CN107977026B - Temperature control device based on gyroscope sensor and unmanned aerial vehicle - Google Patents
Temperature control device based on gyroscope sensor and unmanned aerial vehicle Download PDFInfo
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- CN107977026B CN107977026B CN201711190076.5A CN201711190076A CN107977026B CN 107977026 B CN107977026 B CN 107977026B CN 201711190076 A CN201711190076 A CN 201711190076A CN 107977026 B CN107977026 B CN 107977026B
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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 temperature control device based on a gyroscope sensor, which comprises a main control module, a switch device and a heating module, wherein the main control module is connected with the heating module through the switch device; the gyroscope sensor detects the current ambient temperature to obtain a temperature detection result, and sends the temperature detection result to the main control module, and the main control module outputs a control signal to the switch device according to the temperature detection result to control the working state of the switch device so as to control the working state of the heating module; the heating module is adjacent to the gyroscope sensor. The main control module receives the current ambient temperature detected by the gyroscope sensor and controls the switch device to work according to the detection result so as to control the working state of the heating module connected with the switch device.
Description
Technical Field
The application relates to the field of sensors, in particular to a temperature control device based on a gyroscope sensor and an unmanned aerial vehicle.
Background
The sensor is a detection device which can sense the measured information and convert the sensed information into an electric signal or other information in a required form according to a certain rule to output so as to meet the requirements of information transmission, processing, storage, display, recording, control and the like. There are many parameters of the sensor output that are greatly affected by temperature. Taking a gyroscope sensor as an example, the gyroscope sensor can be widely applied to the fields of aerospace and the like because of providing azimuth, level, position, speed and acceleration, and therefore the requirement on measurement accuracy is high; and the output parameters of the gyroscope sensor can generate larger drift when the temperature is too low, and the influence on the measurement accuracy is larger. Therefore, it is necessary to deal with the problem of temperature drift of the gyro sensor.
Disclosure of Invention
Therefore, it is necessary to provide a temperature control device based on a gyroscope sensor and an unmanned aerial vehicle, aiming at the problem that the gyroscope sensor works at a low temperature to generate a large temperature drift to reduce the measurement accuracy.
A temperature control device based on a gyroscope sensor comprises a main control module, a switch device and a heating module, wherein the main control module is connected with the heating module through the switch device;
the gyroscope sensor detects the current ambient temperature to obtain a temperature detection result, and sends the temperature detection result to the main control module, and the main control module outputs a control signal to the switch device according to the temperature detection result to control the working state of the switch device so as to control the working state of the heating module; the heating module is adjacent to the gyroscope sensor.
In one embodiment, the gyroscope further comprises a power supply module, wherein the power supply module supplies power to the heating module and the gyroscope sensor.
In one embodiment, when the temperature detection result is lower than a preset temperature value, the main control module outputs a control signal to the switch device to control the switch device to be closed;
and the main control module outputs a control signal to the switching device to control the switching device to be switched off when the temperature detection result reaches the preset temperature value. Thereby realizing that the main control module controls the heating module to work or not work.
In one embodiment, the preset temperature value is 60 degrees celsius. The gyroscope sensor works at 60 ℃, and the temperature drift of output parameters caused by the influence of temperature is small.
In one embodiment, the heating module comprises a heating resistor.
In one embodiment, the number of the heating resistors is 4, and the heating resistors are respectively distributed around the gyroscope sensor. So that the gyro sensor is uniformly heated.
In one embodiment, the switching device comprises a MOS transistor.
In one embodiment, the heating module, the switching device and the gyroscope sensor are integrated on a second PCB board; the power module and the main control module are integrated on a first PCB.
In one embodiment, the heating module comprises a first capacitor, a second capacitor, a first heating resistor, a second heating resistor, a third heating resistor and a fourth heating resistor; the switching device comprises an MOS tube and a pull-down resistor;
the one end of first electric capacity the one end of second electric capacity the one end of first heating resistor the one end of second heating resistor all is connected with power module, the other end of first electric capacity the other end ground connection of second electric capacity, the other end of first heating resistor with the one end of third heating resistor is connected, the other end of second heating resistor with the one end of fourth heating resistor, the other end of three heating resistor the other end of fourth heating resistor with the drain electrode of MOS pipe is connected, the grid of MOS pipe with main control module and pull down the ohmic connection, the source electrode of MOS pipe the other end ground connection of pull down resistance.
In one embodiment, the present application further provides a drone including the gyro sensor-based temperature control apparatus of any one of the above.
Above-mentioned temperature control device based on gyroscope sensor, unmanned aerial vehicle owing to set up heating module in gyroscope sensor adjacent department, receive the current ambient temperature that gyroscope sensor detected through host system to according to current ambient temperature to switching device output control signal, control switching device's operating condition, thereby can realize control with the operating condition of the heating module that switching device connects makes gyroscope sensor ambient temperature keep in invariable preset temperature, reduces gyroscope sensor's temperature drift problem.
Drawings
FIG. 1 is a schematic structural diagram according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of another embodiment of the present application;
FIG. 3 is a circuit diagram of a heating module and a switch device according to an embodiment of the present application;
fig. 4 is a circuit diagram of a gyroscope sensor according to an embodiment of the present application.
Detailed Description
Fig. 1 is a schematic structural diagram of a temperature control device based on a gyroscope sensor according to an embodiment of the present application.
The application provides a temperature control device based on a gyroscope sensor, which comprises a main control module 110, a switch device 120 and a heating module 130. Wherein, the main control module 110 is connected to the heating module 130 through the switch device 120.
The gyroscope sensor 140 detects a current ambient temperature to obtain a temperature detection result, and sends the temperature detection result to the main control module 110, and the main control module 110 outputs a control signal to the switch device 120 according to the temperature detection result to control the working state of the switch device 120 so as to control the working state of the heating module 130; specifically, the heating module 130 is adjacent to the gyro sensor 140.
According to the temperature control device based on the gyroscope sensor, the heating module is arranged at the position adjacent to the gyroscope sensor, the main control module is used for receiving the current environment temperature detected by the gyroscope sensor, and outputting a control signal to the switch device according to the current environment temperature to control the working state of the switch device, so that the working state of the heating module connected with the switch device can be controlled, the environment temperature of the gyroscope sensor is kept at a constant preset temperature value, and the temperature drift problem of the gyroscope sensor is reduced.
In one embodiment, the master control module may be implemented based on any device that can implement control functions. In an embodiment of the present application, the main control module may include a single chip, a DSP microprocessor, or an embedded microprocessor.
The single chip computer (Microcontrollers) is an integrated circuit chip, and is a small and perfect microcomputer system formed by integrating the functions of a central processing unit CPU with data processing capacity, a random access memory RAM, a read only memory ROM, various I/O ports, an interrupt system, a timer/counter and the like (possibly comprising a display driving circuit, a pulse width modulation circuit, an analog multiplexer, an A/D converter and the like) on a silicon chip by adopting a super-large scale integrated circuit technology. The single chip has strong position control capability, various I/O interfaces, rich in-chip, out-chip and control capability, low price and convenient use.
In this embodiment, the singlechip receives the temperature that comes from the gyroscope sensor detection, compares temperature testing result with preset temperature value to output control signal to switching device according to the comparative result, control switching device disconnection or closure, the circuit is simple, convenient operation, it is with low costs.
In one embodiment, the switching device may include a transistor and a MOS transistor. The MOS transistor is a metal-oxide-semiconductor (semiconductor) field effect transistor, or referred to as a metal-insulator-semiconductor field effect transistor. The MOS transistor controls the current of the drain electrode of the output end by the voltage applied to the grid electrode of the input end. When the MOS tube is used for switching, the charge storage effect caused by base current of the triode can not occur, so that the switching speed of the MOS tube is higher than that of the triode in the switching application. In a specific embodiment, the switching device comprises a MOS transistor.
In one embodiment, the heating module comprises a heating resistor; in other embodiments, the heating module may also include other types of heating devices.
In a specific embodiment, the number of the heating resistors is 4, and the heating resistors are respectively distributed around the gyroscope sensor. Thus, the gyro sensor can be uniformly heated. In the present embodiment, a resistance of 10 Ω (ohm) is employed. In other embodiments, the number of heating resistors may be other numbers and distributed around the gyro sensor.
In one embodiment, the gyro sensor is formed by adding a heating resistor around the gyro sensor when a pcb (printed circuit board) board is arranged.
Fig. 2 is a schematic structural diagram of a temperature control device based on a gyroscope sensor according to another embodiment of the present application. In this embodiment, the temperature control apparatus based on a gyro sensor further includes a power module 250, and the power module 250 provides power to the heating module 130 and the gyro sensor 140.
In one embodiment, the power module may specifically be a battery, and in another embodiment, the power module may specifically be an external power supply through a USB interface. In this embodiment, a 5V (volt) dc power supply is used to supply power to the heating module, the switching device, and the gyro sensor.
In one embodiment, when the temperature detection result is lower than a preset temperature value, the main control module 110 outputs a control signal to the switch device 120 to control the switch device 120 to be closed;
when the temperature detection result reaches the preset temperature value, the main control module 110 outputs a control signal to the switching device 120 to control the switching device 120 to be switched off.
In this embodiment, the gyro sensor operates at a preset temperature value, and the generated temperature drift is small.
Specifically, when the temperature detection result is lower than the preset temperature value, the main control module outputs a control signal to the switch device to control the switch device to be closed, so that the heating module is controlled to work, and at the moment, the heating module is in a heating state. Because the gyroscope sensor with the heating module is adjacent, the heating module heats, can make the ambient temperature of gyroscope sensor increases, and when the temperature measurement result that the gyroscope sensor detected was for reaching preset temperature value, master control module to with switching device output control signal, control switching device disconnection, at this moment, heating module no longer works. When the current environment temperature of the gyroscope sensor is detected to be lower than the preset temperature value again, the main control module outputs a control signal to the switch device again to control the switch device to be closed. The working time of the heating module changes along with the temperature detection result.
Specifically, the preset temperature value may be set according to actual needs, and in this embodiment, the preset temperature value is set based on the performance of the gyroscope sensor, for example, the preset temperature value is set according to the temperature drift performance of the gyroscope sensor. Since the gyro sensor is sensitive to temperature, temperature drift becomes one of its main error sources. The influence of temperature change on the sensing accuracy of the gyroscope is mainly reflected in two aspects: firstly, the sensitivity of the performance of the gyroscope material to the temperature; and secondly, the influence of the ambient temperature field on the working state of the gyroscope. Studies have shown that the temperature drift generated by the gyro sensor is small when operating at certain temperature values.
In a specific embodiment, the preset temperature value is 60 degrees celsius. In the present embodiment, the gyro sensor operates in a temperature environment of 60 degrees celsius, and the generated temperature drift is small.
In one embodiment, the main control module outputs a PWM signal to the switching device to control the operating state of the switching device. In other embodiments, the main control module may control the switch device through other types of control signals. In this embodiment, the main control module is connected to the gyroscope sensor through an SPI (Serial Peripheral Interface), and the main control module controls a working state of the gyroscope sensor and receives a current ambient temperature value detected by the gyroscope sensor.
In one embodiment, different modules can be integrated on one PCB board according to actual needs, so that the device is miniaturized and intelligent, and meanwhile, the power consumption of the device is reduced and the reliability is improved. In the embodiment shown in fig. 2, the heating module, the switching device and the gyro sensor are integrated on a second PCB (e.g., PCB2 in fig. 2), and the power module and the main control module are integrated on a first PCB (e.g., PCB1 in fig. 2). In this embodiment, the temperature control device based on the gyroscope sensor controls the temperature of the PCB2, and the power module provides power to the PCB 2.
As shown in fig. 3, a circuit configuration diagram of a heater module and a switching device according to an embodiment of the present application is shown. In the present embodiment, the heating module includes a first capacitor C1, a second capacitor C2, a first heating resistor R1, a second heating resistor R2, a third heating resistor R3 and a fourth heating resistor R4; the switching device comprises a MOS transistor Q1 and a pull-down resistor R5;
the one end of first electric capacity C1, the one end of second electric capacity C2, the one end of first heating resistance R1, the one end of second heating resistance R2 all is connected with power module, the other end of first electric capacity C1, the other end ground connection of second electric capacity C2, the other end of first heating resistance R1 with the one end of third heating resistance R3 is connected, the other end of second heating resistance R2 with the one end of fourth heating resistance R4, the other end of third heating resistance R3, the other end of fourth heating resistance R4 with the drain (D utmost point) of MOS pipe Q1 is connected, the grid (G utmost point) of MOS pipe with master control module and pull-down resistance is connected, the source (S utmost point) of MOS pipe Q1, the other end ground connection of pull-down resistance R5.
Specifically, the first capacitor and the second capacitor can filter out ripples of the power supply module. In a specific embodiment, the first capacitor C1 and the second capacitor C2 are 10 μ F (microfarads), and the pull-down resistor R5 is 10K Ω (kilo-ohms); the MOS tube adopts an N-channel MOS tube.
Fig. 4 is a circuit diagram of a gyroscope sensor according to an embodiment of the present application. In the present embodiment, the GYRO sensor employs a GYRO chip.
In the embodiment shown in fig. 3 and 4, the gyro sensor and the MOS transistor are both controlled by a single chip, so that the heating module can be controlled by a program to operate to control the ambient temperature of the gyro sensor to be a preset temperature value.
In one embodiment, an embodiment of the present application further provides a drone including any one of the above temperature control devices based on a gyroscope sensor.
This unmanned aerial vehicle is owing to set up heating module in the adjacent department of gyroscope sensor, receives the current ambient temperature that gyroscope sensor detected through host system to according to current ambient temperature to switching device output control signal, control switching device's operating condition, thereby can realize control with the operating condition of the heating module that switching device connects makes gyroscope sensor ambient temperature keep at invariable preset temperature value, reduces gyroscope sensor's temperature drift problem, thereby relatively more stable to the detection precision of position, level, position, speed and acceleration.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. A temperature control device based on a gyroscope sensor is characterized by comprising a main control module, a switch device and a heating module, wherein the main control module is connected with the heating module through the switch device;
the gyroscope sensor detects the current ambient temperature to obtain a temperature detection result, and sends the temperature detection result to the main control module, and the main control module outputs a control signal to the switch device according to the temperature detection result to control the working state of the switch device so as to control the working state of the heating module; the heating module is adjacent to the gyroscope sensor;
the heating module comprises a first capacitor, a second capacitor, a first heating resistor, a second heating resistor, a third heating resistor and a fourth heating resistor; the switching device comprises an MOS tube and a pull-down resistor; the first heating resistor, the second heating resistor, the third heating resistor and the fourth heating resistor are respectively distributed around the gyroscope sensor;
the one end of first electric capacity the one end of second electric capacity the one end of first heating resistor the one end of second heating resistor all is connected with power module, the other end of first electric capacity the other end ground connection of second electric capacity, the other end of first heating resistor with the one end of third heating resistor is connected, the other end of second heating resistor with the one end of fourth heating resistor, the other end of three heating resistor the other end of fourth heating resistor with the drain electrode of MOS pipe is connected, the grid of MOS pipe with main control module and pull down the ohmic connection, the source electrode of MOS pipe the other end ground connection of pull down resistance.
2. The gyroscope sensor-based temperature control apparatus of claim 1, further comprising a power module that provides power to the heating module, the switching device, and the gyroscope sensor.
3. The gyroscope sensor-based temperature control apparatus of claim 1, wherein:
when the temperature detection result is lower than a preset temperature value, the main control module outputs a control signal to the switch device to control the switch device to be closed;
and the main control module outputs a control signal to the switching device to control the switching device to be switched off when the temperature detection result reaches the preset temperature value.
4. The gyroscope sensor-based temperature control apparatus of claim 3, wherein the preset temperature value is 60 degrees Celsius.
5. The gyroscope sensor-based temperature control apparatus of claim 2, wherein the heating module, the switching device and the gyroscope sensor are integrated on a second PCB board; the power module and the main control module are integrated on a first PCB.
6. The gyroscope sensor-based temperature control apparatus of claim 1, wherein the first capacitance is 10 microfarads in magnitude and the second capacitance is 10 microfarads in magnitude; the pull-down resistor is 10 kilo-ohms; the MOS tube adopts an N-channel MOS tube.
7. A drone, characterized in that it comprises a temperature control device based on gyroscopic sensors according to any one of claims 1 to 6.
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| 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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| 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 |
| CN109557955B (en) * | 2018-12-29 | 2020-09-29 | 重庆华渝电气集团有限公司 | Temperature control device and temperature control method of strapdown 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 |
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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. |
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