CN115853963A - Mounting structure of motion sensor, motion sensor module and mobile device - Google Patents
Mounting structure of motion sensor, motion sensor module and mobile device Download PDFInfo
- Publication number
- CN115853963A CN115853963A CN202211526960.2A CN202211526960A CN115853963A CN 115853963 A CN115853963 A CN 115853963A CN 202211526960 A CN202211526960 A CN 202211526960A CN 115853963 A CN115853963 A CN 115853963A
- Authority
- CN
- China
- Prior art keywords
- base
- motion sensor
- mounting structure
- counterweight
- cover plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Gyroscopes (AREA)
Abstract
The application relates to a mounting structure of a motion sensor, a motion sensor module and a mobile device. This mounting structure includes: the vibration reduction assembly is connected to the support through the connecting pieces and is arranged in a suspended mode; wherein: the vibration reduction assembly comprises a base and a counterweight structure arranged on the base, and the base is used for placing the motion sensor; the material density of the base is less than that of the counterweight structure, and the side length of the counterweight structure is less than the distance between the installation positions of the two adjacent connecting pieces; and/or the intersection point of the axial centerlines of the connecting members approaches or coincides with the center of gravity of the damping assembly. The scheme that this application provided can reduce the transmission of organism vibration and to motion sensor's testing result's influence, improves testing result's accuracy.
Description
Technical Field
The application relates to the technical field of motion sensors, in particular to a motion sensor mounting structure, a motion sensor module and a mobile device.
Background
Motion sensors, including, for example, acceleration sensors, gyroscopes, geomagnetic sensors, inertial Measurement Units (IMUs), and the like, find application in many industries, such as aircraft, vehicles, mobile machinery, and the like. Taking the application of an IMU in an aircraft as an example, the IMU generally comprises an accelerometer and a gyroscope for detecting the kinematic attitude in space of the body (translational and rotational movements of the body).
However, due to the characteristics of the IMU itself, the IMU can also sense the vibration from the excitation sources such as the machine body machinery and the air flow, and the interference of the vibration signals is not beneficial to the accurate detection of the motion posture of the machine body by the IMU. Therefore, how to reduce the influence of such vibration on the IMU as much as possible is a problem that needs to be solved at present.
Disclosure of Invention
For solving or partly solve the problem that exists among the correlation technique, this application provides a motion sensor's mounting structure, motion sensor module and mobile device, can reduce the transmission of organism vibration to motion sensor's testing result's influence, improves testing result's accuracy.
The first aspect of the application provides a mounting structure of a motion sensor, which comprises a vibration damping component, a plurality of connecting pieces and a bracket, wherein the vibration damping component is connected to the bracket through the connecting pieces and is arranged in a suspended manner; wherein:
the vibration reduction assembly comprises a base and a counterweight structure arranged on the base, and the base is used for placing a motion sensor; the material density of the base is smaller than that of the counterweight structure, and the side length of the counterweight structure is smaller than the distance between the installation positions of two adjacent connecting pieces; and/or
And the intersection point of the axial center lines of the connecting pieces is close to or coincided with the gravity center of the vibration damping assembly.
In some embodiments, the base has a material density ρ 1 And the material density rho of the counterweight structure 2 Is in a relationship of 2 ≥2ρ 1 The relation between the side lengths a and b of the counterweight structure and the distances c and d between the mounting positions of two adjacent connecting pieces connected to the base is (c multiplied by d) ≥ 2 multiplied by a multiplied by b.
In some embodiments, the distance H between the intersection point of the axial centerlines of the connectors and the base 1 Distance H between the center of gravity of the vibration damping assembly and the base 2 The relationship of (1) is more than or equal to | H 1 -H 2 And | is less than or equal to arctan (Kxx/Kzz), wherein Kxx is the radial stiffness of the connecting piece, and Kzz is the axial stiffness of the connecting piece.
In some embodiments, a single connecting member includes an elastic portion and a first connecting portion and a second connecting portion respectively connected to two ends of the elastic portion, the first connecting portion is connected to the base, and the second connecting portion is connected to the bracket.
In some embodiments, the base is provided with a plurality of first mounting portions, the bracket is provided with a plurality of second mounting portions, and one end of the connecting piece is connected to the first mounting portions and the other end of the connecting piece is connected to the second mounting portions.
In some embodiments, the base and the bracket are of a quadrilateral structure respectively, the base is provided with four first installation parts along the central symmetry, the bracket is provided with four second installation parts along the central symmetry, a single second installation part corresponds to a single first installation part, and the number of the connecting pieces is four.
In some embodiments, the angle between the axial centerline of the connector and the bottom surface of the stent is acute.
In some embodiments, the counterweight structure includes a cover plate coupled to the base, the cover plate having a material density ρ 2 (ii) a Or
The counterweight structure comprises an upper cover plate, a counterweight block and a lower cover plate which are arranged from top to bottom, and the lower cover plate is connected to the base; the material density of the balancing weight is rho 2 。
In some embodiments, the material of the base is selected from an aluminum alloy, a magnesium alloy, or a plastic;
the material of the counterweight block or the cover plate of the counterweight structure is selected from steel or metal tungsten.
The second aspect of the present application provides a motion sensor module, which includes a motion sensor and the mounting structure of the motion sensor, wherein the motion sensor is disposed between a base and a counterweight structure.
In some embodiments, the motion sensor is an acceleration sensor, a gyroscope, a geomagnetic sensor, or an inertial measurement unit.
The third aspect of the present application provides a mobile device, which includes the above motion sensor module, wherein the bracket is connected to the device body, and the mobile device is an aircraft, a mobile robot, or a vehicle.
The technical scheme provided by the application can comprise the following beneficial effects:
according to the technical scheme, the vibration isolation effect of the sensor assembly can be maximized and the rotation frequency is as high as possible by adjusting the material density and the structural size in the vibration reduction assembly to enable the translation frequency to be as low as possible, so that the control delay of the motion sensor can be reduced; in addition, the intersection point of the axial central line of the connecting piece is close to or coincident with the gravity center of the vibration reduction assembly, and the translation frequency of the sensor assembly in each direction is decoupled from the rotation frequency of the sensor assembly in the corresponding direction, so that the additional rotation caused by the translation motion is eliminated. The design can be combined or selected through various schemes, and the interference of the body vibration on the motion sensor can be reduced, so that the accuracy of the detection result is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the application.
Fig. 1 is a schematic structural diagram of a motion sensor module according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of another view of the motion sensor module shown in FIG. 1;
FIG. 3 is an exploded schematic view of the motion sensor module shown in FIG. 1;
FIG. 4 is a schematic diagram of another view of the motion sensor module shown in FIG. 1;
FIG. 5 is a cross-sectional schematic view of the motion sensor module shown in FIG. 1;
FIG. 6 is a schematic view of the structure of the connection member of the motion sensor module shown in FIG. 1;
fig. 7 is a schematic structural diagram of a motion sensor module according to another embodiment of the present application.
Reference numerals are as follows:
a vibration damping assembly 100; a base 110; a first mounting portion 111; a mounting groove 112; a counterweight structure 120; a cover plate 121; an upper cover plate 122; a weight 123; a lower cover plate 124; a fixing groove 125;
a connecting member 200; a first connection portion 210; a stopper groove 211; an elastic portion 220; the second connection portion 230; a cavity 240;
a support 300; a second mounting portion 310; a mounting hole 311; a hollowed-out structure 320;
a motion sensor 400; an acute angle A; an obtuse angle B.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the related art, due to the characteristics of the IMU, when the motion posture of the body in space is detected, the IMU can sense the vibration from the excitation sources such as the machine of the body and the air flow, and the interference of the vibration signals is not beneficial to the accurate detection of the motion posture of the body by the IMU.
In view of the above problems, embodiments of the present application provide a mounting structure of a motion sensor, which can reduce the influence of the transmission of body vibration on the detection results of sensors such as an IMU, and improve the accuracy of the detection results.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 3, a mounting structure of a motion sensor 400 according to an embodiment of the present application includes:
the vibration damping device comprises a vibration damping assembly 100, a plurality of connecting pieces 200 and a support 300, wherein the vibration damping assembly 100 is connected to the support 300 through the connecting pieces 200 and is arranged in a suspended mode, and the vibration damping assembly 100 is used for installing a motion sensor 400. Wherein:
the vibration damping assembly 100 comprises a base 110 and a counterweight structure 120 arranged on the base 110, and the base 110 is used for placing the motion sensor 400; the material density of the base 110 is less than that of the weight structure 120, and the side length of the weight structure 120 is less than the distance between the installation positions of two adjacent connectors 200.
Specifically, the bracket 300 is used to connect to the body of the mobile device, the vibration damping assembly 100 is used to house and damp the motion sensor 400, the motion sensor 400 may be, for example, an IMU, and the vibration damping assembly 100 and the motion sensor 400 may form a sensor assembly. It should be noted that the motion sensor 400 includes a circuit board electrically connected to the circuit board. The damping module 100 is indirectly connected with the bracket 300 through a plurality of connecting pieces 200, and a space is formed between the damping module 100 and the bracket 300, so that the damping module 100 can be suspended. With such a design, the transmission of mechanical vibration of the mobile device to the vibration reduction assembly 100 by the bracket 300 can be reduced.
Further, the base 110 of the vibration damping module 100 is used for placing the motion sensor 400, the counterweight structure 120, the motion sensor 400, the base 110 and the bracket 300 are sequentially arranged from top to bottom, and the counterweight structure 120 is used for increasing the overall mass of the vibration damping module 100, so that the translation frequency of the vibration damping module 100 is reduced. It will be appreciated that the greater the density of the object, the greater the mass at an equivalent volume. Thus, the material of the weight structure 120 above the motion sensor 400 is a high density material, the material of the base 110 below the motion sensor 400 is a low density material, and the material density ρ of the weight structure 120 is 2 Much greater than the material density ρ of the base 110 1 . In the present application, the base 110 and the counterweight structure 120 are made of different types of materials, so that the overall contour size of the damping assembly 100 does not need to be enlarged, a large installation space is avoided, and the overall form of the installation structure of the present application is simplified; at the same time, the translational frequency of the sensor assembly may be reduced by an increase in the overall mass of the vibration attenuation module 100. Additionally, the spacing of the attachment location of the attachment member 200 from the geometric center of the sensor assembly will affect the rotational frequency of the damping assembly 100; based on this, by limiting the size relationship between the side length of the weight structure 120 and the distance between the installation positions of two adjacent connectors 200, the rotation frequency of the sensor assembly can be effectively increased, and thus the control delay of the motion sensor 400 can be reduced.
Referring to fig. 3, in order to facilitate the suspension of the damping assembly 100, in some embodiments, the base 110 is provided with a plurality of first mounting portions 111, the bracket 300 is provided with a plurality of second mounting portions 310, one end of the single connecting member 200 is connected to the first mounting portions 111, and the other end of the connecting member 200 is connected to the second mounting portions 310. Preferably, in order to balance the stress of the base 110, the first mounting portions 111 may be disposed at equal intervals on the base 110; accordingly, the second mounting portions 310 are correspondingly disposed at equal intervals on the bracket 300.
Referring to fig. 3 and 4, the operation of the mounting structure of the present application will be described in detail below for the sake of understanding. In a specific embodiment, the base 110, the weight structure 120 and the bracket 300 are respectively of a quadrilateral structure, the base 110 is provided with four first mounting portions 111 extending along the central symmetry, the bracket 300 is provided with four second mounting portions 310 extending along the central symmetry, a single second mounting portion 310 corresponds to a single first mounting portion 111, and the number of the connecting members 200 is four. For example, the weight structure 120 is rectangular, the length of the weight structure 120 is a, and the width of the base 110 is b; the distance c between the center points of the two first mounting portions 111 in the longitudinal direction of the base 110 and the distance d between the center points of the two second mounting portions 310 in the width direction of the base 110. Of course, in other embodiments, the number of the first mounting portions, the number of the second mounting portions, and the number of the connecting members may be 8 or 12, and only a symmetrical design is needed to ensure uniform dispersion of vibration.
In practical applications, when the bracket 300 is mounted on an airframe of a mobile device, such as an aircraft, vibration of the airframe is transmitted to the bracket 300 and further transmitted to the motion sensor 400 on the vibration damping assembly 100 through the bracket 300, wherein the vibration damping assembly 100 and the mounted motion sensor 400 form a sensor assembly. As shown in fig. 1 and 2, if the translational frequencies of the sensor assembly in the three directions of the X-axis, the Y-axis and the Z-axis can be made as low as possible, the vibration isolation effect of the sensor assembly can be maximized. Meanwhile, if the rotational frequency of the sensor assembly in the three directions of the X-axis, the Y-axis, and the Z-axis can be made as high as possible, the control delay time of the motion sensor 400 can be reduced.
With the translation frequency w of the sensor assembly in the Z-axis direction z And rotateDynamic frequency R z For example, the translation frequency and the rotation frequency of the sensor assembly in the X-axis direction and the Y-axis direction can be determined by corresponding calculation according to the following equations (1) and (2).
Wherein M is the total weight of the sensor assembly; k is a radical of x Is the stiffness of the connector in the X-axis direction; k is a radical of y Is the stiffness of the link in the Y-axis direction; k is a radical of z Is the stiffness of the connector in the Z-axis direction; x and Y are the distances from the installation position of the connecting piece to the geometric center of the sensor assembly; wherein X is approximately equal to 1/2 c, Y is approximately equal to 1/2 d。I z Is the moment of inertia of the sensor assembly about the Z-axis. Wherein, the specific value of the moment of inertia can be determined according to relevant software such as 3D digital-analog software measurement.
From equation (1) above, if the translational frequency of the sensor assembly in all directions is to be reduced as much as possible, the stiffness of the connecting member 200 can be reduced and/or the total weight M of the sensor assembly can be increased. From the above equation (2), if the rotational frequency of the sensor assembly in each direction is to be increased as much as possible, the stiffness of the connecting member 200 can be increased, the distance between the connecting member 200 and the geometric center of the sensor assembly can be increased, and/or the moment of inertia I of the connecting member 200 can be reduced z . As can be seen from the combination of equations (1) and (2), if the translational frequency and the rotational frequency of the sensor assembly are simultaneously reduced, the conflicting conditions are filtered out, that is, the total weight M of the sensor assembly is increased, the distance from the installation position of the connecting member 200 to the geometric center of the sensor assembly is increased, and the rotational inertia of the sensor assembly is reduced. That is, these three modes may be implemented in the alternative or in multiple synchronizations.
Based on the above principleAnalytically, on the premise that the installation space of the installation structure of the motion sensor 400 is limited, in some embodiments, the material density ρ of the base 110 1 Material density ρ of the counterweight structure 120 2 Is in a relationship of 2 ≥2ρ 1 The relationship between the side lengths a and b of the weight structure 120 and the distances c and d between the installation positions of two adjacent connecting pieces 200 connected to the base 110 is (c × d) ≧ 2 × a × b. Such a design may reduce the translational frequency of the sensor assembly to achieve optimal vibration isolation, and increase the rotational frequency of the sensor assembly to reduce the control delay of the motion sensor 400.
Referring to fig. 5, in another embodiment, the intersection point of the axial center lines of the connecting members 200 is close to or coincident with the center of gravity of the vibration damping assembly 100, so that the translational frequency of the sensor assembly in the X, Y, Z axial direction and the rotational frequency in the corresponding direction can be decoupled from each other, i.e., the additional rotation caused by the translational motion can be eliminated. Based on this, the distance H between the base 110 and the intersection point of the axial center lines of the respective connectors 200 is set 1 Let the distance H between the center of gravity of the damping unit 100 and the base 110 2 . In some embodiments, the distance H between the intersection point of the axial centerlines of the connectors 200 and the base 110 1 Distance H from the center of gravity of the damping unit 100 and the base 110 2 The relationship of (1) is more than or equal to | H 1 -H 2 I is less than or equal to arctan (Kxx/Kzz), wherein Kxx is the radial stiffness of the connecting piece 200, and Kzz is the axial stiffness of the connecting piece 200. Due to the design, when the mounting structure is designed, the intersection point of the axial center lines of the connecting pieces 200 is close to or even coincides with the gravity center of the vibration damping assembly 100, so that the translation frequency and the rotation frequency of the vibration damping assembly 100 can be decoupled from each other, and the additional rotation caused by translation motion is eliminated. It should be noted that this embodiment can be implemented simultaneously with or alternatively to the above-mentioned embodiments.
To sum up, the mounting structure of motion sensor of this application can be through the combination of multiple scheme for mounting structure has the vibration damping vibration isolation effect and/or the decoupling effect of maximize, effectively reduces the influence of the interference factor of organism vibration itself to motion sensor's testing result, improves testing result's the degree of accuracy.
Referring to fig. 5 and 6, in order to further improve the vibration damping effect, in some embodiments, the single connection member 200 includes an elastic part 220 and a first connection part 210 and a second connection part 230 connected to both ends of the elastic part 220, the first connection part 210 is connected to the base 110, and the second connection part 230 is connected to the bracket 300. Wherein the elastic part 220 may be a spherical structure, and the first and second connection parts 210 and 230 may be cylindrical structures. The vibration can be further reduced by a structure with thin ends and thick middle. Of course, the connecting member 200 may have other symmetrical structures, and is not limited thereto. In order to improve the vibration damping effect, the connecting member 200 may be made of an elastic material such as rubber, silicone, TPU (thermoplastic polyurethane elastomer), TPE (thermoplastic elastomer), or the like. Alternatively, the connecting member 200 may be an integrally molded structure of an elastic material, or an assembled structure.
Referring to fig. 5, in order to further improve the vibration damping effect, in some embodiments, the connecting member 200 is a hollow structure, i.e., a cavity 240 is formed along the axial direction, so as to further reduce the transmission of vibration to the base 110.
Referring to fig. 3 and 6, in order to facilitate the connection of the connecting member with the bracket and the vibration damping structure, in some embodiments, the first mounting portion 111 of the base 110 and the second mounting portion 310 of the bracket 300 are respectively provided with mounting holes 311 that are oppositely communicated, the first connecting portion 210 and the second connecting portion 230 of the connecting member 200 are both provided with limiting grooves 211 along the radial direction, the first connecting portion 210 of a single connecting member 200 is inserted into the mounting hole 311 of the first mounting portion 111, and the limiting grooves 211 are clamped in the mounting hole 311 of the first mounting portion 111; the second connection portion 230 of the connection member 200 is inserted into the mounting hole 311 of the second mounting portion 310, and the limit groove 211 is engaged with the mounting hole 311 of the second mounting portion 310. The elasticity of the connecting piece 200 enables the limiting groove 211 to be in elastic interference fit with the support 300 and the mounting hole 311 of the base 110, so that the connecting piece 200 can be ensured not to shift in long-term vibration reduction, meanwhile, other assembling parts such as bolts and the like do not need to be added, the assembling process is reduced, and the part cost is saved. In the present embodiment, the mounting position of the connector 200, that is, the center point of the first mounting portion 111 is the center of the mounting hole 311 of the first mounting portion 111.
Referring to fig. 5, in order to reduce the vibration transmission of the body, in a specific embodiment, the support 300 may be a hollow structure 320, and the bottom surface is designed to be hollow, so that the contact area between the support 300 and the mobile device body can be reduced, and the vibration transmission can be reduced.
Referring to fig. 5, in order to make the intersection point of the axial center line of the connecting member 200 approach or coincide with the center of gravity of the vibration damping module 100 as much as possible, in some embodiments, the axial center line of the connecting member 200 forms an acute angle a with the bottom surface of the bracket 300. In a specific embodiment, the radial directions of the mounting holes 311 of the first connecting portion 210 of the base 110 and the corresponding second connecting portion 230 of the bracket 300 are all the same obtuse angle B with the bottom surface of the bracket 300, so that when the connecting element 200 is fixed through the corresponding two mounting holes 311, the included angle between the axial center line of the connecting element 200 and the bottom surface of the bracket 300 is ensured to be an acute angle.
Referring to fig. 7, in order to simplify the vibration reduction structure, in some embodiments, the weight structure 120 includes a cover plate 121, the cover plate 121 is connected to the base 110, and the cover plate 121 has a material density ρ 2 . That is, the counterweight structure 120 of the present embodiment may include only the cover plate 121, i.e., the cover plate 121 itself is the counterweight structure 120. The cover plate 121 covers the base 110 for protecting the motion sensor 400 after the motion sensor 400 and the circuit board are placed in the mounting groove of the base 110, and for example, the cover plate 121 and the base 110 may be connected by bolts. At the same time, the material density ρ of the cover plate 121 2 ≥2ρ 1 . For example, the material of the cover plate 121 is selected from a metal material having a high density, such as steel or metal tungsten. Accordingly, the material of the base 110 is selected from low-density materials such as aluminum alloy, magnesium alloy or plastic. For example, the aluminum alloy has a density of 2.7g/cm 3 The density of the tungsten steel is 19.4g/cm 3 The density of the two is greatly different.
Referring to fig. 3, in other embodiments, the weight structure 120 includes an upper cover plate 122, a weight block 123 and a lower cover plate 124 arranged from top to bottom, the lower cover plate 124 is connected to the base 110; material density of the weight 123Is rho 2 . That is, the weight structure 120 of the present embodiment may be composed of an upper cover plate 122, a weight block 123, and a lower cover plate 124. The lower cover plate 124 is disposed on the base 110, and the lower cover plate 124 covers the base 110 to protect the motion sensor 400 after the motion sensor 400 and the circuit board are mounted on the mounting groove of the base 110. To facilitate the installation of the weight 123, the weight 123 has a length and width smaller than those of the lower cover plate 124.
Referring to fig. 3, in a specific embodiment, a fixing groove 125 is formed between an end surface of the lower cover plate 124 facing away from the base 110 and the upper cover plate 122, the weight block 123 is disposed in the fixing groove 125 of the lower cover plate 124 for fixing, and the upper cover plate 122 covers the weight block 123 and is connected to the lower cover plate 124. For example, the upper cover plate 122, the lower cover plate 124, and the base 110 may be connected by bolts. Wherein the material density ρ of the weight 123 2 ≥2ρ 1 For example, the material of the weight member 123 is selected from a metal material having a high density, such as steel or metal tungsten. And the material density of the upper and lower cover plates 122 and 124 is not limited, i.e., the material of the upper and lower cover plates 122 and 124 may be the same as or different from the weight block 123. For example, the material density ρ of the lower cover plate 124 3 ≥ρ 1 . In some embodiments, the weight block 123 may be a regular cuboid, a cylinder, or a polygonal column, and the fixing grooves are correspondingly shaped. By providing a separate weight 123, the weight of the weight 123 can be adjusted in a flexible manner.
Referring to fig. 3 and 7, an embodiment of the present application further provides a motion sensor module, which includes a motion sensor 400 and a mounting structure of the motion sensor 400, wherein the motion sensor 400 is disposed between the base 110 and the counterweight structure 120. Specifically, the base 110 and the weight structure 120 are directly provided with a mounting groove, and the motion sensor 400 is disposed in the mounting groove.
The vibration reduction assembly 100 and the motion sensor 400 form a sensor assembly, and the adjustment and the decoupling of the translation frequency and the rotation frequency are designed based on the sensor assembly. In some embodiments, the motion sensor 400 is an acceleration sensor, a gyroscope, a geomagnetic sensor, or an Inertial Measurement Unit (IMU).
In some embodiments, the motion sensor may be an acceleration sensor, a gyroscope, a geomagnetic sensor, or an Inertial Measurement Unit (IMU).
According to the motion sensor module, through the structural design of the mounting structure, the translation frequency is as low as possible, and the vibration isolation effect is maximized; so that the rotation frequency is as high as possible and the control delay of the device is reduced. In addition, the translation frequency of the motion sensor module is mutually decoupled from the rotation frequency of the X, Y, Z shaft in three directions, so that the additional rotation caused by translation motion is eliminated. Due to the design, the accuracy of the detection result of the motion sensor module is higher, the structure is simplified, and the assembly is convenient.
An embodiment of the present application further provides a mobile device, which includes the above motion sensor module, wherein the bracket of the mounting structure of the motion sensor is connected to the device body. Optionally, the mobile device is an aircraft, a mobile robot or a vehicle.
The mobile device can be used for facilitating navigation and positioning in the driving process through a more accurate detection result of the motion sensor module.
With regard to the above embodiments, the specific implementation thereof has been described in detail in the embodiments related to the method, and will not be elaborated herein.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or improvements to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (12)
1. The mounting structure of the motion sensor is characterized by comprising a vibration damping assembly, a plurality of connecting pieces and a bracket, wherein the vibration damping assembly is connected to the bracket through the connecting pieces and is arranged in a suspended manner; wherein:
the vibration reduction assembly comprises a base and a counterweight structure arranged on the base, and the base is used for placing a motion sensor; the material density of the base is smaller than that of the counterweight structure, and the side length of the counterweight structure is smaller than the distance between the installation positions of two adjacent connecting pieces; and/or
And the intersection point of the axial center lines of the connecting pieces is close to or coincided with the gravity center of the vibration damping assembly.
2. The mounting structure according to claim 1, wherein:
material density ρ of the base 1 And the material density rho of the counterweight structure 2 Is in a relationship of 2 ≥2ρ 1 The relation between the side lengths a and b of the counterweight structure and the distances c and d between the mounting positions of two adjacent connecting pieces connected to the base is (c multiplied by d) ≥ 2 multiplied by a multiplied by b.
3. The mounting structure according to claim 1, wherein:
the distance H between the intersection point of the axial central lines of the connecting pieces and the base 1 Distance H between the center of gravity of the vibration damping assembly and the base 2 The relationship of (1) is more than or equal to | H 1 -H 2 And | is less than or equal to arctan (Kxx/Kzz), wherein Kxx is the radial stiffness of the connecting piece, and Kzz is the axial stiffness of the connecting piece.
4. The mounting structure according to claim 1, wherein:
the connecting piece comprises an elastic part and a first connecting part and a second connecting part which are correspondingly connected to the two ends of the elastic part, the first connecting part is connected to the base, and the second connecting part is connected to the support.
5. The mounting structure according to any one of claims 1 to 4, wherein:
the base is provided with a plurality of first installation departments, the support is provided with a plurality of second installation departments, singly the one end of connecting piece connect in first installation department, the other end of connecting piece connect in the second installation department.
6. The mounting structure according to claim 5, wherein:
base and support are quadrangle structure respectively, the base is provided with four first installation departments along central symmetry, the support is provided with four second installation departments along central symmetry, single second installation department and single first installation department corresponds, and the quantity of connecting piece is four.
7. The mounting structure according to claim 5, wherein:
the included angle between the axial center line of the connecting piece and the bottom surface of the bracket is an acute angle.
8. The mounting structure according to claim 1, wherein:
the counterweight structure comprises a cover plate connected to the base, and the cover plate is made of a material with a density of rho 2 (ii) a Or
The counterweight structure comprises an upper cover plate, a counterweight block and a lower cover plate which are arranged from top to bottom, and the lower cover plate is connected to the base; the material density of the balancing weight is rho 2 。
9. The mounting structure according to claim 8, wherein:
the base is made of aluminum alloy, magnesium alloy or plastic;
the material of the counterweight block or the cover plate of the counterweight structure is selected from steel or metal tungsten.
10. A motion sensor module comprising a motion sensor and the motion sensor mounting structure of any one of claims 1 to 7, the motion sensor being disposed between a base and a counterweight structure.
11. The motion sensor module of claim 10, wherein:
the motion sensor is an acceleration sensor, a gyroscope, a geomagnetic sensor or an inertial measurement unit.
12. A mobile device comprising the motion sensor module of claim 11 or 12, wherein the bracket is connected to a device body, and the mobile device is an aircraft, a mobile robot, or a vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211526960.2A CN115853963A (en) | 2022-12-01 | 2022-12-01 | Mounting structure of motion sensor, motion sensor module and mobile device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211526960.2A CN115853963A (en) | 2022-12-01 | 2022-12-01 | Mounting structure of motion sensor, motion sensor module and mobile device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115853963A true CN115853963A (en) | 2023-03-28 |
Family
ID=85668657
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211526960.2A Pending CN115853963A (en) | 2022-12-01 | 2022-12-01 | Mounting structure of motion sensor, motion sensor module and mobile device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115853963A (en) |
-
2022
- 2022-12-01 CN CN202211526960.2A patent/CN115853963A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11215633B2 (en) | Micro inertial measurement system | |
| US8100010B2 (en) | Method and system for forming an electronic assembly having inertial sensors mounted thereto | |
| US7178401B2 (en) | Three axis accelerometer with variable axis sensitivity | |
| US9227835B2 (en) | Vibration isolation interposer die | |
| EP3853557B1 (en) | Drive and sense balanced, fully-coupled 3-axis gyroscope | |
| CN101233414A (en) | Sensor unit | |
| US10962561B2 (en) | Isolating sensor assembly using elastic material | |
| CN110243343B (en) | Sensor module, inclinometer, and structure monitoring device | |
| CN115853963A (en) | Mounting structure of motion sensor, motion sensor module and mobile device | |
| US20160231114A1 (en) | Angular velocity sensor | |
| CN111060087B (en) | Redundancy-configured hemispherical resonant gyroscope inertia measurement assembly and measurement method | |
| CN209889102U (en) | Unmanned aerial vehicle vibration damper and unmanned aerial vehicle | |
| CN216898935U (en) | Six-axis inertia measurement unit | |
| CN216898931U (en) | Three-axis gyroscope | |
| CN113341177A (en) | Local optimization's high accuracy static accelerometer test is set a table | |
| CN104787298B (en) | Aircraft | |
| CN204548475U (en) | Aircraft | |
| CN117310206A (en) | Physical quantity sensor and inertial measurement device | |
| KR20110116884A (en) | Sensor for detecting acceleration and magnetism | |
| CN112097766A (en) | Inertia measuring device and equipment | |
| JP2009192234A (en) | Sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |