiment, two gyrostatic materials are all crystal.It should be noted that, in other embodiments of the invention, each gyroscope can also be other materials, and it does not affect protection scope of the present invention at this.
Each testing circuit can comprise: data collecting card, is connected with described detection arm, for exporting the voltage analog value in described detection arm; Analog to digital converter, is connected with described data collecting card, for described voltage analog value is converted to voltage digital value.
In other embodiments of the invention, each testing circuit can comprise: data collecting card, is connected with described detection arm, for exporting the voltage analog value in described detection arm; Amplifier, is connected with described data collecting card, amplifies processing for the voltage analog value in described detection arm; Low-pass filter, is connected with described amplifier, for carrying out filtering processing to amplifying voltage analog value after treatment, and sends filtered voltage analog value to described analog to digital converter; Analog to digital converter, is connected with described low-pass filter, for filtered described voltage analog value is converted to voltage digital value.Now, further amplify and filtering by the voltage analog information in detection arm, make angular velocity measurement result more accurate.
In the present embodiment, two driving circuits can be tuning-fork type driving circuit, and in other embodiments of the invention, described driving circuit can also be other forms of drive unit, and it is known for those skilled in the art, therefore do not repeat them here.
Each gyroscope can also comprise: package casing, for to gyrostatic encapsulation, thereby has increased gyrostatic protection.
Further, described two-dimentional angular speed detecting apparatus can also comprise a switch, and for controlling the opening and closing of described driving circuit, when described driving circuit is opened, described two-dimentional angular speed detecting apparatus is normally worked; When described driving circuit cuts out, described two-dimentional angular speed detecting apparatus is not worked.Particularly, described switch can be mechanical key, air button or metal key-press etc.
In the present embodiment, two gyroscopes do not contact, and intersect at the extended line of the second detection arm 210 and the first detection arm 110 center.
It should be noted that, in other embodiments of the invention, guaranteeing under the first detection arm 110 prerequisite vertical with the second detection arm 210, shown in Fig. 2 and Fig. 3, two gyroscopes can also contact completely, gyroscope now can comprise package casing, by contacting completely, can save space.
Particularly, in Fig. 2, the second gyroscope is placed on the first gyroscope along first gyrostatic the first connecting portion 140 and the second connecting portion 150 directions, and in Fig. 3, the second gyroscope is placed on the first gyroscope along first gyrostatic the first detection arm 110 directions.Shown in Figure 4, two gyroscopes also can partly contact, and gyroscope now also can comprise package casing.Shown in Figure 5, the extended line that two gyroscopes can also be the second detection arm 210 is vertical with the extended line of described the first detection arm 110, and it should not limit the scope of the invention at this.Preferably, described the first gyroscope does not contact with the second gyroscope, thereby can avoid two direct vibration interference of gyroscope.
In embodiment shown in described Fig. 2 to Fig. 5, the vibration frequency of the vibration frequency of described the first gyroscope actuating arm and the second gyroscope actuating arm is not identical, can avoid resonance effect, and then improves the accuracy of detection of two-dimentional angular speed detecting apparatus.
It should be noted that, therefore embodiment (comprising that contact completely contacts with part) the first gyroscope contacting for two gyroscopes shown in Fig. 2 to Fig. 5 and the second gyroscope have each other vibration and transmit owing to contacting, the embodiment not contacting with respect to the first gyroscope and the second gyroscope, the first gyroscope and the second gyroscope vibration interference phenomenon is each other obvious, therefore, with respect to the difference of discontiguous the first gyroscope and the second gyrostatic frequency of operation, the difference of the first gyroscope shown in Fig. 2 to Fig. 5 and the second gyroscope frequency of operation is greater, thereby can guarantee that two-dimentional angular speed detecting apparatus has higher accuracy of detection.
Further, the each gyrostatic double-T shaped structure of the present embodiment makes the resonance frequency of gyroscope actuating arm and gyrostatic mechanical quality factor along with the variation that the difference of other conditions occurs is very little, referring in Fig. 6 shown in solid line, between the output voltage of detection arm and angular velocity, be approximately linear relationship.Therefore can carry out Least Square in Processing to curve data shown in Fig. 6, obtain straight line shown in dotted lines in Figure 6, i.e. y=ax+b, wherein: the output voltage of detection arm when y is Motions of Gyroscope, x is angular velocity, and b is the output voltage of gyroscope detection arm when static, and a is proportionality constant.
Utilize gyrostatic above-mentioned characteristic, the present invention also provides the above-mentioned two-dimentional angular speed detecting apparatus of a kind of use to detect the method for angular velocity, comprising:
For gyroscope described in each,
Drive respectively the first actuating arm and the second actuating arm to vibrate, described the first actuating arm and the second actuating arm vibrate under frequency of operation, and wherein, two gyrostatic frequency of operation are not identical;
Obtain its reference voltage, described reference voltage is the output voltage of described gyroscope detection arm when static;
The output voltage of detection arm while detecting described Motions of Gyroscope;
Output voltage according to reference voltage during with described Motions of Gyroscope obtains angular velocity corresponding to described gyroscope place plane, and difference and the described angular velocity of output voltage when wherein said Motions of Gyroscope and described reference voltage are linear.
In the present embodiment, driving under the prerequisite vibrated of each actuating arm, measuring respectively output voltage b1 and the b2 of the first gyroscope and the second gyroscope detection arm when static; Then detect output voltage y1 and the y2 of detection arm after the first gyroscope and the second Motions of Gyroscope; Then calculate respectively the angular velocity x1 of the first gyroscope place plane and the angular velocity x2 of the second gyroscope place plane according to y1=a1x1+b1 and y2=a2x2+b2, wherein: a1 is the first gyrostatic proportionality constant, a2 is the second gyrostatic proportionality constant.
Take the first gyrostatic proportionality constant a1 as example, the computation process of each gyrostatic proportionality constant is described below, it specifically comprises:
1) measuring after the first gyrostatic output voltage b1, measure the repeatedly output voltage of the first detection arm 110 and corresponding angular velocity thereof when different rotary of the first gyroscope, be designated as respectively (Y1, W1), (Y2, W2) ... (Yi, Wi) ..., (Yn, Wn), wherein, the output voltage of the first detection arm 110 when Yi is the i time rotation of the first gyroscope, Wi is the angular velocity of the first gyroscope the i time rotation, and i is more than or equal to 1 and be less than or equal to n, and n is greater than 1 integer;
2) to (Y1, W1) obtained above, (Y2, W2) ... (Yi, Wi) ..., (Yn, Wn) carry out Least Square in Processing, obtains y1=a1x1+b1.Wherein said Least Square in Processing is known for those skilled in the art, therefore do not repeat them here.
Adopting uses the same method can obtain the second gyrostatic proportionality constant a2.After obtaining a1 and a2, in the time of subsequent calculations angular velocity, just can directly measure the output voltage b2 of the second detection arm 210 in the output voltage b1 of the first detection arm 110 in the first gyroscope and the second gyroscope, thereby utilize y1=a1x1+b1 and y2=a2x1+b2 just can directly obtain angular velocity x1 and angular velocity x2 corresponding to the second gyroscope that the first gyroscope is corresponding, thereby realize the measurement of two-dimentional angular speed detecting apparatus at the angular velocity of two directions in space.
Correspondingly, the present invention also provides a kind of two-dimensional attitude awareness apparatus that comprises above-mentioned two-dimentional angular speed detecting apparatus.
Take described two-dimensional attitude awareness apparatus as space mouse is as example, describe below.
Described space mouse can comprise: two-dimentional angular speed detecting apparatus, shell, button and transmitting device, wherein:
Described two-dimentional angular speed detecting apparatus and described transmitting device all can be arranged in described shell, and described button is arranged on the surface of described shell;
Described two-dimentional angular speed detecting apparatus as previously described, for detection of obtaining the angular velocity of space mouse when two perpendicular planar movement in space;
Described button, for receiving user's key information;
Described transmitting device, for described angular velocity and described key information are sent to computer, it can be wire transmission, can be also wireless transmission.
Described space mouse can also comprise: power supply.Power supply described in the present embodiment is battery.In other embodiments of the invention, described power supply can also adopt other forms (as: sun power) to power.
Further, described angular velocity can also be converted to coordinate information, thus the control of implementation space mouse to computer.It is known for those skilled in the art, therefore do not repeat them here.
Preferably, described two-dimentional angular speed detecting apparatus is arranged on the front end of described shell, while moving due to space mouse, the motion amplitude maximum (the most responsive) of its front end, thus make the location of space mouse more accurate.When described front end is usage space mouse, one end corresponding with computer on space mouse.
In order to address the above problem, the present invention also provides a kind of three dimensional angular speed detector, comprising: three gyroscopes, and described three gyroscopes comprise respectively:
Detection arm;
Be positioned at the first actuating arm and second actuating arm of described detection arm both sides;
Connect the connecting portion at described detection arm center, the first actuating arm center and the second actuating arm center;
Driving circuit, for driving described the first actuating arm and described the second actuating arm to vibrate;
Testing circuit, for detection of the output voltage of described detection arm, the output voltage of described detection arm is relevant to the angular velocity of gyroscope place plane;
Described three gyrostatic detection arm are mutually vertical respectively;
When described gyroscope is static, the first actuating arm and the second actuating arm Relative Vibration, detection arm is static; When described Motions of Gyroscope, the first actuating arm, the second actuating arm and detection arm be vibration in the same way all, and wherein, described driving circuit makes the first actuating arm and the second actuating arm vibrate with frequency of operation; Described three gyroscope frequency of operation are different.
In order to address the above problem, the present invention also provides a kind of 3 d pose awareness apparatus that comprises above-mentioned three dimensional angular speed detector, as three-dimensional model aircraft etc.
Preferably, described three dimensional angular speed detector is arranged on the front end of described 3 d pose awareness apparatus, and it can increase the susceptibility that three dimensional angular speed detector detects equally.
In order to address the above problem, the present invention also provides the above-mentioned three dimensional angular speed detector of a kind of use to detect the method for angular velocity, comprising:
For gyroscope described in each,
Drive respectively the first actuating arm and the second actuating arm to vibrate, described the first actuating arm and the second actuating arm vibrate under frequency of operation, and wherein three gyrostatic frequency of operation are different;
Obtain its reference voltage, described reference voltage is the output voltage of described gyroscope detection arm when static;
The output voltage of detection arm while detecting described Motions of Gyroscope;
Output voltage according to reference voltage during with described Motions of Gyroscope obtains angular velocity corresponding to described gyroscope place plane, and difference and the described angular velocity of output voltage when wherein said Motions of Gyroscope and described reference voltage are linear.
The method of above-mentioned three dimensional angular speed detector and three dimensional angular speed detector detection angular velocity provides a kind of technology of measurement space three dimensional angular speed, its specific implementation process detects the method for angular velocity with foregoing two-dimentional angular speed detecting apparatus and two-dimentional angular speed detecting apparatus, do not repeat them here.
Although oneself discloses the present invention as above with preferred embodiment, the present invention is not defined in this.Any those skilled in the art, without departing from the spirit and scope of the present invention, all can make various changes or modifications, and therefore protection scope of the present invention should be as the criterion with claim limited range.
Claims (17)
1. a two-dimentional angular speed detecting apparatus, is characterized in that, comprising: two gyroscopes, and described two gyroscopes comprise respectively:
Detection arm;
Be positioned at the first actuating arm and second actuating arm of described detection arm both sides;
Connect the connecting portion at described detection arm center, the first actuating arm center and the second actuating arm center;
Driving circuit, for driving described the first actuating arm and described the second actuating arm to vibrate;
Testing circuit, for detection of the output voltage of described detection arm, the output voltage of described detection arm is relevant to the angular velocity of gyroscope place plane;
Described two gyrostatic detection arm are mutually vertical;
When described gyroscope is static, the first actuating arm and the second actuating arm Relative Vibration, detection arm is static; When described Motions of Gyroscope, the first actuating arm, the second actuating arm and detection arm be vibration in the same way all, and wherein, described driving circuit makes the first actuating arm and the second actuating arm vibrate with frequency of operation; Described two gyrostatic frequency of operation are not identical.
2. two-dimentional angular speed detecting apparatus as claimed in claim 1, is characterized in that, described testing circuit comprises: data collecting card, is connected with described detection arm, for exporting the voltage analog value in described detection arm; Analog to digital converter, is connected with described data collecting card, for described voltage analog value is converted to voltage digital value.
3. two-dimentional angular speed detecting apparatus as claimed in claim 1, is characterized in that, described testing circuit comprises: data collecting card, is connected with described detection arm, for exporting the voltage analog value in described detection arm; Amplifier, is connected with described data collecting card, amplifies processing for the voltage analog value in described detection arm; Low-pass filter, is connected with described amplifier, for carrying out filtering processing to amplifying voltage analog value after treatment, and sends filtered voltage analog value to analog to digital converter; Analog to digital converter, is connected with described low-pass filter, for filtered described voltage analog value is converted to voltage digital value.
4. two-dimentional angular speed detecting apparatus as claimed in claim 1, is characterized in that, described driving circuit makes the vibration frequency of the first actuating arm and the second actuating arm all identical.
5. two-dimentional angular speed detecting apparatus as claimed in claim 1, is characterized in that, described driving circuit makes the vibration frequency of described gyrostatic the first actuating arm and the second actuating arm in the scope of 40KHz～60KHz.
6. two-dimentional angular speed detecting apparatus as claimed in claim 1, is characterized in that, described gyrostatic material is crystal.
7. two-dimentional angular speed detecting apparatus as claimed in claim 1, is characterized in that, described two gyroscopes do not contact.
8. two-dimentional angular speed detecting apparatus as claimed in claim 1, is characterized in that, described two gyroscopes are fully or partially contacted.
9. two-dimentional angular speed detecting apparatus as claimed in claim 1, is characterized in that, also comprises: switch, and for controlling the opening and closing of described driving circuit, when described driving circuit is opened, described two-dimentional angular speed detecting apparatus is normally worked; When described driving circuit cuts out, described two-dimentional angular speed detecting apparatus is not worked.
10. one kind comprises the two-dimensional attitude awareness apparatus of the two-dimentional angular speed detecting apparatus described in any one in claim 1 to 9.
11. two-dimensional attitude awareness apparatus as claimed in claim 10, is characterized in that, described two-dimensional attitude awareness apparatus is space mouse.
12. two-dimensional attitude awareness apparatus as claimed in claim 10, is characterized in that, described two-dimentional angular speed detecting apparatus is arranged on the front end of described two-dimensional attitude awareness apparatus.
13. 1 kinds are detected the method for angular velocity with the two-dimentional angular speed detecting apparatus described in claim 1 to 9 any one, it is characterized in that, comprising: for gyroscope described in each,
Drive respectively the first actuating arm and the second actuating arm to vibrate, described the first actuating arm and the second actuating arm are vibrated under frequency of operation, wherein, two gyrostatic frequency of operation are not identical;
Obtain its reference voltage, described reference voltage is the output voltage of described gyroscope detection arm when static;
The output voltage of detection arm while detecting described Motions of Gyroscope;
Output voltage according to reference voltage during with described Motions of Gyroscope obtains angular velocity corresponding to described gyroscope place plane, and difference and the described angular velocity of output voltage when wherein said Motions of Gyroscope and described reference voltage are linear.
14. 1 kinds of three dimensional angular speed detectors, is characterized in that, comprising: three gyroscopes, and described three gyroscopes comprise respectively:
Detection arm;
Be positioned at the first actuating arm and second actuating arm of described detection arm both sides;
Connect the connecting portion at described detection arm center, the first actuating arm center and the second actuating arm center;
Driving circuit, for driving described the first actuating arm and described the second actuating arm to vibrate;
Testing circuit, for detection of the output voltage of described detection arm, the output voltage of described detection arm is relevant to the angular velocity of gyroscope place plane;
Described three gyrostatic detection arm are mutually vertical respectively;
When described gyroscope is static, the first actuating arm and the second actuating arm Relative Vibration, detection arm is static; When described Motions of Gyroscope, the first actuating arm, the second actuating arm and detection arm be vibration in the same way all, and wherein, described driving circuit makes the first actuating arm and the second actuating arm vibrate with frequency of operation; Described three gyrostatic frequency of operation are different.
15. 1 kinds comprise the 3 d pose awareness apparatus of the three dimensional angular speed detector described in claim 14.
16. 3 d pose awareness apparatus as claimed in claim 15, is characterized in that, described three dimensional angular speed detector is arranged on the front end of described 3 d pose awareness apparatus.
17. 1 kinds are detected the method for angular velocity with the three dimensional angular speed detector described in claim 14, it is characterized in that, comprising: for gyroscope described in each,
Drive respectively the first actuating arm and the second actuating arm to vibrate, described the first actuating arm and the second actuating arm are vibrated under frequency of operation, wherein three gyrostatic frequency of operation are different;
Obtain its reference voltage, described reference voltage is the output voltage of described gyroscope detection arm when static;
The output voltage of detection arm while detecting described Motions of Gyroscope;
Output voltage according to reference voltage during with described Motions of Gyroscope obtains angular velocity corresponding to described gyroscope place plane, and difference and the described angular velocity of output voltage when wherein said Motions of Gyroscope and described reference voltage are linear.
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| CN201110234403.9A CN102419174B (en) | 2011-08-16 | 2011-08-16 | Two-dimensional/three-dimensional angular velocity detection devices as well as angular velocity detection methods and attitude sensing devices of detection devices |
| PCT/CN2011/079939 WO2013023399A1 (en) | 2011-08-16 | 2011-09-21 | 2d/3d angular speed detection device and method, and attitude sensing device |
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| CN201110234403.9A CN102419174B (en) | 2011-08-16 | 2011-08-16 | Two-dimensional/three-dimensional angular velocity detection devices as well as angular velocity detection methods and attitude sensing devices of detection devices |
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| CN107036589B (en) * | 2017-04-20 | 2018-02-23 | 中国人民解放军国防科学技术大学 | A kind of angle measurement system and its method for MEMS gyroscope |
| CN116147600A (en) * | 2021-10-27 | 2023-05-23 | 苏州明皜传感科技股份有限公司 | Micro electromechanical multi-axis angular velocity sensor |
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