CN107421563A - A kind of self-checking device and calibration method for multiple inertia measurement equipment - Google Patents
A kind of self-checking device and calibration method for multiple inertia measurement equipment Download PDFInfo
- Publication number
- CN107421563A CN107421563A CN201710407087.8A CN201710407087A CN107421563A CN 107421563 A CN107421563 A CN 107421563A CN 201710407087 A CN201710407087 A CN 201710407087A CN 107421563 A CN107421563 A CN 107421563A
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- Prior art keywords
- motor
- calibration
- measurement equipment
- inertia measurement
- box
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
The invention discloses a kind of self-checking device and calibration method for multiple inertia measurement equipment, including calibration box, the circuit board in calibration box, the position sensor on calibration box body, the roll motor axis hole in calibration cassette bottom portion, the roll motor being adapted with roll motor axis hole, roll motor neck, the bent axle link arm installed in roll motor neck side, course motor, the course motor neck for accommodating course motor and the base for supporting course motor neck of receiving roll motor；Circuit board is provided with multiple USB public affairs mouths being adapted with inertia measurement equipment, and the termination of the bent axle link arm is provided with course motor axis hole, and the course motor axis hole is adapted with course motor；The present invention not only solves the problem of multiple inertia measurement equipment are difficult to unified storage, charging, calibration, reduces repetitive operation, maloperation and low success rate of problem when also further solving manual calibration.
Description
Technical field
The present invention relates to autoalign unit, especially a kind of self-checking device for multiple inertia measurement equipment and
Calibration method.
Background technology
The storage of current single inertia measurement equipment, charging, calibration are, it is necessary to individually carry out operations, such as when charging
Need individually to connect charging wire；Need to be connected with computer host computer by USB line in calibration and communicated, and point 6 difference
Calibrate 6 directions., it is necessary to repeatedly carry out operations when using multiple inertia measurement equipment, charging when, it is necessary to
A charging wire is equipped with for each module, also or after a module charging is completed, then carries out the charging of next module；In school
It is punctual, it is necessary to each module is communicated by USB line and computer host computer one by one, each inertia measurement equipment is required for point
6 times respectively calibrate 6 directions.Thus since, in the presence of multiple inertia measurement equipment, it is needed in storage, charging, calibration
The step of operating is numerous and diverse, and repeatability is too high.Using manual calibration instrument, still need to carry out the operation of 6 steps manually, and operating
During easily there is unnecessary movement, situations such as causing to calibrate maloperation excessive or failure.
The content of the invention
Goal of the invention：In view of the above-mentioned drawbacks of the prior art, the present invention is intended to provide a kind of be used for the survey of multiple inertia
Measure the unified storage of equipment, charging, the device and method of fast automatic calibration.
Technical scheme：In a kind of self-checking device for multiple inertia measurement equipment, including calibration box, calibration box
Circuit board, the position sensor on calibration box body, calibration cassette bottom portion roll motor axis hole, be adapted with roll motor axis hole
Roll motor, the roll motor neck for accommodating roll motor, the bent axle link arm installed in roll motor neck side, course electricity
Machine, the course motor neck for accommodating course motor and the base for supporting course motor neck；The circuit board is provided with
Multiple USB public affairs mouths being adapted with inertia measurement equipment, the termination of the bent axle link arm are provided with course motor axis hole, the course
Motor axis hole is adapted with course motor；Wherein, the axis of roll motor shaft is vertical with calibrating the bottom surface of box, top surface, course electricity
The axis of machine with calibration box before, it is vertical below.
Further, in addition to control module and calibration module, control module communicate to connect with calibration module, the roll
Motor and course motor are connected with control module；Position sensor obtains the position state information transfer of calibration box to control module,
Control module needs to control roll motor and course motor to coordinate the position state of operating adjustment calibration box, the calibrating die according to calibration
Block is calibrated to inertia measurement equipment.
Further, base is provided with operation button, and operation button communicates to connect with control module, and control module is according to behaviour
The instruction control calibration module for making button starts/stopped calibration and coordinate to rotate roll motor and course motor adjustment calibration box
To next calibrating direction.
Further, box base and box top cover that box includes mutually being interlocked are calibrated, the circuit board is arranged on box
On horizontal plane in base, the USB public affairs mouth parallel arrangements on circuit board.
Further, in addition to power module, the power module are that roll motor, course motor and circuit board supply
Electricity.
Further, roll motor neck and course motor neck are mounted on motor cover, and the centre of the motor cover is set
Have for the motor cap bore through motor shaft.
Further, inertia measurement equipment includes base and top cover；Wherein, base connects including base body, box, USB
Mouth notch, LED light admission ports, circuit board mating groove, switch notch and thin-walled switch notch；Top cover includes thin-walled switch notch, top
Lid main body, pin thread and battery neck；Pin thread on box and top cover on base forms complete box body after fastening.
A kind of calibration method using the self-checking device for being used for multiple inertia measurement equipment as previously described, including it is as follows
Step：
S1：Multiple inertia measurement equipment to be calibrated are attached in calibration box by USB public affairs mouths；
S2：Select the face to be calibrated of inertia measurement equipment；
S3：Position sensor obtains the position state information transfer of calibration box to control module, and control module is according to inertia measurement
The position state that the calibration in equipment face to be calibrated needs to control roll motor and course motor to coordinate operating adjustment calibration box is to be calibrated
Position；
S4：Calibration module is calibrated in the face to be calibrated to inertia measurement equipment；
S5：Next face to be calibrated of inertia measurement equipment is selected, repeat step S3-S4 owns until inertia measurement equipment
All calibration finishes in face to be calibrated.
Further, after multiple inertia measurement equipment to be calibrated are attached in calibration box by step S1 by USB public affairs mouths,
Electric power source pair of module inertia measurement equipment is charged.
Further, face to be calibrated shares 6 described in step S5.
Beneficial effect：The invention provides a kind of easily self-checking device for multiple inertia measurement equipment and school
Quasi- method, by the way that multiple inertia measurement equipment are arranged in calibration box, driving calibration box is coordinated to adjust jointly using two motors
Whole position state, the problem of multiple inertia measurement equipment are difficult to unified storage, charging, calibration is not only solved, reduces repeated behaviour
Make, maloperation and low success rate of problem when also further solving manual calibration.
Brief description of the drawings
Fig. 1 is the inertia measurement equipment schematic diagram of the present invention；
Fig. 2 is the assembling structure schematic diagram of the present invention；
Fig. 3 is the circuit board schematic diagram of the present invention；
Fig. 4 is the box base schematic diagram of the present invention；
Fig. 5 is the bent axle link arm schematic diagram of the present invention；
Fig. 6 is the motor schematic diagram of the present invention.
Fig. 7 is the motor cover schematic diagram of the present invention；
Fig. 8 is the base schematic diagram of the present invention；
Fig. 9 is the overall structure diagram of the present invention；
Figure 10 is the base schematic diagram of embodiment 2；
Figure 11 is the top cover schematic diagram of embodiment 2；
Figure 12 is the overall schematic of embodiment 2.
Embodiment
The technical program is described in detail below by a most preferred embodiment and with reference to accompanying drawing.
As shown in figure 1, inertia measurement equipment 1 includes mother's USB mouth 101 and module hand designations 102, built-in interlock circuit can
Detect inertial data.Mother's USB mouth 101 can circumscribed USB line communicated or charged.
As shown in Fig. 2 a kind of self-checking device for multiple inertia measurement equipment, including calibration box 2, roll motor
3rd, course motor 4, base 5, control module, calibration module and power module；
Calibration box 2 includes the box base 201 and box top cover 202 being mutually interlocked, and box top cover 202 can be with box base
201 are fitted close, fixation forms cube；Circuit board 203 is provided with calibration box 2；
As shown in figure 3, circuit board 203 is provided with multiple USB public affairs mouths 204 being adapted with inertia measurement equipment 1, this implementation
Circuit board 203 in example is arranged on the horizontal plane in box base 201, convenient to install inertia measurement equipment 1, circuit board 203
On the parallel arrangement of USB public affairs mouth 204, it is convenient unified to multiple inertia measurement equipment 1 to carry out multidirectional calibration.Circuit board 203
It can be connected with control module, calibration module and power module, there is provided power management, communication and calibration signal function, pass through each USB
Public mouth 204 is attached with multiple inertia measurement equipment 1 respectively, so as to power or communicate to it.
As shown in figure 4, the calibration body of box 2 is provided with position sensor 205, calibration box 2 bottom is provided with roll motor axis hole
206, roll motor axis hole 206 is adapted with roll motor 3, and installation, roll motor are specifically adapted with roll motor shaft 301
3 are contained in roll motor neck 6；
As shown in figure 5, being provided with bent axle link arm 7 in the side of roll motor neck 6, the termination of bent axle link arm 7 is provided with course
Motor axis hole 701, bent axle link arm 7 share two terminations, and one of termination is arranged on the side of roll motor neck 6, set herein
Have course motor axis hole 701 is another termination；Course motor axis hole 701 is adapted with course motor 4, be specifically and course
Motor shaft 401 is adapted installation；
Course motor 4 as shown in Figure 6, in course, the corner of motor 4 is provided with fixing hole 402, facilitates course motor 4 to carry out
Fixed, course motor 4 includes course motor shaft 401, output torque can be rotated by course motor shaft 401, with course motor shaft
Hole 701, which coordinates, to be attached；Its is identical for the structure and principle of roll motor 3.
Course motor 4 is contained in course motor neck 8, and roll motor neck 6 and course motor neck 8 are mounted on electricity
Cover 9, motor neck are adapted with motor cover 9, and motor is fixed between；
As shown in fig. 7, the centre of motor cover 9 is provided with the motor cap bore 901 being used for through motor shaft；The bottom of motor neck
It is connected with base 5, for a series of loads for supporting course motor neck 8 and being connected with motor neck；
Wherein, the axis of roll motor shaft 301 is vertical with calibrating the bottom surface of box 2, top surface, the axis of course motor 4 and school
Before quasi- box 2, it is vertical below.
Control module communicates to connect with calibration module, and the roll motor 3 and course motor 4 are connected with control module；
Position sensor 205 obtains the position state information transfer of calibration box 2 to control module, and control module needs to control roll according to calibration
Motor 3 and course motor 4 coordinate the position state of operating adjustment calibration box 2, and the calibration module carries out school to inertia measurement equipment 1
It is accurate.
As shown in figure 8, base 5 is provided with operation button 501, operation button 501 communicates to connect with control module, controls mould
Root tuber, which starts/stopped to calibrate and coordinate according to the instruction control calibration module of operation button 501, rotates roll motor 3 and course electricity
The adjustment of machine 4 calibrates box 2 to next calibrating direction.
Power module is that roll motor 3, course motor 4 and circuit board 203 are powered.
As shown in figure 9, during installation, inertia measurement equipment 1 to be calibrated is placed in calibration box 2, connected with circuit board 203
Connect, after box top cover 202 and box base 201 are fastened, by the operation button 501 on lower bottom base 5, equipment can be carried out and complete
Into calibration operation.
A kind of calibration method using the self-checking device for being used for multiple inertia measurement equipment as previously described, including it is as follows
Step：
S1：Multiple inertia measurement equipment 1 to be calibrated are attached in calibration box 2 by USB public affairs mouth 204, electric power source pair of module
Inertia measurement equipment 1 is charged；
S2：Push switchs, and selects the face to be calibrated of inertia measurement equipment 1；
S3：Position sensor 205 obtains the position state information transfer of calibration box 2 to control module, and control module is according to inertia
The calibration in 1 face to be calibrated of measuring apparatus needs to control roll motor 3 and course motor 4 to coordinate the position state of operating adjustment calibration box 2
To position to be calibrated；
S4：Calibration module is calibrated in the face to be calibrated to inertia measurement equipment 1；
S5：Next face to be calibrated of inertia measurement equipment 1 is selected, repeat step S3-S4 is until the institute of inertia measurement equipment 1
Needing alignment surface, all calibration finishes；Face to be calibrated in the present embodiment shares 6, also can be according to actually detected it needs to be determined that treating
The number of alignment surface.
Embodiment 2：The present embodiment is substantially the same manner as Example 1, and difference is, targeted inertia in the present embodiment
For measuring apparatus 1 using buckle-type inertia measurement equipment 1, concrete structure is as follows：
It is the base of the shell of buckle-type inertia measurement equipment 1 described in the present embodiment as shown in Figure 10, including base body
1201st, box 1202, USB interface notch 1203, LED light admission ports 1204, circuit board mating groove 1205, switch notch 1206 and thin
Wall switch notch 1207.Wherein, box 1202 fastens with the pin thread 1209 on top cover；USB interface notch 1203 is used to that electricity will to be made
USB interface opening on the plate of road, convenient outside are attached by USB interface；LED light admission ports 1204 correspond to internal electricity
LED light on the plate of road, for indicating current block state；It is internal circuit board lug boss that circuit board mating groove 1205, which is used for,
Divide and extra assembly space is provided；Switch notch 1206 is used to carry out module switch operation；Thin-walled switch notch 1207 is used to make
It is more convenient during toggle switch.
It is the top cover of the shell of buckle-type inertia measurement equipment 1 described in the present embodiment as shown in figure 11, including thin-walled switch
Notch 1207, closure body 1208, pin thread 1209 and battery neck 1210.Wherein, thin-walled switch notch 1207 is used to make to stir
It is more convenient during switch；Pin thread 1209 fastens with the box 1202 on base；Battery neck 1210 is used for the installation of modular battery
Place.
It is the overall schematic after the shell of buckle-type inertia measurement equipment 1 assembling described in the present embodiment as shown in figure 12,
It can be seen that pin thread 1209 closely fastens with box 1202, base just forms complete box body with top cover.
It the above is only the preferred embodiment of the present invention, it should be pointed out that：Come for those skilled in the art
Say, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (10)
1. a kind of self-checking device for multiple inertia measurement equipment, it is characterised in that including calibration box (2), calibration box
(2) circuit board (203) in, the position sensor (205) on calibration box (2) body, the roll motor axis hole for calibrating box (2) bottom
(206) roll motor (3), the roll motor neck of receiving roll motor (3), being adapted with roll motor axis hole (206)
(6), installed in the bent axle link arm (7) of roll motor neck (6) side, course motor (4), the course for accommodating course motor (4)
Motor neck (8) and the base (5) for supporting course motor neck (8)；The circuit board (203) be provided with it is multiple with it is used
The USB public affairs mouth (204) that property measuring apparatus (1) is adapted, the termination of the bent axle link arm (7) are provided with course motor axis hole (701),
The course motor axis hole (701) is adapted with course motor (4)；Wherein, the axis of roll motor shaft (301) and calibration box
(2) bottom surface, top surface are vertical, the axis of course motor (4) with before calibration box (2), it is vertical below.
2. the self-checking device according to claim 1 for multiple inertia measurement equipment, it is characterised in that also include
Control module and calibration module, control module communicate to connect with calibration module, and the roll motor (3) and course motor (4) are equal
It is connected with control module；Position sensor (205) obtains the position state information transfer of calibration box (2) to control module, control module
Needed to control roll motor (3) and course motor (4) to coordinate the position state of operating adjustment calibration box (2), the calibration according to calibration
Module is calibrated to inertia measurement equipment (1).
3. the self-checking device according to claim 2 for multiple inertia measurement equipment, it is characterised in that the bottom
Seat (5) is provided with operation button (501), and operation button (501) communicates to connect with control module, and control module is according to operation button
(501) instruction control calibration module, which starts/stopped to calibrate and coordinates, rotates roll motor (3) and course motor (4) adjustment school
Quasi- box (2) extremely next calibrating direction.
4. the self-checking device according to claim 1 for multiple inertia measurement equipment, it is characterised in that the school
Quasi- box (2) includes the box base (201) and box top cover (202) being mutually interlocked, and the circuit board (203) is arranged on box bottom
On horizontal plane in seat (201), USB public affairs mouth (204) parallel arrangement on circuit board (203).
5. the self-checking device according to claim 1 for multiple inertia measurement equipment, it is characterised in that also include
Power module, the power module are roll motor (3), course motor (4) and circuit board (203) power supply.
6. the self-checking device according to claim 1 for multiple inertia measurement equipment, it is characterised in that the horizontal stroke
Rolling motor neck (6) and course motor neck (8) are mounted on motor cover (9), and the centre of the motor cover (9), which is provided with, to be used to wear
Cross the motor cap bore (901) of motor shaft.
7. the self-checking device according to claim 1 for multiple inertia measurement equipment, it is characterised in that described used
Property measuring apparatus (1) includes base and top cover；Wherein, base includes base body (1201), box (1202), usb interface slot
Mouth (1203), LED light admission ports (1204), circuit board mating groove (1205), switch notch (1206) and thin-walled switch notch
(1207)；Top cover includes thin-walled switch notch (1207), closure body (1208), pin thread (1209) and battery neck (1210)；
Box (1202) on base forms complete box body after being fastened with the pin thread (1209) on top cover.
A kind of 8. calibration using the self-checking device for being used for multiple inertia measurement equipment as described in claim any one of 1-7
Method, it is characterised in that comprise the following steps：
S1：Multiple inertia measurement equipment (1) to be calibrated are attached in calibration box (2) by USB public affairs mouth (204)；
S2：Select the face to be calibrated of inertia measurement equipment (1)；
S3：Position sensor (205) obtains the position state information transfer of calibration box (2) to control module, and control module is according to inertia
The calibration in measuring apparatus (1) face to be calibrated needs to control roll motor (3) and course motor (4) to coordinate operating adjustment calibration box
(2) position state is to position to be calibrated；
S4：Calibration module is calibrated in the face to be calibrated to inertia measurement equipment (1)；
S5：Next face to be calibrated of inertia measurement equipment (1) is selected, repeat step S3-S4 is until the institute of inertia measurement equipment (1)
Needing alignment surface, all calibration finishes.
9. the automatic calibrating method according to claim 8 for multiple inertia measurement equipment, it is characterised in that the step
After multiple inertia measurement equipment (1) to be calibrated are attached in calibration box (2) by USB public affairs mouth (204) in rapid S1, power supply mould
Block charges to inertia measurement equipment (1).
10. the automatic calibrating method according to claim 8 for multiple inertia measurement equipment, it is characterised in that step
Face to be calibrated shares 6 described in S5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710407087.8A CN107421563A (en) | 2017-06-02 | 2017-06-02 | A kind of self-checking device and calibration method for multiple inertia measurement equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710407087.8A CN107421563A (en) | 2017-06-02 | 2017-06-02 | A kind of self-checking device and calibration method for multiple inertia measurement equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107421563A true CN107421563A (en) | 2017-12-01 |
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ID=60428428
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710407087.8A Pending CN107421563A (en) | 2017-06-02 | 2017-06-02 | A kind of self-checking device and calibration method for multiple inertia measurement equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110542430A (en) * | 2019-07-24 | 2019-12-06 | 北京控制工程研究所 | large dynamic performance testing device and method for inertial measurement unit |
| CN112362087A (en) * | 2021-01-13 | 2021-02-12 | 北京诺亦腾科技有限公司 | Novel industrial measurement structure and novel industrial measurement system |
| WO2021166691A1 (en) * | 2020-02-19 | 2021-08-26 | ソニーグループ株式会社 | Information processing device, information processing method, and program |
| US11959775B2 (en) | 2020-02-19 | 2024-04-16 | Sony Group Corporation | Information processing device and information processing method that enable simple calibration |
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