CN107977026A - Temperature control equipment and unmanned plane based on gyro sensor - Google Patents
Temperature control equipment and unmanned plane based on gyro sensor Download PDFInfo
- Publication number
- CN107977026A CN107977026A CN201711190076.5A CN201711190076A CN107977026A CN 107977026 A CN107977026 A CN 107977026A CN 201711190076 A CN201711190076 A CN 201711190076A CN 107977026 A CN107977026 A CN 107977026A
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- Prior art keywords
- gyro sensor
- temperature
- switching device
- module
- thermal resistance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/20—Control of temperature characterised by the use of electric means with sensing elements having variation of electric or magnetic properties with change of temperature
Abstract
The application provides a kind of temperature control equipment based on gyro sensor, including main control module, switching device and heating module, the main control module are connected by the switching device with the heating module；The gyro sensor detection current environmental temperature obtains temperature detection result, and the temperature detection result is sent to the main control module, the main control module is according to the temperature detection result to the switching device output control signal, the working status of the switching device is controlled, to control the working status of the heating module；The heating module is adjacent with the gyro sensor.Main control module receives the current environmental temperature of gyro sensor detection and is worked according to testing result controlling switch device, to control the working status for the heating module being connected with switching device, due to adjacent with heating module in gyro sensor, gyro sensor environment temperature can be made to be maintained at preset temperature, reduce the temperature drift problems of gyro sensor.
Description
Technical field
This application involves sensor field, more particularly to based on the temperature control equipment of gyro sensor and nobody
Machine.
Background technology
Sensor is a kind of detection device, can experience measured information, and the information that will can be experienced, by a set pattern
Rule is for conversion into electric signal or the information output of other required forms, to meet the transmission of information, processing, storage, display, record
With control etc. require.But the parameter for having many sensor outputs is subject to temperature to have a great influence.By taking gyro sensor as an example, top
Spiral shell instrument sensor is widely used in the fields such as space flight due to that can provide orientation, level, position, speed and acceleration,
Therefore height is precisely required to measuring；It is right and the parameter that gyro sensor is exported when temperature is too low can produce larger drift
Have a great influence in measurement precision.Therefore, it is necessary to the temperature drift problems of gyro sensor are handled.
The content of the invention
Based on this, it is necessary to which larger temperature drift can be produced by, which working for gyro sensor when temperature is too low, causes
Measure the problem of precision reduces, there is provided a kind of temperature control equipment and unmanned plane based on gyro sensor.
A kind of temperature control equipment based on gyro sensor, including main control module, switching device and heating module, institute
Main control module is stated to be connected with the heating module by the switching device；
Gyro sensor detection current environmental temperature obtains temperature detection result, and by the temperature detection result
Send to the main control module, the main control module and believed according to the temperature detection result to the switching device output control
Number, the working status of the switching device is controlled, to control the working status of the heating module；The heating module with it is described
Gyro sensor is adjacent.
In one of the embodiments, power module is further included, the power module is the heating module and the top
Spiral shell instrument sensor provides power supply.
In one of the embodiments, the main control module is when the temperature detection result is less than preset temperature value, to
The switching device output control signal, controls the switching device to close；
The main control module is exported when the temperature detection result reaches the preset temperature value to the switching device
Control signal, controls the switching device to disconnect.Work or do not work so as to fulfill master control module controls heating module.
In one of the embodiments, the preset temperature value is 60 degrees Celsius.The gyro sensor is Celsius 60
The lower work of degree, the temperature drift that the parameter of output is influenced to produce be subject to temperature are smaller.
In one of the embodiments, the heating module includes adding thermal resistance.
In one of the embodiments, the quantity of the adding thermal resistance is 4, is respectively distributed to the gyro sensor
Surrounding.So that the gyro sensor is uniformly heated.
In one of the embodiments, the switching device includes metal-oxide-semiconductor.
In one of the embodiments, the heating module, the switching device and the gyro sensor are integrated in
On second pcb board；The power module is integrated on the first pcb board with the main control module.
In one of the embodiments, the heating module includes the first capacitance, the second capacitance, the first adding thermal resistance, the
Two adding thermal resistances, the 3rd adding thermal resistance and the 4th adding thermal resistance；The switching device includes metal-oxide-semiconductor and pull down resistor；
One end of first capacitance, one end of second capacitance, one end of first adding thermal resistance, described second
One end of adding thermal resistance is connected with power module, the other end of first capacitance, the other end ground connection of second capacitance,
The other end of first adding thermal resistance is connected with one end of the 3rd adding thermal resistance, the other end of second adding thermal resistance
With one end of the 4th adding thermal resistance, the other end of three adding thermal resistance, the other end of the 4th adding thermal resistance and institute
The drain electrode connection of metal-oxide-semiconductor is stated, the grid of the metal-oxide-semiconductor is connected with the main control module and the pull down resistor, the metal-oxide-semiconductor
Source electrode, the pull down resistor the other end ground connection.
In one of the embodiments, the application also provides a kind of unmanned plane, including described in above-mentioned any one based on
The temperature control equipment of gyro sensor.
The above-mentioned temperature control equipment based on gyro sensor, unmanned plane, due to being set in gyro sensor adjacent
Heating module is put, the current environmental temperature of gyro sensor detection is received by main control module, and according to current environmental temperature
To switching device output control signal, the working status of the switching device is controlled, is controlled and the switch so as to realize
The working status of the heating module of device connection, makes gyro sensor environment temperature be maintained at constant preset temperature, reduces
The temperature drift problems of gyro sensor.
Brief description of the drawings
Fig. 1 is one example structure schematic diagram of the application；
Fig. 2 is another example structure schematic diagram of the application；
Fig. 3 is the circuit structure diagram of one embodiment heating module of the application and switching device；
Fig. 4 is one embodiment gyro sensor circuit structure diagram of the application.
Embodiment
Fig. 1 is refer to, is the structure diagram of temperature control equipment of one embodiment of the application based on gyro sensor.
The application provides a kind of temperature control equipment based on gyro sensor, including main control module 110, switching device
120 and heating module 130.Wherein, the main control module 110 is connected by the switching device 120 and the heating module 130
Connect.
The gyro sensor 140 detects current environmental temperature and obtains temperature detection result, and by the temperature detection
As a result send to the main control module 110, the main control module 110 is according to the temperature detection result to the switching device
120 output control signals, control the working status of the switching device 120, to control the work shape of the heating module 130
State；Specifically, the heating module 130 is adjacent with the gyro sensor 140.
The above-mentioned temperature control equipment based on gyro sensor, due to setting heated mould in gyro sensor adjacent
Block, the current environmental temperature of gyro sensor detection is received by main control module, and is filled according to current environmental temperature to switch
Output control signal is put, controls the working status of the switching device, so as to realize that control is connected with the switching device
Heating module working status, gyro sensor environment temperature is maintained at constant preset temperature value, reduce gyroscope
The temperature drift problems of sensor.
In one embodiment, the main control module can be realized based on any equipment that can realize control function.
In one embodiment of the application, the main control module can include microcontroller, DSP microprocessors or embedded microprocessor
Device.
Microcontroller (Microcontrollers) is a kind of IC chip, is to use very large scale integration technology
The central processor CPU with data-handling capacity, random access memory ram, read only memory ROM, a variety of I/O mouthfuls and interruptions
The functions such as system, timer/counter (may further include display driver circuit, pulse-width modulation circuit, analog multiplexer,
The circuits such as A/D converter) it is integrated into the small and perfect microcomputer system formed on one piece of silicon chip.The position of microcontroller
Control ability is strong, and I/O kind of interface is various, and peripheral hardware and control ability are enriched in piece, and price is low, easy to use.
In the present embodiment, microcontroller receives the temperature from gyro sensor detection, by temperature detection result and in advance
If temperature value is compared, and is disconnected or closed to switching device output control signal, controlling switch device according to comparative result
Close, circuit is simple, easy to operate, and cost is low.
In one embodiment, the switching device can include triode, metal-oxide-semiconductor.Metal-oxide-semiconductor be metal (metal)-
Oxide (oxide)-semiconductor (semiconductor) field-effect transistor, or it is metal-insulator to claim
(insulator)-semiconductor field effect transistor.Metal-oxide-semiconductor is to be drained by the voltage for being added in input terminal grid come control output end
Electric current.When being switched due to metal-oxide-semiconductor, it will not occur as triode charge-storage effect caused by base current, therefore
In switch application, the switching speed of metal-oxide-semiconductor is faster than triode speed.In a specific embodiment, the switching device bag
Include metal-oxide-semiconductor.
In one embodiment, the heating module includes adding thermal resistance；In other embodiments, the heating module
Can include other kinds of heating unit.
In one specifically embodiment, the quantity of the adding thermal resistance is 4, is respectively distributed to the gyro sensors
The surrounding of device.Thus, it is possible to uniformly heated for gyro sensor.In the present embodiment, using the resistance of 10 Ω (ohm).
In other embodiments, the quantity of adding thermal resistance can also be other numbers, and be respectively distributed to the week of gyro sensor
Enclose.
In one embodiment, by when PCB (Printed circuit board) plate is arranged in gyro sensor
Surrounding addition adding thermal resistance.
Fig. 2 is refer to, the structure for the temperature control equipment based on gyro sensor of another embodiment of the application is shown
It is intended to.In the present embodiment, the temperature control equipment based on gyro sensor further includes power module 250, the electricity
Source module 250 provides power supply for the heating module 130 and the gyro sensor 140.
In one embodiment, the power module can be specifically battery, in another embodiment, the power supply
Module specifically can also be by USB interface external power supply.In the present embodiment, 5V (volt) DC power supplies are used to add to be described
Thermal modules, the switching device and the gyro sensor provide power supply.
In one embodiment, the main control module 110 is when the temperature detection result is less than preset temperature value, to institute
120 output control signal of switching device is stated, controls the switching device 120 to close；
The main control module 110 is when the temperature detection result reaches the preset temperature value, to the switching device
Defeated 120 go out control signal, control the switching device 120 to disconnect.
In the present embodiment, the gyro sensor works under preset temperature value, and the temperature drift of generation is smaller.
Specifically, when temperature detection result is less than preset temperature value, main control module to switching device output control signal,
The switching device is controlled to close, so as to control the heating module to work, heating module is in heated condition at this time.By institute
It is adjacent with the heating module to state gyro sensor, the heating module heats, and can cause the ring of the gyro sensor
Border temperature increase, when the temperature detection result that gyro sensor detects is to reach preset temperature value, the main control module
Switching device output control signal, controlling switch device are disconnected to described, at this time, heating module no longer works.When again
When detecting that the current environmental temperature of gyro sensor is less than preset temperature value, main control module will be exported to switching device again
Control signal controlling switch device closes.The working time of the heating module changes with temperature detection result.
Specifically, the preset temperature value can be set with reference to actual needs, in the present embodiment, based on gyroscope
The performance of sensor is set, and the temperature drift performance for such as combining gyro sensor is set.Due to gyro sensor pair
Temperature susceplibility is big, and temperature drift becomes one of its main error source.Influence of the temperature change to gyro sensors precision is main
It is reflected in two aspects：First, gyroscope material property is in itself to the sensitiveness of temperature；Second, temperature field surrounding is to gyroscope work
Make the influence of state.Research shows that when some temperature values work the temperature drift that gyro sensor produces is smaller.
In a specific embodiment, the preset temperature value is 60 degrees Celsius.In the present embodiment, gyro sensors
Device works under 60 degrees Celsius of temperature environment, and the temperature drift of generation is smaller.
In one embodiment, the main control module is to switching device output pwm signal, to control the switching device
Working status.In other embodiments, main control module can also control the switching device by other types control signal.
In the present embodiment, pass through SPI (Serial Peripheral between the main control module and the gyro sensor
Interface, Serial Peripheral Interface (SPI)) connection, the working status of the master control module controls gyro sensor, and receive gyro
The current environmental temperature value of instrument sensor detection.
In one embodiment, disparate modules can be integrated on a pcb board according to being actually needed, so that device is micro-
Miniaturization and intelligence, while reduce the power consumption of device and improve reliability.In the embodiment shown in Figure 2, by the heating
Module, the switching device and the gyro sensor are integrated on the second pcb board (PCB2 in such as Fig. 2), the power supply mould
Block is integrated on the first PCB (PCB1 in such as Fig. 2) with the main control module.In the present embodiment, it is described to be based on gyro sensors
What the temperature control equipment of device controlled is the temperature of PCB2, and the power module provides power supply for the PCB2.
As shown in figure 3, it is one embodiment heating module of the application and the circuit structure diagram of switching device.In the present embodiment
In, the heating module adds including the first capacitance C1, the second capacitance C2, the first adding thermal resistance R1, the second adding thermal resistance R2, the 3rd
Thermal resistance R3 and the 4th adding thermal resistance R4；The switching device includes metal-oxide-semiconductor Q1 and pull down resistor R5；
One end of the first capacitance C1, one end of the second capacitance C2, one end of the first adding thermal resistance R1, institute
The one end for stating the second adding thermal resistance R2 is connected with power module, the other end of the first capacitance C1, the second capacitance C2
Other end ground connection, the other end of the first adding thermal resistance R1 is connected with one end of the 3rd adding thermal resistance R3, described the
One end of the other end of two adding thermal resistance R2 and the 4th adding thermal resistance R4, it is the other end of the three adding thermal resistances R3, described
The other end of 4th adding thermal resistance R4 is connected with the drain electrode (D poles) of the metal-oxide-semiconductor Q1, the grid (G poles) of the metal-oxide-semiconductor with it is described
Main control module and pull down resistor connection, the source electrode (S poles) of the metal-oxide-semiconductor Q1, another termination of the pull down resistor R5
Ground.
Specifically, first capacitance, the second capacitance can filter out the ripple of power module.In a specific embodiment
In, the first capacitance C1, the second capacitance C2 use the capacitance of 10 μ F (microfarad), and pull down resistor R5 uses the resistance of 10K Ω (kilo-ohm)；
Metal-oxide-semiconductor uses N-channel MOS pipe.
As shown in figure 4, it is one embodiment gyro sensor circuit structure diagram of the application.In the present embodiment, gyroscope
Sensor uses GYRO chips.
In the embodiment shown in Fig. 3 and Fig. 4, gyro sensor and metal-oxide-semiconductor are controlled by microcontroller, are so passed through
The environment temperature that program can control heating module work and make gyro sensor is controlled in preset temperature value.
In one embodiment, the embodiment of the application also provides a kind of unmanned plane, and the unmanned plane includes above-mentioned
One temperature control equipment based on gyro sensor of meaning.
The unmanned plane receives gyroscope due to setting heating module in gyro sensor adjacent, by main control module and passes
The current environmental temperature of sensor detection, and the switch is controlled to switching device output control signal according to current environmental temperature
The working status of device, so as to realize the working status for controlling the heating module being connected with the switching device, makes gyro
Instrument sensor ambient temperature is maintained at constant preset temperature value, reduces the temperature drift problems of gyro sensor, so that right
Orientation, level, position, the detection precision of speed and acceleration are more stable.
Embodiment described above only expresses the several embodiments of the application, its description is more specific and detailed, but simultaneously
Therefore the limitation to the application the scope of the claims cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, on the premise of the application design is not departed from, various modifications and improvements can be made, these belong to the guarantor of the application
Protect scope.Therefore, the protection domain of the application patent should be determined by the appended claims.
Claims (10)
1. a kind of temperature control equipment based on gyro sensor, it is characterised in that including main control module, switching device and add
Thermal modules, the main control module are connected by the switching device with the heating module；
The gyro sensor detection current environmental temperature obtains temperature detection result, and the temperature detection result is sent
To the main control module, the main control module, to the switching device output control signal, is controlled according to the temperature detection result
The working status of the switching device is made, to control the working status of the heating module；The heating module and the gyro
Instrument sensor is adjacent.
2. the temperature control equipment according to claim 1 based on gyro sensor, it is characterised in that further include power supply
Module, the power module is the heating module, the switching device and the gyro sensor provide power supply.
3. the temperature control equipment according to claim 1 based on gyro sensor, it is characterised in that：
The main control module is believed when the temperature detection result is less than preset temperature value to the switching device output control
Number, control the switching device to close；
The main control module is when the temperature detection result reaches the preset temperature value, to the switching device output control
Signal, controls the switching device to disconnect.
4. the temperature control equipment according to claim 3 based on gyro sensor, it is characterised in that the default temperature
Angle value is 60 degrees Celsius.
5. the temperature control equipment according to claim 1 based on gyro sensor, it is characterised in that the heated mould
Block includes adding thermal resistance.
6. the temperature control equipment according to claim 5 based on gyro sensor, it is characterised in that the heating electricity
The quantity of resistance is 4, is respectively distributed to the surrounding of the gyro sensor.
7. the temperature control equipment according to claim 1 based on gyro sensor, it is characterised in that the switch dress
Put including metal-oxide-semiconductor.
8. the temperature control equipment according to claim 2 based on gyro sensor, it is characterised in that the heated mould
Block, the switching device and the gyro sensor are integrated on the second pcb board；The power module and the main control module
It is integrated on the first pcb board.
9. the temperature control equipment according to claim 1 based on gyro sensor, it is characterised in that the heated mould
Block includes the first capacitance, the second capacitance, the first adding thermal resistance, the second adding thermal resistance, the 3rd adding thermal resistance and the 4th adding thermal resistance；
The switching device includes metal-oxide-semiconductor and pull down resistor；
One end of first capacitance, one end of second capacitance, one end of first adding thermal resistance, second heating
One end of resistance is connected with power module, the other end of first capacitance, the other end ground connection of second capacitance, described
The other end of first adding thermal resistance is connected with one end of the 3rd adding thermal resistance, the other end of second adding thermal resistance and institute
State one end of the 4th adding thermal resistance, the other end of three adding thermal resistance, the other end and the MOS of the 4th adding thermal resistance
The drain electrode connection of pipe, the grid of the metal-oxide-semiconductor are connected with the main control module and the pull down resistor, the source of the metal-oxide-semiconductor
Pole, the other end ground connection of the pull down resistor.
A kind of 10. unmanned plane, it is characterised in that including as described in claim 1-9 any one based on gyro sensor
Temperature control equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711190076.5A CN107977026B (en) | 2017-11-24 | 2017-11-24 | Temperature control device based on gyroscope sensor and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711190076.5A CN107977026B (en) | 2017-11-24 | 2017-11-24 | Temperature control device based on gyroscope sensor and unmanned aerial vehicle |
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| CN107977026A true CN107977026A (en) | 2018-05-01 |
| CN107977026B CN107977026B (en) | 2021-04-06 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109557955A (en) * | 2018-12-29 | 2019-04-02 | 重庆华渝电气集团有限公司 | A kind of temperature control equipment and temprature control method of inertial navigation equipment |
| CN111552328A (en) * | 2020-05-14 | 2020-08-18 | 中国南方电网有限责任公司超高压输电公司大理局 | Unmanned aerial vehicle temperature control method, system, device and storage medium |
| CN107977026B (en) * | 2017-11-24 | 2021-04-06 | 深圳市科比特航空科技有限公司 | Temperature control device based on gyroscope sensor and unmanned aerial vehicle |
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| CN107977026B (en) | 2021-04-06 |
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Address after: Room 401-2, Building 1, No. 189, Guigu 2nd Road, Luoxing Street, Jiashan County, Jiaxing City, Zhejiang Province, 314100 Patentee after: Zhejiang COBIT Innovation Technology Co.,Ltd. Address before: 518101 2nd floor, building 1, jindahua Industrial Park, No.1 Yihe Road, Shilong community, Shiyan street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN MICROMULTICOPTER Co.,Ltd. |